Balance control device and balance control system

Abstract

The invention provides a balance control device and a balance control system. The balance control equipment comprises a balance carrier which is used for bearing a user and presenting a corresponding posture according to force acted by the user; the force detector is arranged in the balance carrier and used for detecting the acting force borne by the balance carrier to obtain first sensing data; the control device is detachably mounted on the balance carrier, and the control device comprises an attitude detector, a processing module and a first communication module; the attitude detector is used for detecting the attitude of the control device to obtain second sensing data; the processing module is used for acquiring the first sensing data and the second sensing data so as to obtain a first result according to the first sensing data and the second sensing data, the first result is used for obtaining control information, and the control information is used for controlling the controlled equipment to perform corresponding processing; and the first communication module is used for transmitting the first result to the controlled equipment. And the controlled equipment is controlled by controlling the balance control equipment.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a balance control device and a balance control system. Background Art

[0002] The existing human-computer interaction mode generally provides an interactive interface, buttons or hand-cranked joysticks, and users operate the interactive interface, buttons or hand-cranked joysticks to interact. For example, traditional games all provide buttons or hand-cranked joysticks, and users use buttons or hand-cranked joysticks to operate. However, the existing human-computer interaction mode cannot provide users with more experience. Summary of the invention

[0003] The embodiments of the present application provide a balance control device and a balance control system to solve the problem that the existing human-computer interaction mode cannot provide users with more experience.

[0004] A first aspect provides a balance control device, comprising: a balance carrier, used to carry a user and present a corresponding posture according to the force applied by the user; a force detector, arranged in the balance carrier, used to detect the force applied to the balance carrier and obtain first sensing data; a control device, detachably mounted on the balance carrier, the control device comprising a posture detector, a processing module and a first communication module; the posture detector is used to detect the posture of the control device and obtain second sensing data; the processing module is used to obtain the first sensing data and the second sensing data to obtain a first result according to the first sensing data and the second sensing data, wherein the first result is used to obtain control information, and the control information is used to control the controlled device to perform corresponding processing; the first communication module is used to transmit the first result to the controlled device.

[0005] In one possible implementation manner, the balancing carrier includes a connection structure, and the connection structure is used to install the control device on the balancing carrier, so that when the control device is installed on the balancing carrier, the control device is stationary relative to the balancing carrier.

[0006] In one possible implementation, the connection structure includes a second communication module, and the second communication module is used to establish a communication connection between the control device and the force sensor in the balancing carrier when the control device is installed on the balancing carrier.

[0007] In one possible implementation, the connection structure includes a fixing groove, and the fixing groove is used to accommodate the control device.

[0008] In one possible implementation manner, the connection structure further includes a fixing member, and the fixing member is used to fix the control device to the fixing groove when the control device is accommodated in the fixing groove.

[0009] In one possible implementation, obtaining a first result according to the first sensing data and the second sensing data includes: a processing module is used to determine a first state sequence corresponding to the force detector according to the first sensing data; the processing module is also used to match the first state sequence with a first reference sequence in an action library, and use the first reference sequence with the greatest similarity as a first target reference sequence, wherein the action library includes a reference action and a first reference sequence corresponding to the reference action; the processing module is also used to use the reference action corresponding to the first target reference sequence as the user's action; the processing module is also used to obtain the first result according to the user's action and the second sensing data;

[0010] Or, the processing module is used to determine a first state sequence corresponding to the force detector based on the first sensor data, and to determine a second state sequence corresponding to the posture detector based on the second sensor data; the processing module is also used to match the first state sequence with a first reference sequence in an action library, and to match the second state sequence with a second reference sequence in the action library, wherein the action library includes a reference action, a first reference sequence corresponding to the reference action, a reference posture, and a second reference sequence corresponding to the reference posture; the processing module is also used to use the first reference sequence with the greatest similarity as a first target reference sequence, and the second reference sequence with the greatest similarity as a second target reference sequence; the processing module is also used to use the reference action corresponding to the first target reference sequence as the user's action, and the reference posture corresponding to the second target reference sequence as the posture of the balancing carrier; the processing module is also used to obtain a first result based on the user's action and the posture of the balancing carrier.

[0011] In one possible implementation, the control device includes a human-computer interaction module; the processing module obtains a second result in response to a user's operation on the human-computer interaction module, and the first communication module transmits the second result to the controlled device.

[0012] In one possible implementation, the first communication module includes a first wireless communication module; the first wireless communication module is communicatively connected with the controlled device;

[0013] The second communication module includes a second wireless communication module, the second wireless communication module is connected to the strength detector; the second wireless communication module is connected to the first wireless communication module to obtain the first sensing data;

[0014] Or, the first communication module includes a first wireless communication module and a first wired communication module; the first wireless communication module is communicatively connected to the controlled device; the second communication module includes a second wired communication module, and the second wired communication module is communicatively connected to the force detector; the second wired communication module is communicatively connected to the first wired communication module to obtain the first sensing data.

[0015] A second aspect provides a balance control system, comprising a controlled device and any of the above balance control devices, wherein the controlled device and the balance control device communicate with each other.

[0016] In one possible implementation manner, the controlled device includes a display, and the controlled device controls the display to present a corresponding interface according to the first result.

[0017] In the embodiment of the present application, by installing the control device on the balancing carrier, when the posture of the balancing carrier changes, the control device installed thereon will also change its posture following the posture change of the balancing carrier, and then the posture detector in the control device can detect the posture of the balancing carrier, so that the relevant information of the force applied by the user to the balancing carrier can be obtained through the posture detector. And the control device establishes communication with the force detector disposed in the balancing carrier, so that the relevant information of the force applied by the user to the balancing carrier can be obtained through the force detector. The control device controls the controlled device based on the relevant information of the force obtained, and controls the controlled device by controlling the balancing control device, providing users with a novel control method and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a balance control system provided in an embodiment of the present application.

[0019] Figure 2 It is a structural schematic diagram of a balanced carrier provided in an embodiment of the present application.

[0020] Figure 3 It is a structural schematic diagram of a control device provided in an embodiment of the present application.

[0021] Figure 4 It is a schematic diagram of a balance control device provided in an embodiment of the present application.

[0022] Figure 5 This is another schematic diagram of a balance control device provided in an embodiment of the present application.

[0023] Figure 6 This is a schematic diagram of a force detector setting provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be noted that the terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. In the specification, claims and drawings of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0025] See also Figure 1 , the balance control system 100 provided in the embodiment of the present application is exemplarily introduced. The balance control system 100 includes a balance control device 10 and a controlled device 20. The balance control device 10 and the controlled device 20 communicate with each other. The communication mode between the balance control device 10 and the controlled device 20 can be wired communication or wireless communication.

[0026] The balance control device 10 is used to receive operations performed by the user 30 on the balance control device 10 , and obtain relevant information about the operations performed by the user 30 on the balance control device 10 .

[0027] In the embodiment of the present application, the balancing control device 10 includes a balancing carrier 11 and a control device 12 .

[0028] The balancing carrier 11 is used to carry the user 30 and present a corresponding posture according to the force applied by the user 30. Specifically, the balancing carrier 11 can carry the user 30. The balancing carrier 11 can also be in a corresponding posture, such as a static posture, a moving posture, an upright posture, and a tilted posture, according to the force applied to the balancing carrier 11 by the user 30.

[0029] In some embodiments, the balancing carrier 11 can be implemented as a balancing board, etc., and can also be implemented as any structure that can present different postures according to the force applied by the user 30, and this application does not make any specific limitation on this.

[0030] In the embodiment of the present application, the control device 12 is detachably mounted on the balancing carrier 11. When the control device 12 is mounted on the balancing carrier 11, the control device 12 is stationary relative to the balancing carrier 11, that is, when the control device 12 is mounted on the balancing carrier 11, the control device 12 and the balancing carrier 11 can be regarded as a whole, and the control device 12 will not move in space relative to the balancing carrier 11. Exemplarily, when the control device 12 is mounted on the balancing carrier 11, the user 30 operates the balancing carrier 11 to tilt 30 degrees to the left. Then, as the balancing carrier 11 tilts 30 degrees to the left, the control device 12 also tilts 30 degrees to the left.

[0031] In the embodiment of the present application, the balancing carrier 11 includes a connection structure 13. The connection structure 13 is used to install the control device 12 on the balancing carrier 11, so that when the control device 12 is installed on the balancing carrier 11, the control device 12 is stationary relative to the balancing carrier 11. The connection structure 13 can be detachably arranged on the balancing carrier 11, or can be non-detachably arranged on the balancing carrier 11. The control device 12 is detachably installed on the balancing carrier 11 through the connection structure 13.

[0032] In the embodiment of the present application, the operation performed by the user 30 on the balance control device 10 includes: the operation of the user 30 on the balance carrier 11, and / or the operation of the user 30 on the control device 12. The operation of the user 30 on the balance carrier 11 includes the user 30 applying a force to the balance carrier 11, such as the user 30 standing on the balance carrier 11, the user 30 standing on the balance carrier 11 and controlling the balance carrier 11 to tilt in a certain direction (such as to the left), the user 30 performing corresponding actions on the balance carrier 11, such as squatting on the balance carrier 11 or the user 30 jumping on the balance carrier 11, etc. The operation of the user 30 on the control device 12 includes the user 30 inputting to the control device 12, such as operating buttons, operating interfaces, etc.

[0033] In the embodiment of the present application, the relevant information of the user 30 operating the balance control device 10 includes, but is not limited to: the relevant information of the force applied by the user 30 to the balance carrier 11, and the relevant information of the user 30 operating the control device 12. Among them, the relevant information of the force applied by the user 30 to the balance carrier 11 includes the magnitude and / or direction of the force applied by the user 30 to the balance carrier 11 and the direction (such as the left or right) of the balance carrier 11 to which the force is applied. The relevant information of the user 30 operating the control device 12 includes input information, such as confirmation information, cancellation information, etc.

[0034] In the embodiment of the present application, the control device 12 is used to obtain information related to the force applied by the user 30 to the balancing carrier 11. In some embodiments, the control device 12 is also used to obtain information related to the operation of the control device 12 by the user 30.

[0035] In some embodiments, the control device 12 is further used to obtain a first result based on the obtained relevant information (i.e., relevant information about the user 30 operating the balance control device 10), and transmit the first result to the controlled device 20. The first result reflects the operation performed by the user 30 on the balance control device 10. The first result is used to obtain control information, and the control information is used to control the controlled device 20 to perform corresponding processing. In this way, the controlled device 20 performs corresponding processing according to the operation performed by the user 30 on the balance control device 10.

[0036] In some embodiments, the control device 12 is implemented as a remote controller used in conjunction with the controlled device 20 .

[0037] The controlled device 20 includes a host 21 and a display 22. The host 21 is used to receive the first result transmitted by the balance control device 10. The host 21 performs relevant processing based on the received first result. The display 22 is used to display a corresponding interface based on the processing performed by the host 21.

[0038] In some embodiments, the host 21 and the display 22 may be integrated, such as a laptop computer, etc. In other embodiments, the host 21 and the display 22 may be two independent objects, such as the host 21 is a game host, and the display 22 is another peripheral device connected to the game host.

[0039] The following is an exemplary introduction to the application scenarios of the balance control system 100 .

[0040] Application scenario 1

[0041] In the user fitness scenario, the user 30 applies a force to the balancing carrier 11. The control device 12 obtains relevant information about the force applied by the user 30 to the balancing carrier 11, and then transmits the relevant information to the host 21 to display the action of the user 30 and the posture of the balancing carrier 11 on the display 22. For example, the user 30 stands on the balancing carrier 11 with both feet, and the force applied by the left foot of the user 30 to the balancing carrier 11 is greater than the force applied by the right foot of the user 30 to the balancing carrier, then the balancing carrier 11 tilts to the left by a first angle. The control device 12 obtains relevant information about the force applied by the user 30 to the balancing carrier 11, including the applied force and the posture of the balancing carrier 11 tilting to the left by a first angle. Finally, it can be displayed on the display 22 that both the user 30 and the balancing carrier 11 are tilted to the left, and the angle at which the balancing carrier 11 tilts to the left is the first angle.

[0042] Application scenario 2

[0043] In the game scene of the user 30, the user 30 applies a force to the balancing carrier 11, and the control device 12 obtains the relevant information of the force applied by the user 30 to the balancing carrier 11, and then transmits the relevant information to the host 21. The host 21 controls the game according to the relevant information, and then can display the corresponding interface on the display 22. For example, the user 30 stands on the balancing carrier 11 with both feet, and the user 30 increases the force applied by the right foot to the balancing carrier 11, and the balancing carrier 11 tilts to the right. Then the host 21 can control the character of the game to move to the right.

[0044] It can be understood that the application scenarios of the above-mentioned balance control system 100 are only examples, and this application does not make any specific limitations on this.

[0045] See also Figure 2 , the structure of the balancing carrier 11 provided in the embodiment of the present application is introduced as an example.

[0046] The balancing carrier 11 includes a force detector 111 and a second communication module 112. The force detector 111 communicates with the second communication module 112. The second communication module 112 obtains first sensing data detected by the force detector 111 and transmits the first sensing data to the control device 12. The force detector 111 and the second communication module 112 can communicate with each other through wired communication.

[0047] The force detector 111 is used to detect the force applied by the user to the balancing carrier. The force detector can be implemented as a pressure sensor, including but not limited to: a piezoresistive sensor, a piezoelectric sensor, a capacitive sensor, a magnetoelectric sensor, and the like.

[0048] The second communication module 112 is used to implement wired communication and / or wireless communication with the control device 12 .

[0049] See also Figure 3 , exemplarily introduces the structure of the control device 12 provided in an embodiment of the present application.

[0050] The control device 12 includes a posture detector 121 , a processing module 122 , a first communication module 123 , and a human-computer interaction module 124 . The processing module 122 is electrically connected to the posture detector 121 , the first communication module 123 , and the human-computer interaction module 124 .

[0051] The posture detector 121 is used to detect the posture of the control device 12 to obtain the second sensing data. When the control device 12 is fixed on the balancing carrier 11, the control device 12 is stationary relative to the balancing carrier 11, and the posture of the control device 12 detected is the posture of the balancing carrier 11. If the balancing carrier 11 tilts, the control device 12 will also tilt. The tilt of the control device 12 detected by the posture detector 121 is also the tilt of the balancing carrier 11.

[0052] The posture detector 121 includes a gyro sensor. The gyro sensor can be used to determine the motion state of the control device 12. In some embodiments, the angular velocity of the control device 12 around three axes (ie, x, y, and z axes) can be determined by the gyro sensor.

[0053] In some embodiments, the posture detector 121 further includes an acceleration sensor. The acceleration sensor can detect the magnitude of acceleration of the control device 12 in various directions (generally three axes). When the control device 12 is stationary, the magnitude and direction of gravity can be detected.

[0054] In some embodiments, the gesture detector 121 also includes a magnetic sensor.

[0055] In the embodiment of the present application, the posture detector 121 can be divided into hardware-based and software-based. Hardware-based sensors are often implemented through physical components, and hardware sensors usually obtain data by measuring the properties of special environments, such as changes in gravity acceleration or azimuth angle. Software-based sensors do not rely on physical devices. Although software-based sensors imitate hardware-based sensors, software-based sensors usually obtain data through one or more hardware sensors, and sometimes call virtual sensors or artificial sensors, etc. Linear acceleration sensors and gravity sensors are based on software sensors.

[0056] Specifically, we can use two sensors to determine the posture of the control device 12, namely the geomagnetic field sensor and the orientation sensor. The orientation sensor is software-based, and its data is obtained by the acceleration sensor and the magnetic sensor.

[0057] It can be understood that the embodiment of the present application does not specifically limit the specific implementation of the posture detector 121.

[0058] In the embodiment of the present application, the processing module 122 is used to obtain first sensor data and second sensor data to obtain a first result based on the first sensor data and the second sensor data, wherein the first result is used to obtain control information, and the control information is used to control the controlled device 20 to perform corresponding processing.

[0059] In the embodiment of the present application, the processing module 122 obtains the first result according to the first sensor data and the second sensor data including the following situations:

[0060] Scenario 1

[0061] Step 1: The processing module 122 is used to determine a first state sequence corresponding to the strength detector 111 according to the first sensing data.

[0062] In the embodiment of the present application, the force detector 111 collects the force applied by the user 30 to the balance carrier 11 in real time to obtain the corresponding first sensing data. The first sensing data may include sensing values. The first state sequence includes one or more sensing values ​​collected during the sampling time period. Exemplarily, the sensing values ​​may be the following various values: pressure value, etc. The time unit of the sampling time period may be minutes or hours, etc.

[0063] Taking the sensing value as a pressure value as an example, the first state sequence is N pressure values ​​collected at N sampling moments within a sampling time period, where N is a positive integer.

[0064] For example, starting from time T1, the user 30 squats on the balance carrier 11, and at time T20, the user 30 completes a squat action. From time T1 to time T20, the force detector 11 collects the first sensing data, and the processing module 122 obtains 20 pressure values ​​according to the first sensing data. The 20 pressure values ​​are the first state sequence.

[0065] In step 2, the processing module 122 is further configured to match the first state sequence with a first reference sequence in an action library, and use the first reference sequence with the greatest similarity as a first target reference sequence, wherein the action library includes reference actions and first reference sequences corresponding to the reference actions.

[0066] In the embodiment of the present application, one or more users may be asked to perform corresponding reference actions on the balance carrier 11 in advance, such as tilting, standing still, squatting, etc. Then, the sensing data collected by the force detector 111 during the time period when the user performs the reference action is obtained, and the reference sequence corresponding to the reference action is determined based on the obtained sensing data. Thus, the first reference sequence corresponding to the reference action can be obtained.

[0067] Exemplarily, the action library may store squats and the first reference sequence corresponding to squats, tilts and the first reference sequence corresponding to tilts, etc., which is not specifically limited in the present application.

[0068] In some embodiments, the sensing values, the first state sequence, and the first reference sequence collected by the strength detector 111 may be calibrated according to the location of the strength detector 111 and the weight of the user. That is, if the location of the strength detector 111 is different or the weight of the user is different, the first state sequence and the first reference sequence corresponding to the same action may be different.

[0069] As in the above example, the 20 pressure values ​​collected are the first state sequence. The 20 pressure values ​​are compared with the first reference sequence in the action library to determine that the 20 pressure values ​​have a high degree of match with the first reference sequence corresponding to the squat. Therefore, the first reference sequence corresponding to the squat is used as the first target reference sequence.

[0070] Step three: the processing module 122 is further configured to use the reference action corresponding to the first target reference sequence as the action of the user 30 .

[0071] As in the above example, the processing module 122 uses the first reference sequence corresponding to squatting as the first target reference sequence, that is, squatting is regarded as the action of the user 30 , that is, it is detected that the user 30 performs a squatting action on the balancing carrier 11 .

[0072] Step 4: the processing module 122 is further configured to obtain a first result according to the action of the user 30 and the second sensor data.

[0073] In an embodiment of the present application, the first result includes the action of the user 30 and the first sensor data. The first sensor data may be the original sensor data collected by the force detector 111, or may be the data obtained by preprocessing (such as filtering, etc.) the original sensor data collected by the force detector 111.

[0074] Scenario 2

[0075] In step 1, the processing module 122 is used to determine a first state sequence corresponding to the force detector 111 according to the first sensing data, and to determine a second state sequence corresponding to the posture detector 121 according to the second sensing data.

[0076] The second state sequence includes one or more sensor values ​​collected during the sampling time period. For example, the sensor values ​​may be various values ​​as follows: accelerometer values, gyroscope values, magnetic values, etc. The time unit of the sampling time period may be minutes or hours, etc.

[0077] Taking the sensor values ​​as gyroscope values ​​and accelerometer values ​​as an example, the second state sequence is N gyroscope values ​​collected at N sampling moments in the sampling time period and M accelerometer values ​​collected at M sampling moments in the sampling time period. M is a positive integer, and N and M can be the same.

[0078] In an embodiment of the present application, the content of the second state sequence corresponding to the posture detector 121 determined by the processor module 122 based on the second sensor data can refer to the processing module 122 used to determine the first state sequence corresponding to the force detector 111 based on the first sensor data, which will not be repeated here.

[0079] In step two, the processing module 122 is also used to match the first state sequence with the first reference sequence in the action library, and to match the second state sequence with the second reference sequence in the action library, wherein the action library includes a reference action, a first reference sequence corresponding to the reference action, a reference posture, and a second reference sequence corresponding to the reference posture.

[0080] The reference posture includes static posture, left-right shaking posture, left-leaning posture, right-leaning posture, etc. The action library includes reference postures and the second reference sequence corresponding to the reference postures. The content of the reference action and the first reference sequence corresponding to the reference action can refer to the above-mentioned reference action, which will not be repeated here.

[0081] The content of the processing module 122 matching the second state sequence with the second reference sequence in the action library can refer to the content of the processing module 122 matching the first state sequence with the first reference sequence in the action library, which will not be repeated here.

[0082] Step three: the processing module 122 is further configured to use the first reference sequence with the greatest similarity as the first target reference sequence, and use the second reference sequence with the greatest similarity as the second target reference sequence.

[0083] The content of the processing module 122 using the second reference sequence with the greatest similarity as the second target reference sequence can refer to the content of the processing module 122 using the first reference sequence with the greatest similarity as the first target reference sequence, which will not be repeated here.

[0084] Step 4: the processing module 122 is further configured to use the reference action corresponding to the first target reference sequence as the action of the user 30 , and use the reference posture corresponding to the second target reference sequence as the posture of the balancing carrier 11 .

[0085] The processing module 122 uses the reference posture corresponding to the second target reference sequence as the content of the posture of the balancing carrier 11. Please refer to the processing module 122 also used to use the reference action corresponding to the first target reference sequence as the content of the action of the user 30, which will not be repeated here.

[0086] Step five: the processing module 122 is further configured to obtain a first result according to the action of the user 30 and the posture of the balancing carrier 11 .

[0087] In the embodiment of the present application, the first result includes the result obtained after the processing module 122 processes the first sensing data and the second sensing data, that is, includes the action of the user 30 and the posture of the balancing carrier 11 .

[0088] Scenario 3

[0089] The processing module 122 is used to use the first sensor data and the second sensor data as the first result, where the first sensor data may be the original sensor data collected by the force detector 111, and the second sensor data may be the original sensor data collected by the posture detector 121. That is, the processing module 122 does not process the first sensor data and the second sensor data. The controlled device 20 receives the first sensor data and the second sensor data and performs corresponding processing, such as performing the processing of the above-mentioned situation 1 or situation 2.

[0090] Scenario 4

[0091] The processing module 122 is used to pre-process the first sensor data and the second sensor data, and use the pre-processed first sensor data and the second sensor data as the first result. After the controlled device 20 receives the pre-processed first sensor data and the second sensor data, it performs corresponding processing on the pre-processed first sensor data and the second sensor data, such as performing the processing of the above-mentioned situation 1 or situation 2.

[0092] The processing module 122 may be implemented as a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. For example, the processor is the computing core and control center of the control device 12, and uses various interfaces and lines to connect various parts of the entire control device 12, and obtain the operating system of the control device 12 and various installed applications, program codes, etc.

[0093] In some embodiments, the control device 12 may further include a memory, which mainly includes a program storage area and a data storage area. The program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory may include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0094] For example, the memory may be an external memory and / or an internal memory of the control device 12. Furthermore, the memory may be a memory in a physical form, such as a memory stick, a TF card (Trans-flash Card), and the like.

[0095] If the program code and various data in the memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the parallel control method provided in the embodiment of the present application, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the parallel control method provided in the embodiment of the present application when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), etc.

[0096] The first communication module 123 is used to establish a communication connection with the second communication module 112 of the balancing carrier 11, and then obtain the first sensing data detected by the force detector 111 on the balancing carrier 11. The communication connection between the first communication module 123 and the second communication module 112 can be a wired connection and / or a wireless connection. That is, the first communication module 123 can be implemented as a first wired communication module and / or a first wireless communication module, that is, the second communication module 112 can be implemented as a second wired communication module and / or a second wireless communication module, and the first wired communication module establishes a wired connection with the second wired communication module. The first wireless communication module establishes a wireless connection with the second wireless communication module.

[0097] The first communication module 123 is used to transmit the first result to the controlled device 20. The first communication module 123 can establish a wired connection and / or a wireless connection with the controlled device 20, that is, the first wired communication module establishes a wired connection with the wired communication module in the controlled device 20. The first wireless communication module establishes a wireless connection with the wireless communication module in the controlled device 20.

[0098] In some embodiments, the control device 12 further includes a human-computer interaction module 124. The processing module 122 receives the operation of the user 30 and obtains a second result in response to the operation of the user 30 on the human-computer interaction module 124. The first communication module 123 transmits the second result to the controlled device 20.

[0099] The human-computer interaction module 124 may be implemented as a physical button, a human-computer interaction interface, or a voice interaction module, etc. This embodiment of the present application does not specifically limit this.

[0100] Taking the human-computer interaction module 124 including at least one button as an example, the at least one button includes a confirmation button. The processing module 122 obtains a second result in response to the user 30 operating the confirmation button. The second result is the confirmation of the user 30. The first communication module 123 transmits the second result to the controlled device 20.

[0101] Alternatively, taking the human-machine interaction module 124 as a human-machine interaction interface, the human-machine interaction interface includes an input box. The processing module 122 obtains a second result in response to the user 30's input operation on the input box, and the information input by the user 30 is used as the second result. Exemplarily, the user 30 inputs the posture information of the current balancing carrier 11, such as inputting that the balancing carrier 11 is tilted to the left.

[0102] The following takes the case where the balancing carrier 11 is implemented as a balancing board as an example.

[0103] like Figure 4 and Figure 5 As shown, the balance board includes a tablet 101 and a base 102 disposed at the bottom of the tablet 101. The upper surface of the tablet 101 faces the user 30, and the user 30 can be located on the upper surface. The base 102 can be spherical or in other shapes, so that the base 102 can be easily tilted. For this reason, when the user 30 applies pressure toward the tablet 101 above the tablet 101, the balance carrier 11 will tilt due to the force applied by the user 30, and then present a corresponding posture, such as a static posture, tilted to the left, tilted to the right, tilted backward, etc. Correspondingly, the tilt angle is also different, such as tilting 15 degrees, tilting 30 degrees, etc. Therefore, when the user 30 applies pressure toward the tablet 101 above the tablet 101, the direction and magnitude of the applied pressure must be controlled to keep the balance board balanced or tilted in a specific direction. In some embodiments, the base 102 is elastic and easily tilted.

[0104] For example, Figure 4 As shown, the connection structure 13 can be detachably or non-detachably arranged on the side of the balance board. When the connection structure 13 is arranged on the balance board, the connection structure 13 is stationary relative to the balance board, that is, when the connection structure 13 is connected to the balance board, the connection structure 13 will not move in space relative to the balance board when the balance board is in various postures. The control device 12 is detachably mounted on the connection structure 13.

[0105] In some embodiments, the connection structure 13 includes a fixing structure 131, and the fixing structure 131 is formed with a fixing groove. The fixing groove is used to accommodate the control device 12. Figure 5 As shown, the control device 12 is inserted into the fixing groove, and the control device 12 is connected to the connecting structure 13 .

[0106] In some embodiments, the connection structure 13 further includes a fixing member (not shown), which is used to fix the control device 12 to the fixing groove when the control device 12 is accommodated in the fixing groove. The fixing member can be implemented as a buckle, etc., to ensure that when the balance board is in motion, the control device 12 will not move in space relative to the balance board.

[0107] The fixing member and the fixing groove can be used together to realize that when the control device 12 is placed in the fixing groove, the control device can be more firmly fixed in the fixing groove by the fixing member. In some embodiments, the fixing member can be set in the fixing groove or at the edge of the fixing groove, and can be set according to specific circumstances, and this application does not make specific limitations on this.

[0108] It is understood that the connection structure 13 can also be implemented as a fixing structure 131 on the balance board. Exemplarily, a fixing groove is provided on the upper surface of the flat plate 101. The control device 12 is inserted into the fixing groove so that the control device 12 is stationary relative to the balance board.

[0109] In some embodiments, the second communication module 112 is disposed in the connection structure 13. When the control device 12 is mounted on the balancing carrier 11 through the connection structure 13, the second communication module 112 establishes a communication connection between the control device 12 and the force sensor in the balancing carrier 11.

[0110] Exemplarily, the first communication module 123 includes a first communication interface, and the second communication module 112 includes a second communication interface. The second communication interface is provided on the connection structure 13, and when the control device 12 is inserted into the fixed slot, the first communication interface provided on the control device 12 is electrically connected to the second communication interface on the fixed slot to realize the communication connection between the first communication module 123 and the second communication module 112. The second communication module 112 is communicatively connected with the force detector 111, and the first sensing data detected by the force detector 111 can be transmitted to the processing module 122 of the control device 12 through the first communication module 123 and the second communication module 112.

[0111] In the embodiment of the present application, the force detector 111 is disposed in the balance carrier 11. Figure 6 As shown, the force detector 111 can be disposed inside the base 102 .

[0112] In some embodiments, a force detector 111 may be provided on the flat plate 101. Taking the case where the force detector 111 is implemented as a piezoresistive sensor as an example, a piezoresistive sensor array is arranged on the upper surface of the flat plate 101. The piezoresistive sensor is a sensor made by utilizing the piezoresistive effect of single crystal silicon material and integrated circuit technology. When it is subjected to pressure, the silicon diaphragm attached to the surface of the sensor produces extremely small strains that are not noticeable to the naked eye, and the electron energy level state inside the atomic structure of the silicon diaphragm changes, resulting in a change in resistivity, thereby causing a great change in resistance. The resistance change is converted into a voltage signal output proportional to the force change through a measuring circuit. By measuring the electrical signal, the pressure on the piezoresistive sensor can be measured.

[0113] In the embodiment of the present application, by installing the control device 12 on the balancing carrier 11, when the posture of the balancing carrier 11 changes, the control device 12 installed thereon will also change its posture following the posture change of the balancing carrier 11, and then the posture detector 121 in the control device 12 can detect the posture of the balancing carrier 11, and obtain the relevant information of the force applied by the user to the balancing carrier 11 through the posture detector 121. And the control device 12 establishes communication with the force detector 111 set in the balancing carrier 11, and obtains the relevant information of the force applied by the user to the balancing carrier 11 through the force detector 111. The control device 12 controls the controlled device based on the relevant information of the force obtained, providing users with a novel control method and improving the user experience.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A balance control device, characterized in that: include: A balancing carrier is used to carry the user and present a corresponding posture according to the force applied by the user; A force detector is disposed in the balancing carrier and is used to detect the force applied to the balancing carrier to obtain first sensing data; A control device, detachably mounted on the balancing carrier, the control device comprising a posture detector, a processing module and a first communication module; The posture detector is used to detect the posture of the control device to obtain second sensing data; The processing module is used to obtain the first sensor data and the second sensor data to obtain a first result according to the first sensor data and the second sensor data, wherein the first result is used to obtain control information, and the control information is used to control the controlled device to perform corresponding processing; The first communication module is used to transmit the first result to the controlled device.

2. The balance control device according to claim 1, characterized in that: The balancing carrier comprises a connection structure, and the connection structure is used to install the control device on the balancing carrier, so that when the control device is installed on the balancing carrier, the control device is stationary relative to the balancing carrier.

3. The balance control device according to claim 2, characterized in that: The connection structure includes a second communication module, and the second communication module is used to establish a communication connection between the control device and a force sensor in the balancing carrier when the control device is installed on the balancing carrier.

4. The balance control device according to claim 2, characterized in that: The connection structure includes a fixing groove, and the fixing groove is used to accommodate the control device.

5. The balance control device according to claim 4, characterized in that: The connection structure further includes a fixing member, and the fixing member is disposed in the fixing groove, so as to fix the control device in the fixing groove when the control device is accommodated in the fixing groove.

6. The balance control device according to any one of claims 1 to 5, characterized in that: The obtaining a first result according to the first sensing data and the second sensing data includes: The processing module is used to determine a first state sequence corresponding to the strength detector according to the first sensing data; The processing module is further used to match the first state sequence with a first reference sequence in an action library, and use the first reference sequence with the greatest similarity as a first target reference sequence, wherein the action library includes reference actions and first reference sequences corresponding to the reference actions; The processing module is further configured to use the reference action corresponding to the first target reference sequence as the action of the user; The processing module is further used to obtain the first result according to the user's action and the second sensor data; or, The processing module is used to determine a first state sequence corresponding to the force detector according to the first sensing data, and to determine a second state sequence corresponding to the posture detector according to the second sensing data; The processing module is further used to match the first state sequence with a first reference sequence in an action library, and to match the second state sequence with a second reference sequence in the action library, wherein the action library includes a reference action, a first reference sequence corresponding to the reference action, a reference posture, and a second reference sequence corresponding to the reference posture; The processing module is further configured to use the first reference sequence with the greatest similarity as the first target reference sequence, and use the second reference sequence with the greatest similarity as the second target reference sequence; The processing module is further configured to use the reference action corresponding to the first target reference sequence as the action of the user, and use the reference posture corresponding to the second target reference sequence as the posture of the balancing carrier; The processing module is further used to obtain the first result according to the user's action and the posture of the balancing carrier.

7. The balance control device according to claim 6, characterized in that: The control device includes a human-computer interaction module; the processing module obtains a second result in response to a user's operation on the human-computer interaction module, and the first communication module transmits the second result to the controlled device.

8. The balance control device according to claim 3, characterized in that: The first communication module includes a first wireless communication module; the first wireless communication module is in communication connection with the controlled device; The second communication module includes a second wireless communication module, the second wireless communication module is connected to the strength detector; the second wireless communication module is connected to the first wireless communication module to obtain the first sensing data; Or, the first communication module includes a first wireless communication module and a first wired communication module; The first wireless communication module is in communication connection with the controlled device; The second communication module includes a second wired communication module, and the second wired communication module is communicatively connected to the force detector; the second wired communication module is communicatively connected to the first wired communication module to obtain the first sensing data.

9. A balance control system, characterized in that: The invention comprises a controlled device and a balance control device according to any one of claims 1 to 8, wherein the controlled device and the balance control device communicate with each other.

10. The balance control system according to claim 9, characterized in that: The controlled device includes a display, and the controlled device controls the display to present a corresponding interface according to the first result.

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