CN102289981A - Programmable learning type robot - Google Patents
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Abstract
The invention relates to a programmable learning type robot, which comprises a mechanism, a card-reading module, a mainboard module, a remote controller, a power supply, an infrared sensing module, a touch module, a sound sensing module and a motor, wherein the mechanism comprises more than one plastic component, the plastic components are combined together, a mainboard component comprises the mainboard module with a mainboard chip and a mainboard housing, the surfaces of the plastic components and the mainboard shell are provided with round sockets or projections matched with the round sockets, the motor is arranged on the plastic components, and is connected with the mainboard module, the card-reading module is connected onto the mainboard module, and the remote controller can transmit infrared signals to the mainboard via infrared. The programmable learning type robot has the advantages that: the programmable learning type robot can be combined into different external structures and programmed by a user by way of card input, and can correspondingly act to respond by sensing external signals, and meanwhile, the mode of motion of the robot can be remotely controlled.
Description
One, technical field
The present invention relates to a kind of robot, particularly a kind of learning-oriented robot able to programme.
Two, background technology
Since the mankind in 1964 had invented first computing machine, human development just set up their relationship with him.People's clothing, food, lodging and transportion--basic necessities of life have the contribution of computing machine invariably.Computing machine comprises as the lower part, input equipments such as keyboard, mouse, outputs such as display screen, storage area, s operation control part etc.Development along with technology, people are all be integrated into a chip the inside with top such as input, output, storage and calculation function, he has the function of our computer, but he has not been again our computer truly, and we are the micro computer that is referred to as of his image.This micro computer in our daily life more and more widely, such as electromagnetic oven, electric cooker, electric heater etc.Owing to be widely used special technology, i.e. an embedded technology after having formed.The intelligent development of toy is imitated in the evolution of toy from simple external form.The effect of toy is leisure, especially is embodied in recreation and intelligence development, and key is can realize teaching through lively activities.The classification aspect of toy can be based on profile, content, complex class or suitable people's heap sort.The development trend of toy will realize that immediately following cartoon and popular characteristics photoelectric technology combines, and embodies environmental protection and healthy quality requirements.
Chinese invention patent application CN200710002962.0 discloses a kind of USB interface-based programmable robot toy and control method thereof.This patent application adopted mechanical control technology, speech recognition technology and USB interface technology, and the robot toy has been realized according to default instruction set, and the function of beat password is play on the gymnastics limit of taking exercises, limit.China utility model CN201020140255.5 discloses a kind of modular electronic mechanical hook-up, especially for the robot of home education or amusement.This utility model is by peripheral circuit, physical construction and remote-control handle, realizes advancing, retreats, functions such as turning, original place rotation, flashing light.China utility model CN200920110844.6 discloses a kind of intelligent toy.This utility model is disclosed to be a kind of intelligent vehicle with automatic identification path function, can the divorced from computer field programming.
The common feature of the technical scheme that above-mentioned patent or patented claim are related is, on physical construction, all can only adopt single robot architecture to be used, be confined to the vehicle robot especially, can not allow the user freely by simply splicing and combining into the robot of multiple structure and shape, can't write easily according to user's needs at the robot of difformity and structure and import computer program targetedly to robot, and realize ROBOT CONTROL by remote control simultaneously, and realize identification and the response function of robot to surrounding environment.Therefore, Robotics in the middle of the prior art for the user planform selectivity, computer program write the dirigibility of use and to environment identification feedback on bigger limitation is all arranged, can not give the user the bigger space of freely bringing into play, do not realize teaching through lively activities, limited effective exploitation its intelligence.
Three, summary of the invention
The technical problem to be solved in the present invention provides and a kind ofly can be combined as multiple structure and can import computer program by Card Reader, and the robot of free development and programing function can be provided for the user.
In order to solve the problems of the technologies described above, technical scheme of the present invention is a kind of learning-oriented robot able to programme, comprise mechanical hook-up, card reading module, mainboard assembly, telepilot, power supply, it is characterized in that: also comprise infrared sensing module, touching module, sound sensor module and motor; Described mechanical hook-up is constituted by more than one plastic assembly; Described mainboard assembly comprises mainboard module and the mainboard shell that contains the mainboard chip; The protuberance that described plastic assembly and mainboard case surface have circular groove or be complementary with described circular groove; Described motor places on the plastic assembly, and is connected with described mainboard module by circuit, and described mainboard module can be controlled motor and carry out positive and negative rotation, moves thereby can control described mechanical hook-up; Described card reading module is connected on the mainboard module, can read two-dimentional black and white card image and be transferred to mainboard; Described infrared sensing module is connected with described mainboard, and can measure obstacle distance and be transferred to mainboard, and described touching module is installed in can be measured the mechanical hook-up collision obstacle and be connected with mainboard module, can transmit signal by mainboard module; Described sound sensor module is connected with mainboard, sound can be converted into the signal that mainboard can receive and send mainboard to; Described telepilot can transmit control signal to mainboard by infrared ray.
Above-mentioned learning-oriented robot able to programme can also comprise display module, voice output module, and described mainboard can be controlled the sound output module and sound, and described display module can show the data-signal that mainboard sends.
Above-mentioned mechanical hook-up can also comprise wheel, but that described mechanical hook-up and mainboard assembly are combined into the machine of toy vehicle biped walking is human-like.
Above-mentioned motor can be two or more.
Tut sensing module and display module can be integrated on the mainboard module.
Above-mentioned display module can comprise more than one LED lamp.The function that the with good grounds mainboard module output signal of this LED light fixture shows.
Can also be connected with power-saving module between above-mentioned mainboard module and the power supply.Described power-saving module is not received continuously in system and can be made mainboard be in park mode when instruction reaches more than 1 minute, and described park mode can return to "on" position by pressing the button that is connected in the mainboard chip.
Above-mentioned telepilot comprises all right chip of telepilot, supply unit, infrared launcher and EEPROM (Electrically Erasable Programmable Read Only Memo) device, described infrared launcher can be launched the signal that described telepilot chip sends, and described EEPROM (Electrically Erasable Programmable Read Only Memo) device can be stored the code of infrared emission and be read.
Above-mentioned card reading module can also comprise photoelectric receiving tube and single-chip microcomputer, and described photoelectric receiving tube is connected with single-chip microcomputer, and described single-chip microcomputer is connected with described mainboard module.The data that described single-chip microcomputer can become the conversion of signals that photoelectric receiving tube is received the mainboard chip can read.
Above-mentioned mechanical hook-up can also be made up of an above metal assembly or other material member that is fit to the making robot.
The beneficial effect that technical scheme provided by the present invention can produce comprises, a kind of learning-oriented robot able to programme can be provided, can satisfy different user's demands, be combined into different contour structures, and can programme by the mode of card input by the user according to different structures, robot can be flexibly according to the induction of signals such as sound, infrared ray and collision and make the corresponding action reaction and the output of sound, shows signal, can realize the mode of motion of Remote robot simultaneously.Make user's intelligence obtain exploitation and growth by the manipulation robot.
Four, description of drawings
Fig. 1 is product structure figure of the present invention
Fig. 2 is card reader chip figure of the present invention
Fig. 3 is card reader sound control circuit figure of the present invention
Fig. 4 shows the charactron circuit diagram for two of card reader of the present invention
Fig. 5 is card reader filtering circuit figure of the present invention
Fig. 6 is a card reader photoelectric receiving tube circuit diagram of the present invention
Fig. 7 is mainboard chip circuit figure of the present invention
Fig. 8 is mainboard button partial circuit figure of the present invention
Fig. 9 is mainboard LED lamp control principle figure of the present invention
Figure 10 is a mainboard LED lamp principle control chart of the present invention
Figure 11 is a mainboard voice controller circuit diagram of the present invention
Figure 12 is a mainboard infrared sensor circuit diagram of the present invention
Figure 13 is circuit controller filtering circuit figure of the present invention
Figure 14 is infrared waves conformal analysis figure of the present invention
Figure 15 touches circuit diagram for mainboard of the present invention
Figure 16 is a mainboard sound control module circuit diagram of the present invention
Figure 17 is power-supply circuit figure of the present invention
Figure 18 is the present invention's four road motor-drive circuits and interface section circuit diagram
Figure 19 is mainboard input interface part of the present invention and interface signal treatment circuit figure
Figure 20 is communication interface of the present invention and program download interface circuit diagram
Figure 21 is an Electric Machine Control schematic diagram of the present invention
Figure 22 is a DC MOTOR CONTROL IC circuit diagram of the present invention
Figure 23 is telepilot chip circuit figure of the present invention
Figure 24 is remote controller signal emission figure of the present invention
Figure 25 is the power supply processing circuit figure of telepilot of the present invention
Figure 26 is remote control circuitry CPU program download circuit figure of the present invention
Figure 27 is a remote controller key circuit diagram of the present invention
Figure 28 is remote controller key LED lamp indicating circuit figure of the present invention
R represents that resistance, C represent that electric capacity, Q represent triode in each accompanying drawing, and LED represents diode, and VCC represents direct supply, and BAT represents the energy-conservation feeder ear of battery, and GND represents earth terminal.
Five, embodiment
Learning-oriented robot able to programme of the present invention comprises mechanical hook-up, mainboard assembly, card reading module and telepilot.Wherein mechanical hook-up and mainboard assembly constitute the profile of robot, and the mainboard module in the mainboard assembly can be realized parts execution such as the acceptance of voice signal, infrared signal, collision alarm and control motor, hummer and LED.Card reading module can realize the program finished to mainboard input port input by data line, the concrete action that telepilot can control robot.
Aspect the mechanical realization of robot, owing to adopt a plurality of plastic assemblies to be made up, the robot that therefore can be combined into multiple shape uses for learning recreation.As shown in Figure 1, mainboard assembly 2 mutually combines with vehicle wheel component 1, and mainboard assembly 2 interconnects by circuit and card reading module 3.The plastic assembly surface of mainboard assembly shell all have circular protrusions 4 and with this circular protrusions mating recess 5, therefore can different plastic assemblies be made up by groove and protruding agreeing with mutually.Difform a plurality of plastic assembly can be combined into the robot of various ways mutually.This robot both can adopt the biped walking mode, also can adopt wheel to advance pattern, and can have multiple moulding to arrange in pairs or groups in above-mentioned two kinds of patterns, therefore the limitation that robot in the past can only be used with fixing contour structures be can overcome, the unlimited imagination space of user and the mode of independent assortment given.Because mainboard module also places within the mainboard shell, and the mainboard case surface is also fluted and protruding, therefore mainboard assembly also can be used as the integrally-built part of robot and is used, and participates in the middle of the robot architecture makes up, and has increased the kind of robot combination and variation.
The robot mainboard is the core of entire machine robot system, it also is the connection control section of all modules, he has four input ports and four delivery outlets, promptly can accept outside information, as infrared signal, voice signal also can be controlled little module action, as the rotating of motor, outside loudspeaker buzzing etc.The brain that is equivalent to robot, the main instruction that receives from the Card Reader plate, and control corresponding module by the content of instruction and carry out corresponding action.Mainboard itself also can be realized certain little trick.It at first is the music hummer; Next is the alternating flashing light effect, and along with the rhythm of music, flashlamp realizes getting brighter gradually bright effect.Mainboard both can use as a little system board separately, also can form a big robot system with other peripheral module.Total system hardware is finished corresponding action under the control of master controller CPU, CPU adopts the new generation of AVR microprocessor ATMEGA64 of American ATMEL, controls the operation of total system by the program of CPU.
As shown in Figure 8, the selection aspect of keypress function, integrated five buttons on the mainboard, function is switch switch SW-PB (POWER) respectively, function selecting S1 (FUNCTION), initiating key S2 (START), left button S3 (LEFT), right button S4 (RIGHT), the switch switch is by the turn-on and turn-off of control power supply pipe BAT, realize the switching on and shutting down of system, button S1-S4 also directly links to each other with the feeler INT6 of cpu controller on hardware, and links to each other with ground by resistance PA1-PA4.When button is pressed, corresponding ports and the high level that has correspondence, program just can have been known by concrete key value by judging high level.
As shown in Figure 7, the realization aspect of mainboard module outside port importation, mainboard has four outer input interfaces, can receive from Infrared remote controller card reader, impact switch, the input signal of sound transducer.As shown in figure 19, this circuit is mainboard input interface part and interface signal treatment circuit, and wherein C206-C208 is an electric capacity, and R221-R222 is a resistance, and PE3-PE5, INT2-INT3, ADC0-ADC3 link to each other for the CPU respective pins.The interrupt pin of a CPU is received in the signal unifications of all outside inputs, and when having signal, produce accordingly and interrupt when whenever, thus can fast processing and the incident of response external.When corresponding ports had input signal, the LED of corresponding port can luminous the indication.
As shown in figure 13, the filtering circuit that the voltage that this part major function is the circuit controller control stabilization designs is connected with power supply after capacitor C 321, C322, the C234 parallel connection, and C234 connects direct supply VCC.As shown in figure 12, during the input of infrared ray sensor, infrared ray sensor function major function is to be used for keeping away barrier, the disturbance in judgement thing.By the carrier wave of a branch of 38KHZ of an infrared transmitting tube 2898 elder generations emission, when there was barrier the front, receiving tube 2899 also received corresponding carrier wave, thereby made program can control other module, as controlling motor steering etc.Infrared obstacle avoidance Fundamentals of Sensors, infrared ray sensor are utilized the subelement to launch and are accepted Infrared and move and design.The mode of infrared and reception has two kinds, first direct-injection type, and it two is reflective.Direct-injection type refers to the relative two ends that are placed in emission and controlled substance with receiving tube of luminotron, and is middle at a distance of certain distance; Reflective finger luminotron with receiving tube side by side, the unglazed all the time photograph of receiving tube at ordinary times, when only the Infrared of sending at luminotron ran into reverberation, receiving tube received that the Infrared that reflects just works.In this module, emitting diode and infrared receiving diode are installed side by side, formed reflective reception, control infrarede emitting diode earlier, the Infrared of emission 940NM is utilized infrared reception photoelectric tube then, receives the signal that reflects.And the signal that reflects handled, send with processor and handle.
The input of Infrared remote controller mainly is the instruction of accepting from telepilot, and input port need connect an incorporate infrared receiving terminal.As shown in figure 14, when pressing telepilot, launch one group of control signal, a complete control signal comprises lead code 4001, identification code 4002,4004, operational code 4003,4005.Lead code all is that a high level adds a low level usually, is the low level that the high level of 9ms adds a 4.5ms such as this.Next be user identification code, the coding that the present embodiment telepilot is adopted is 8 a user identification code.The purpose of identification code can discard after allowing controlled equipment (TV, air-conditioning etc.) receive the signal of other controllers exactly as early as possible, and identification code is different just need not to be continued to have received this signal in case detect.Next also can send the radix-minus-one complement of identification code, the data content that why sends all can be with its radix-minus-one complement to mainly contain effect, is equivalent to send data content twice, increases data redundancy, can be used for detecting error code.The key of program decoding is how to discern 0 and 1,0 and 1 all begins with the low level of 0.56MS, different is the width difference of high level, and 0 is 0.56MS, and 1 is 1.68MS, so must be according to the width difference 0 and 1 of high level, if after the 0.56MS low level, trigger is after the 0.56MS, if the level of reading is low, illustrate that this position is 0, otherwise be 1, for the purpose of reliable, time-delay must be longer than 0.56MS, but can not surpass 1.12MS, this position is 0 else if, and what read is exactly the high level of next bit, therefore get half of value of high-low level, and 0.84MS.
As shown in figure 15, in fact the input aspect of impact switch, impact switch inside are exactly a switch, and when stressed, switch ends is connected.When not stressing, switch is because the effect of spring disconnects a termination power of switch, the input port of a termination CPU again.When connecting, high level appears in the input port of CPU, thereby can discern the disconnection and the connection of impact switch.Touching sensor working is: after touching switch and being pressed, the spring leaf of switch inside is linked together, and after switch was released, spring leaf separately.We pick out connecting line at the spring leaf two ends, and a connecting line is connect low level, i.e. ground connection, and another root is received the input port of controller, and after switch was pressed, the input end level of controller was drawn as low level, thereby carried out certain action.
As shown in figure 16, the input aspect of sound transducer, sound transducer is similar to clapping hands with regard to the device of bright lamp in the corridor.On the circuit, because volume restrictions has adopted the amplification and the judgement of integrated circuit (IC) the realization sound of ultra-small volume, after acoustic pickup MIC inputs to IC with the voice signal amplification of receiving, when the signal of sensing surpasses the decibel of setting, can export a level to CPU.The sound transducer module utilizes amplifying circuit that voice signal is amplified, and when the loudness of sound reaches certain decibel value, exports a high-low level, thereby allows the module of mainboard perception outside sound information.The composition of sound transducer comprises part of sound collection part, acoustic processing part harmony signal to noise ratio.(1) sound collection part, i.e. MIC head.Adopt electret MIC head, he is made up of two metallic films; When sound wave caused its vibrations, the difference of metallic film spacing had caused the difference of electric capacity, and produced electric current.(2) acoustic processing part adopts rail-to-rail single supply operational amplifier to form, and electric current or voltage signal with input are amplified to certain multiple.Because the electric current of being brought by the MIC head is very little, the voltage that converts to is also very little, is not enough to distinguish the form of high-low level, therefore, adopts operational amplifier to amplify signal is changed between 0-5V.(3) sound rating unit, the signal of operational amplifier is carried out voltage ratio, when the signal of gathering is smaller, the voltage of output is also smaller, and when not greater than setting value, thinking does not have voice signal to come in, rating unit will be in lead-in wire 2900 output high level, when greater than setting value, thinking has voice signal to come in, the rating unit output low level.
As shown in figure 20, this figure circuit is mainly communication interface and program download interface, and C299 is an electric capacity, and RXD, TXD link to each other with mainboard chip respective pins respectively, can realize for the transmission of communication signal with for the download of being programme.
The mainboard module output comprises Electric Machine Control, voice output and demonstration output.As shown in figure 21, the control of motor realizes by driver IC circuits.Integrated two motor-driven IC on the mainboard, each drive IC can be controlled the action of No. 2 motors, and the controller A of drive IC, B pin are received the controller of CPU respectively, and A, B pin have four kinds of states, when A, B pin all are high level and low level, motor stops, and when the A pin is high, the B pin is when low, motor just changes, the A pin is low, when the B pin is high, and the motor counter-rotating.As long as the high ordinary telegram of control pin is flat, makes up the just commentaries on classics that just can control motor, reverse and stop on the program.Pin C, D also adopt similar principle of work.As shown in figure 18, circuit function is four road motor-drive circuits and interface section among the figure, OUTAA-OUTDD, OUTA-OUTD link to each other respectively at motor-driven IC respective pins, and PB0, PB2-PB5, TCK, TMS, TDO, TDI link to each other with mainboard CPU respective pins respectively.As shown in figure 22, direct current generator can drive by control IC.
As shown in figure 11, the control realization aspect of voice output is integrated with a hummer SPEAKER201 on the mainboard, when carrying out the different operating action, sends the sound of different frequency, reminds the operator.Triode Q202 is connected with the PB4 pin of mainboard CPU by resistance R 213.Hummer SPEAKER201 controls by triode Q202, provide different frequencies by CPU, by the switch of control triode, thereby the control loudspeaker send different sound by not existing frequency, and relevant software please refer to the source generation and the process flow diagram of corresponding establishment in advance.Hummer is by being applied to the voltage difference at two ends, thereby produces sound.He is a kind of electro-acoustic transducing device.
As shown in Figure 9, aspect the realization of LED lamp demonstration, varicolored lamp is arranged on the mainboard, the importation is green pilot lamp, output is red pilot lamp, each LED lamp is connected with cpu port PG0-3, PD4-6 by a resistance respectively, and the LED lamp can be gradually bright with getting brighter of realization LED according to the frequency of music, and flicker.Get brighter and gradually bright realization realize by the pulse modulation technology of the PWM of CPU, promptly by changing conducting and the shut-in time of LED in 1 second, thereby allow people's eyes feel the technology of the brightness of LED.Led module is by being applied to the voltage difference at two ends, thereby sends different light, and he is a kind of electro-optical conversioning device.
As shown in figure 17, mainboard module can be realized energy-saving mode by software.The realization aspect of energy-saving mode, consider the volume problem of robot, optimum system choosing adopts No. 5 battery BT1-BT4 power supplies of 4 joints, and by the power supply of energy-saving electric power section BAT end, therefore the economize on electricity to power supply has proposed certain requirement, system wants to turn-off the power supply of total system the free time, make system be in energy-saving mode.When wanting the entering of energy-saving mode, when the button of mainboard is surpassing certain hour (about a minute) and does not have key to press in addition, at first loudspeaker have a prompting, when also not having key to press after continuous three promptings, loudspeaker enter energy-saving mode after sending certain sound, triode Q203, the Q204 of control power supply closes, and CPU is in the power-down mode operation.Realize waking up of energy-saving mode, when having any key to press, in INTO place input signal, all can be with system wake-up, and in running order again.
In the remote control circuitry part, telepilot and common remote controller that robot of the present invention uses have certain difference, in the address code part of telepilot, are added with an address code in the program.As shown in figure 27, select by one of them button, whenever by once, select an address, by once, select another address again, by getting back to first address after four times, button simultaneously can luminous the indication to LED should be arranged.At most four group addresss can be arranged, that is to say, a telepilot can send four different group codes with a key after setting.Thereby can realize to realize interesting recreation such as robot soccer game with a telepilot control quadruplet robot.
Telepilot hardware mainly is made up of four parts, comprises CPU control section, power control part branch, infrared emission part, EEPROM (Electrically Erasable Programmable Read Only Memo) (EEPROM) emission code storage part.(1) as shown in figure 23, the CPU control section adopts STC89LE52QFP type integrated circuit, because whole telepilot is powered by two batteries, power unit is provided by No. 7 batteries of two joints, in order to guarantee the serviceable life of battery, has adopted the V series CPU of low-power consumption to come realization program and control section.R308, R319, R310-R314 are preferably 10K.(2) power control part branch: power control part parallel circuit as shown in figure 25, capacitor C 301 is preferably 10 μ F, and resistance R 313 is preferably 10K.Battery when not working, is in dormant state at ordinary times, makes other parts reduce the consumption of electric energy, when needs use, with the key of appointment CPU is waken up from the leisure state, reworks.(3) infrared emission part.As shown in figure 24, infrared emission adopts two infrared transmitting tube LED307, LED308 series connection, mainly is the area that enlarges infrared reception.The 38KHZ carrier wave of radiating portion is produced by single-chip microcomputer fully, and by the input of IR_SEND end.On hardware, realize the amplification of electric current by three grades of triode Q305, Q306 and Q303 amplifying circuit.Resistance R 301, R302 are preferably 1K.(4) EEPROM emission code storage part is mainly used to store the code of infrared emission, and an emission code comprises initial code, end code, numeric data code, compositions such as address code, all codes are all deposited among the EEPROM of single-chip microcomputer inside, directly call when needing to get final product.As shown in figure 26, circuit CPU program is downloaded partly and is linked to each other with telepilot chip respective pins by related circuit control RXD, TXD.
The telepilot software section course of work mainly is divided into four-stage.(1) after the start, system is in detected state, and main the detection has or not button to press.(2) whether if there is button to press, detecting is the button that has arousal function, if then start telepilot CPU work.(3) under the default situations, the address code of telepilot CPU (being ID) is ID0, the corresponding infrared sign indicating number of his institute of corresponding emission.As Figure 28 is remote controller key LED lamp indicating circuit.Y1 is a quartz oscillator.Capacitor C 303, C304 are preferably 20pF (4) if any revising corresponding address code, then change corresponding infrared sign indicating number.(5) do not have button to press as surpassing in half a minute, enter dormant state.
Card reading module is the principle according to two-dimension code, utilizes the content recognition of photoelectric conversion technique realization to card.The card reading module chip adopts ATMEGA8_TQFP32 type integrated circuit.The principle of institute's Card Reader sheet is: card is divided into up and down two row codings, by chequered with black and white bar code by certain regularly arranged forming; The top coding of card is a reference number, is formed by chequered with black and white; The lower part of card is digital coding, and the mode that reads is when last reference number becomes black by leucismus, reads down the value of scheduling sign indicating number, when read be black the time, think that the data of reading are 1, when reading white, think that data are 0; Photoelectricity transformation principle: the mode that opto-electronic conversion adopts is to be arranged above and below by two photoelectric receiving tubes to form, the two rows of spacing and card are arranged side by side, photoelectric receiving tube is when the light of adularescent, the pipe conducting, when being black, not conducting of pipe, single-chip microcomputer can read corresponding 0 and 1 value according to the conducting state of pipe.
Card reading module hardware is realized.(1) data read of card: as shown in Figure 6, the data that card utilizes two photoelectric receiving tube U102, U103 to transmit, make up, after obtaining a string data, compare with the card data of depositing inside, when the card data of correspondence conformed to, loudspeaker rang one, and demonstrated the internal number of card on charactron.(2) data transmission of card: the data that single-chip microcomputer becomes mainboard to read to lead to the data-switching that obtains, send mainboard to by serial ports ADC6, ADC7, load mode is for by by the DOWM button on the plate of swiping the card (D key); (3) data presentation of card and prompting.As shown in Figure 4, two elements of DS1, DS2 are 7 sections positive altogether charactrons.Data show on the positive charactron altogether that at two found if any correct card, charactron dodges twice, show corresponding card coding simultaneously.As shown in Figure 3, triode Q103 is connected with Card Reader plate SPEAKER02 pin by resistance R 107.When data were correct, loudspeaker SPEAKER102 sent clear and melodious sound.When digital mistake, loudspeaker utter a bass voice.
The software of card reading module is realized relating generally to data communication format and charactron display mode: (1) data communication format is the serial communication form of The data standard, and baud rate is 9600,8 bit data positions, 1 bit check position, 1 position of rest.(2) the charactron display mode is two sun altogether, and program constantly scans realization.
Claims (10)
1. learning-oriented robot able to programme, comprise mechanical hook-up, card reading module, mainboard module, telepilot, power supply, it is characterized in that: also comprise the infrared sensing module, the touching module, sound sensor module and motor, described mechanical hook-up is constituted by more than one plastic assembly, described mainboard assembly comprises mainboard module and the mainboard shell that contains the mainboard chip, the protuberance that described plastic assembly and mainboard case surface have circular groove or be complementary with described circular groove, described motor places on the described plastic assembly, and be connected with described mainboard module, described card reading module is connected on the mainboard module, described infrared sensing module is connected with described mainboard, described touching module is installed in the mechanical hook-up front portion and is connected with mainboard module, described sound sensor module is connected with mainboard, and described telepilot can transmit control signal to mainboard by infrared ray.
2. learning-oriented robot able to programme according to claim 1 is characterized in that: also comprise display module, voice output module, described mainboard can be controlled the sound output module and sound, and described display module can show the data-signal that mainboard sends.
3. learning-oriented robot able to programme according to claim 2, it is characterized in that: described mechanical hook-up also comprises wheel, but that described mechanical hook-up and mainboard assembly are combined into the machine of toy vehicle or biped walking is human-like.
4. learning-oriented robot able to programme according to claim 3 is characterized in that: described motor is two or more.
5. learning-oriented robot able to programme according to claim 4 is characterized in that: described sound sensor module and display module are integrated on the mainboard module.
6. learning-oriented robot able to programme according to claim 5 is characterized in that: described display module comprises more than one LED lamp.
7. according to claim 1 or 6 described learning-oriented robots able to programme, it is characterized in that: also be connected with power-saving module between mainboard module and the power supply, described power-saving module is not received continuously in system and can be made mainboard be in park mode when instruction reaches more than 1 minute, and described park mode can return to "on" position by pressing the button that is connected in the mainboard chip.
8. learning-oriented robot able to programme according to claim 7, it is characterized in that: telepilot comprises telepilot chip, supply unit, infrared launcher and EEPROM (Electrically Erasable Programmable Read Only Memo) device, described infrared launcher can be launched the signal that described telepilot chip sends, and described EEPROM (Electrically Erasable Programmable Read Only Memo) device can be stored the code of infrared emission and be read.
9. learning-oriented robot able to programme according to claim 8, it is characterized in that: described card reading module comprises photoelectric receiving tube and single-chip microcomputer, and described photoelectric receiving tube is connected with single-chip microcomputer, and described single-chip microcomputer is connected with described mainboard module.
10. according to claim 1 or 9 described learning-oriented robots able to programme, it is characterized in that: described mechanical hook-up can also be made up of an above metal assembly or other material member that is fit to the making robot.
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| CN2011101473795A CN102289981A (en) | 2011-06-02 | 2011-06-02 | Programmable learning type robot |
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| CN2011101473795A Pending CN102289981A (en) | 2011-06-02 | 2011-06-02 | Programmable learning type robot |
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| CN106409125A (en) * | 2016-12-20 | 2017-02-15 | 中国电子科技集团公司第二十研究所 | Shock absorption type modular AGV platform used for teaching and research and easy to produce and assemble |
| CN107168143A (en) * | 2016-03-07 | 2017-09-15 | 拉克洛博公司 | Modular system and its update method, and the robot system based on module |
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| CN107680456A (en) * | 2017-06-13 | 2018-02-09 | 杭州小目标电子科技有限公司 | It is a kind of be used to may be programmed building blocks model build component |
| CN107866080A (en) * | 2016-09-30 | 2018-04-03 | 珠海市杰理科技股份有限公司 | Toy control method and device and there is its toy |
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| CN109166404A (en) * | 2018-10-12 | 2019-01-08 | 山东爱泊客智能科技有限公司 | The implementation method and device of self-editing process control based on shared controllable model |
| CN109283863A (en) * | 2017-07-19 | 2019-01-29 | 蒋运超 | A kind of study programming robot vehicle |
| CN110075550A (en) * | 2018-01-25 | 2019-08-02 | 智高实业股份有限公司 | Program playset |
| CN110637336A (en) * | 2017-03-27 | 2019-12-31 | 卡西欧计算机株式会社 | Programming device, recording medium, and programming method |
| CN111489618A (en) * | 2020-06-17 | 2020-08-04 | 北京赛思博雅科技有限公司 | Card-inserting type single-chip microcomputer suite for computer programming teaching |
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| CN109283863A (en) * | 2017-07-19 | 2019-01-29 | 蒋运超 | A kind of study programming robot vehicle |
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| CN108534900A (en) * | 2018-03-13 | 2018-09-14 | 深圳市优必选科技有限公司 | Color sensing device for robot |
| CN109166404A (en) * | 2018-10-12 | 2019-01-08 | 山东爱泊客智能科技有限公司 | The implementation method and device of self-editing process control based on shared controllable model |
| CN111489618A (en) * | 2020-06-17 | 2020-08-04 | 北京赛思博雅科技有限公司 | Card-inserting type single-chip microcomputer suite for computer programming teaching |
| CN113781873A (en) * | 2021-09-17 | 2021-12-10 | 泰顺县华工启明星培训学校有限公司 | Artificial intelligence teaching remote wireless programming mainboard |
| CN113781873B (en) * | 2021-09-17 | 2023-05-26 | 泰顺县华工启明星培训学校有限公司 | Remote wireless programming mainboard for artificial intelligence teaching |
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