CN106345129B - A kind of control system of intelligent toy robot - Google Patents
A kind of control system of intelligent toy robot Download PDFInfo
- Publication number
- CN106345129B CN106345129B CN201610910307.4A CN201610910307A CN106345129B CN 106345129 B CN106345129 B CN 106345129B CN 201610910307 A CN201610910307 A CN 201610910307A CN 106345129 B CN106345129 B CN 106345129B
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- host computer
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- control
- control cpu
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/26—Magnetic or electric toys
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H5/00—Musical or noise- producing devices for additional toy effects other than acoustical
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/06—Electrically-operated educational appliances with both visual and audible presentation of the material to be studied
- G09B5/065—Combinations of audio and video presentations, e.g. videotapes, videodiscs, television systems
Abstract
The invention discloses a kind of control systems of intelligent toy robot, it is characterised in that control system, including circuit control system and software control system；Wherein circuit control system main control unit circuit, head control unit circuit and lower part control unit circuit are connected with each other by system bus to each other；Using Android operation system core and Android application software.Its advantage is that: control module, it is compact-sized, coordinated control between each unit circuit is allowed using system bus mode, is shared out the work and helped one another, is conducive to system and extends for greater flexibility.It is connect with internet, realizes online upgrading, extends the functions such as function, network interdynamic, network monitoring in grade, facilitate real-time control of the parent to juvenile's situation.Flexibly install or unload relevant APP；Multimedia can enrich to unity of form and spirit the expression of expression, well interact with children, learn child in game is played, achieve the purpose that education, moreover it is possible to preferably excite the creativity of children.
Description
Technical field
The present invention relates to a kind of robot toy, in particular to a kind of control of the intelligent toy robot of children's early education playfellow
System processed.
Background technique
Current children's early education product, such as learning machine, early learning machine, point reader, Story machine etc. are all in children with ocular
Ice-cold equipment, most of is all the mode of learning teacher-centered in this way by way of simply playing video, story, sound
Interaction mode is single, and the time is slightly long, and children are easy to produce worry, it is difficult to which the enthusiasm for muchly transferring children for learning makes to learn
Dry as dust, the effect is unsatisfactory for study.Moreover, the robot toy with touch screen, due to the positions such as its neck joint
The freedom degree of movement is few, and some neck joints are directly ignored as, and head directly arranges physically, although such scheme
Simply, but simultaneously the aesthetics for also influencing the appearance of robot toy, prevent robot toy is from vivider simulation true man
Various movements and expression.
Existing children's early education product generally uses single-chip embedded control system, and controling circuit structure is relatively simple
Single, function is few, without network function, it is even more impossible to facilitate the Android operation system for loading application software, cause the later period to exist and expand
Malleability energy is poor, is unable to the defects of online upgrading.
Summary of the invention
Lack control system to solve the problems, such as that the control system of existing children's early education product exists, the present invention provides one kind
Function is more, that there are scalabilities is good, can online upgrading intelligent toy robot control system.
To achieve the above object, the scheme that the present invention takes is: a kind of control system of intelligent toy robot, including electricity
Path control system and software control system；It is characterized by: circuit control system includes load software control system kernel software
Main control unit circuit, control the head control unit circuit of head movement, and control body part and trick piecemeal activity
Lower part control unit circuit, main control unit circuit, head control unit circuit and lower part control unit circuit pass through to each other
System bus is connected with each other.Make main control unit circuit, head control unit circuit and lower part control single using system bus mode
Coordinated control between first circuit, is shared out the work and helped one another, and main control unit circuit is freed, and is conducive to system and is expanded for greater flexibility
Exhibition.
As a further illustration of the above scheme, aforementioned main control unit circuit includes following circuits module: master cpu, with
And the master control operation circuit being connect with master cpu；Master control operation circuit includes bluetooth wifi module, microphone circuit, power amplifier electricity
Road, touch screen module and gravity sensor；Wherein, power amplifier connects with the speaker electrical being set to inside intelligent toy robot
It connects；Microphone circuit is connect with the microphone electric being set to inside intelligent toy robot.Bluetooth wifi module, Mike's wind-powered electricity generation
As basic circuit module, the control system of intelligent toy robot can for road, power amplifier, touch screen module and gravity sensor
To be connect by bluetooth wifi module with internet, realizes online upgrading, extends function, network interdynamic, network monitoring etc. in grade
Function significantly facilitates real-time control of the parent to juvenile's situation.
As a further illustration of the above scheme, aforementioned head control unit circuit includes following circuits module: head control
CPU processed and the head operation circuit being connect with head control CPU；It includes head boot-strap circuit, power supply pipe that head, which runs circuit,
Manage circuit, lamp and touch circuit, head servo driving circuit.
As a further illustration of the above scheme, aforementioned lower part control unit circuit includes following circuits module: lower part control
CPU processed and the lower part operation circuit being connect with lower part control CPU；Lower part operation circuit includes infrared circuit, LED drive
The touching of dynamic circuit, motor-drive circuit, lower part servo driving circuit, lower part boot-strap circuit, knob detection circuit and hand foot
Touch circuit.
As a further illustration of the above scheme, aforementioned system bus is iic bus.
As a further illustration of the above scheme, the head servo driving circuit and control intelligence of aforementioned head operation circuit
The head steering engine of the headwork of toy robot is electrically connected；Lamp and touch circuit control are set to the head of intelligent toy robot
Outside the forehead lamp breath light in portion, the button and DC power supply jack set on the head of intelligent toy robot are also controlled；Power supply pipe
It manages circuit and is electrically connected with the internal charging battery for being set to intelligent toy robot.
As a further illustration of the above scheme, the lower part servo driving circuit and control intelligence of aforementioned lower part operation circuit
The hand steering engine of toy robot hand motion is electrically connected；Knob detection circuit and the back for being set to intelligent toy robot
Knob electrical connection；The touch circuit of hand foot and the button of the hand foot at the back for being set to intelligent toy robot are electrical
Connection；LED drive circuit is connect with the abdomen RGB breath light for the abdomen for being set to intelligent toy robot；Infrared circuit with
Set on the infrared sensor connection of the sole of intelligent toy robot；Motor-drive circuit and control intelligent toy robot foot
The motor of movement is electrically connected.
As the further explanation of above scheme, aforementioned software control system includes the peace being loaded into master cpu
Tall and erect operating system kernel and Android application software, the head control program being loaded into head control CPU, and it is loaded into lower part
The lower part controlled in CPU controls program；Wherein, Android operation system core is mounted with bluetooth wifi driver, microphone drives
Dynamic program, power amplifier driver, touch screen driver and gravity sensor driver；Wherein, master cpu and Android operation system
System core is defined as host computer.
Further illustrate, wherein aforementioned head control program the following steps are included:
Each module initialization: after system electrification, each circuit module in head control unit circuit is initialized；
During steering engine is returned, head controls CPU and issues reset instruction to the head steering engine of control headwork, it is ensured that intelligent toy
The head of robot returns normal position；
Pull-up PKEY makes host computer be switched on: head controls CPU and issues instruction, powers on for master control element circuit；
Host computer ends machine: receiving host computer booting by iic bus and completes signal；
Forehead lamp breath light effect: if head control CPU does not receive host computer and issues booting completion signal, head is opened
Ceiling light breath light waits host computer booting to complete；
Into normal operating conditions: if head control CPU receives host computer and issues booting completion signal, initially entering
Normal operating conditions；
Whether long-pressing back: enter normal operating conditions after, head control CPU scan back button whether be in regulation
Long-time down state；
Into shutdown process: notice host computer shutdown, if scanning result be as defined in back button is in for a long time by
Lower state, head control CPU and then send off signal to host computer, and notice host computer carries out shutdown movement；And continue to sweep downwards
Retouch whether back button is pressed；
Whether pat back: if scanning result is long-time down state as defined in back button is not in, being in
The beating state that short time presses；
Notice host computer: if scanning result is the beating state that back button is in that the short time presses, head control
CPU then sends to host computer and pats signal, and the Android application software run in host computer is notified to implement specific function；And continue to
Whether lower scanning head button is pressed；
Whether touch head: if the button that scanning result is not back is in the beating state that the short time presses, continue to
Whether the button of lower scanning head is pressed；
Notice host computer: if the button that scanning result is head is in the touch condition pressed, head control CPU to
Host computer, which is sent, touches head signal, and the Android application software run in host computer is notified to implement specific function；
Whether DC is inserted into: if scanning result is not that head button is in the touch condition pressed, whether detecting DC power supply
Insertion；
Notice host computer: if detection DC power supply is insertion, host computer is notified to call power management subprogram；And it examines again
Survey whether DC power supply is inserted into；
Whether DC is inserted into: no matter being had and is not detected that DC power supply is inserted into, be stabilization, detects whether DC power supply is inserted into again；
Notice host computer: if detection DC power supply is insertion, host computer is notified to call power management routines；
Detect battery capacity: then, head controls CPU and detects battery capacity；
Notice host computer: head control CPU will test battery capacity and be sent to host computer；
Whether IIC disconnects: head control CPU then detects whether iic bus disconnects；
Super automatic shutdown after a period of time surpasses after a period of time if control CPU detection iic bus in head disconnects
Automatic shutdown；
Whether host computer has new command, if control CPU detection iic bus in head is in normal condition, receives host computer
Whether the signal sent, host computer have new instruction to need to handle；
It executes instruction: if host computer has new instruction to need to handle, executing new instruction；After having executed instruction, again
It is recycled into normal operating conditions step；
Into normal operating conditions: if host computer is that not new instruction needs to handle, being recycled into normal work again
The step of making behind state step and normal operating conditions step.
In addition, aforementioned lower part control program the following steps are included:
Each module initialization: after system electrification, each circuit module in the control unit circuit of lower part is initialized；
During master clock switching steering engine is returned: lower part controls CPU and issues reset instruction to the steering engine of control hand motion, and to master
Clock switches over the hand position normal position of recurrence identical as host computer, and ensuring intelligent toy robot；
Host computer ends machine: receiving host computer booting by iic bus and completes signal；
Abdomen RGB breath light: if lower part control CPU does not receive host computer and issues booting completion signal, abdomen is opened
RGB breath light waits host computer booting to complete；
Into normal operating conditions: if lower part control CPU receives host computer and issues booting completion signal, initially entering
Normal operating conditions；
Whether back knob rotates: after entering normal operating conditions, whether control CPU detection back knob in lower part is in rotation
Turn state；
Rotation amount is notified into host computer: if control CPU detection back knob in lower part is in rotation status, lower part control
The rotation amount signal of back knob is sent to host computer by CPU, and it is specific to notify that the Android application software run in host computer is implemented
Function of measuring；And whether the button for continuing the body and hands foot of scanning downwards position is pressed；
Whether each position key is pressed: if lower part control CPU detection back knob be not in rotation status, continue to
Whether the button of lower scanning body and hands foot position is pressed；
Notice host computer: if the button of lower part control CPU scan body and hands foot position has wherein one or more to press,
Host computer is notified to implement corresponding function；And continue whether detection sole infrared facility downwards is in vacant state；
Sole is infrared hanging: if the button of lower part control CPU scan body and hands foot position is not pressed, continuing downward
Whether detection sole infrared facility is in vacant state；
Motor reversion notice host computer: if lower part control CPU detects that sole infrared facility is in vacant state, to foot
The motor in portion issues toggling command, and sends correlated condition signal to host computer, and notice host computer carries out relevant treatment；And continue
Whether detection IIC disconnects downwards；
Whether IIC disconnects: if lower part control CPU detects that sole infrared facility is not in vacant state, lower part control
CPU then detects whether iic bus disconnects；
Chest red light is bright: if lower part control CPU then detects iic bus disconnection, chest is lighted in control CPU sending in lower part
The instruction of red light；And continue whether detection infrared induction module downwards opens；
It is infrared whether to open: if lower part control CPU then detects iic bus and is in normal condition, to continue detection downwards
Whether infrared induction module opens；
Infrared unlatching: if lower part control CPU then detects infrared induction module unlatching, infrared induction module is opened；And
Continue whether detection infrared induction module downwards opens；And detect whether host computer has new instruction to need to handle；
Whether host computer has new command: if lower part control CPU then detects infrared induction module and do not open, detecting upper
Whether machine has new instruction to need to handle；
It executes instruction: if host computer has new instruction to need to handle, executing new instruction；After having executed instruction, delay
25ms；
Delay 25ms: if the not new instruction of host computer needs to handle, be delayed 25ms；Then it is recycled into again normal
Working condition step；
Into normal operating conditions: after delay 25ms, being recycled into normal operating conditions step again and work normally shape
The step of behind state step.
From the foregoing, it will be observed that the present invention mainly has the advantage that control module, compact-sized, circuit control system is using system
System bus mode allows coordinated control between each unit circuit, shares out the work and helps one another, main control unit circuit is freed, is conducive to
System extends for greater flexibility.It is connect with internet, realizes online upgrading, extends the function such as function, network interdynamic, network monitoring in grade
Can, significantly facilitate real-time control of the parent to juvenile's situation.Using Android operation system core (Android) and Android using soft
Part can install or unload as needed relevant application software (APP), very flexibly.Intelligent hand can also be extended as needed
Machine function realizes online shopping mall's function in conjunction with server-side.Such as expression animation can be shown by touch screen module, cooperate loudspeaker
The sound of sending, can express the different emotions such as happiness, anger, grief and joy；The states such as hungry, thirsty can also be showed；The limbs of control are dynamic
Work can enrich to unity of form and spirit the expression of expression, preferably well interact with children, intelligent toy robot is with regard to childish small
Partner gives full play to enjoyment and enthusiasm that children interact therewith.May then pass through touch screen touch function can make it is withered
Dry study video becomes the learning game with more interaction contents, so that child is at play middle study, parent is helped to reach religion
The purpose educated, moreover it is possible to preferably excite the creativity of children.This intelligent toy robot " partner " and international endorsement
" partner's education " theory communicates.
Detailed description of the invention
Fig. 1 is the schematic block circuit diagram of embodiment of the present invention.
Fig. 2 is the system control process figure of head control unit.
Fig. 3 is the system control process figure of lower part control unit.
Fig. 4 is the perspective view of the intelligent toy robot of one embodiment of the present invention.
Part drawing reference numeral explanation:
1- main control unit circuit, 2- head control unit circuit, the lower part 3- control unit circuit, 11- master cpu, 12-
Bluetooth wifi module, 13- microphone circuit, 14- power amplifier, 15- touch screen module, 16- gravity sensor；The control of the head 21-
The head CPU processed, 22- boot-strap circuit, 23- electric power management circuit, 24- lamp and touch circuit, the head 25- servo driving circuit；31-
Lower part controls CPU, 32- infrared circuit, 33- LED drive circuit, 34- motor-drive circuit, the lower part 35- servo driving electricity
Road, the lower part 36- boot-strap circuit, 37- knob detection circuit, the touch circuit of 38- hand foot.
411- intelligent toy robot, the head 412-, 413- hand, 414- body, 415- foot, 416- neck
Portion, 417- touch screen, 418- steering engine, 419- knob, 420- forehead lamp breath light, 421- abdomen RGB breath light, 422-
DC power supply jack, 423- walking mechanism, 424- walking driver gear, 425- walking passive gear, 426- infrared inductor,
427- camera, 428- button.
Specific embodiment
With reference to the accompanying drawing and preferred embodiment, the present invention and its advantageous effects are carried out further specifically
It is bright.
Referring to Fig. 1 ~ Fig. 4, the control system of intelligent toy robot includes circuit control system and software control system；Its
Be characterized in that: circuit control system includes the main control unit circuit 1 of load software control system kernel software, controls head movement
Head control unit circuit 2, and control body part and trick piecemeal activity lower part control unit circuit 3, master control list
First circuit 1, head control unit circuit 2 and lower part control unit circuit 3 are connected with each other by system bus to each other.
Aforementioned main control unit circuit 1 includes following circuits module: master cpu 11 and the master control connecting with master cpu 11
Run circuit；It includes bluetooth wifi module 12, microphone circuit 13, power amplifier 14, touch screen module 15 that master control, which runs circuit,
With gravity sensor 16；Wherein, power amplifier 14 is connect with the speaker electrical being set to inside intelligent toy robot；Microphone
Circuit 13 is connect with the microphone electric being set to inside intelligent toy robot 411.Wherein, master cpu 11 includes model
RK3188 processor and its periphery auxiliary circuit.
Preferably, head control unit circuit 2 includes following circuits module: head controls CPU21 and controls with head
The head of CPU21 connection runs circuit；It includes head boot-strap circuit 22, electric power management circuit 23, lamp and touching that head, which runs circuit,
Touch circuit 24, head servo driving circuit 25.Wherein, control CPU21 in head includes model stm8s103 processor and its week
Side auxiliary circuit.
Preferably, lower part control unit circuit 3 includes following circuits module: lower part controls CPU31 and controls with lower part
The lower part of CPU31 connection runs circuit；It includes infrared circuit 32, LED drive circuit 33, motor driven that lower part, which runs circuit,
Circuit 34, lower part servo driving circuit 35, lower part boot-strap circuit 36, knob detection circuit 37 and hand foot touch circuit
38.Wherein, control CPU31 in lower part includes model stm8s207 processor and its periphery auxiliary circuit.
Preferably, system bus is iic bus.
Preferably, the head of the head servo driving circuit 25 of head operation circuit and control intelligent toy robot 411
The head steering engine of movement is electrically connected；Lamp and the control of touch circuit 24 are set to the forehead lamp on the head of intelligent toy robot 411
Outside breath light, the button and DC power supply jack set on the head of intelligent toy robot 411 are also controlled；Electric power management circuit 23
It is electrically connected with the internal charging battery for being set to intelligent toy robot 411.
Preferably, the lower part servo driving circuit 35 of lower part operation circuit and control 411 hand of intelligent toy robot are dynamic
The hand steering engine of work is electrically connected；Knob detection circuit 37 and the knob at the back for being set to intelligent toy robot 411 electrically connect
It connects；The touch circuit 38 of hand foot and the button of the hand foot at the back for being set to intelligent toy robot 411 are electrically connected；
LED drive circuit 33 is connect with the abdomen RGB breath light for the abdomen for being set to intelligent toy robot 411；Infrared circuit 32
It is connect with the infrared sensor for the sole for being set to intelligent toy robot 411；Motor-drive circuit 34 and control intelligent toy machine
The motor of 411 foot action of device people is electrically connected.
Preferably, software control system includes that the Android operation system core being loaded into master cpu 11 and Android are answered
With software, the head control program being loaded into head control CPU21, and the lower part control being loaded into lower part control CPU31
Processing procedure sequence；Wherein, Android operation system core is mounted with bluetooth wifi driver, microphone driver, power amplifier driving journey
16 driver of sequence, touch screen driver and gravity sensor；Wherein, master cpu 11 and Android operation system core are defined as
Host computer.
Preferably, wherein head control program the following steps are included:
In step s 201, program starts from there；
In step S202, each module initialization: after system electrification, to each circuit in head control unit circuit 2
Module is initialized；
In step S203, during steering engine is returned, head, which controls CPU21 and issues to reset to the head steering engine of control headwork, to be referred to
It enables, it is ensured that the head of intelligent toy robot 411 returns normal position；
In step S204, pull-up PKEY makes host computer be switched on: head controls CPU21 and issues instruction, is main control unit electricity
Road 1 powers on；
In step S205, host computer ends machine: receiving host computer booting by iic bus and completes signal；
In step S206, forehead lamp breath light effect: it has been switched on if head control CPU21 does not receive host computer sending
At signal, then forehead lamp breath light is opened, host computer booting is waited to complete；
In step S207, into normal operating conditions: if head control CPU21, which receives host computer, issues booting completion
Signal then initially enters normal operating conditions；
In step S208, if long-pressing back: after entering normal operating conditions, head controls CPU21 scanning back
Whether button is in defined long-time down state；
In step S209, into shutdown process: notice host computer shuts down, if scanning result is that back button is in rule
Fixed long-time down state, head control CPU21 and then send off signal to host computer, and it is dynamic that notice host computer carries out shutdown
Make；And continue whether scanning back button downwards is pressed；
In step S210, if pat back: if scanning result be back button be not in as defined in for a long time by
Lower state is in the beating state that the short time presses；
In step S211, host computer is notified: if scanning result is the beating shape that back button is in that the short time presses
State, head control CPU21 and then send beating signal to host computer, and it is specific to notify that the Android application software run in host computer is implemented
Function；And continue whether downward scanning head button 428 is pressed；
In step S212, if touch head: if the button that scanning result is not back is in the bat that the short time presses
Whether the state of beating, the button 428 for continuing downward scanning head are pressed；
In step S213, host computer is notified: if the button 428 that scanning result is head is in the touch shape pressed
State, head control CPU21 and then send the Android application software implementation for touching head signal, running in notice host computer to host computer
Specific function；
In step S214, if DC insertion: if scanning result is not that head button 428 is in the touch condition pressed,
Then detect whether DC power supply is inserted into；
In step S215, host computer is notified: if detection DC power supply is insertion, host computer being notified to call power management
Program；And whether detection DC power supply is inserted into again；
In step S216, if DC insertion: no matter having and do not detect that DC power supply is inserted into, be stabilization, detect DC again
Whether power supply is inserted into；
In step S217, host computer is notified: if detection DC power supply is insertion, host computer being notified to call power management journey
Sequence；
In step S218, detect battery capacity: then, head controls CPU21 and detects battery capacity；
In step S219, notify host computer: head control CPU21 will test battery capacity and be sent to host computer；
In step S220, whether IIC is disconnected: head control CPU21 then detects whether iic bus disconnects；
In step S221, surpass automatic shutdown after a period of time, if control CPU21 detection iic bus in head disconnects,
Super automatic shutdown after a period of time；
In step S222, whether host computer has new command, if control CPU21 detection iic bus in head is in normal shape
State, then receive the signal that host computer is sent, and whether host computer has new instruction to need to handle；
It in step S223, executes instruction: if host computer has new instruction to need to handle, executing new instruction；It executes
After complete instruction, it is recycled into normal operating conditions step S207 again；
In step S207, into normal operating conditions: if host computer is that not new instruction needs to handle, following again
Ring enters step S208 ~ S223 behind normal operating conditions step S207 and normal operating conditions step S207.
Preferably, wherein lower part control program the following steps are included:
In step S301, program starts from there；
In step s 302, each module initialization: after system electrification, to each circuit in lower part control unit circuit 3
Module is initialized；
In the step S303, master clock switching steering engine is returned: lower part controls CPU31 and issues to the steering engine of control hand motion
Reset instruction, and master clock is switched over it is identical as host computer, and ensure intelligent toy robot 411 hand position return just
Normal position；
In step s 304, host computer ends machine: receiving host computer booting by iic bus and completes signal；
In step S305, abdomen RGB breath light: if lower part control CPU31, which does not receive host computer, issues booting completion
Signal then opens abdomen RGB breath light, and host computer booting is waited to complete；
In step S306, into normal operating conditions: if lower part control CPU31, which receives host computer, issues booting completion
Signal then initially enters normal operating conditions；
In step S307, whether back knob rotates: after entering normal operating conditions, after lower part controls CPU31 detection
Whether back knob is in rotation status；
In step S308, rotation amount is notified into host computer: if control CPU31 detection back knob in lower part is in contorted
State, then the rotation amount signal of back knob is sent to host computer by lower part control CPU31, and the Android run in host computer is notified to answer
With the specific function of measuring of software implementation；And whether the button 428 for continuing the body and hands foot of scanning downwards position is pressed；
In step S309, whether each position key is pressed: if control CPU31 detection back knob in lower part is not in rotation
Turn state, then whether the button 428 for continuing the body and hands foot of scanning downwards position is pressed；
In step s310, host computer is notified: if the button 428 of lower part control CPU31 scanning body and hands foot position has
Wherein one or more are pressed, and notice host computer implements corresponding function；And continue whether detection sole infrared facility downwards is located
In vacant state；
In step S311, sole is infrared hanging: if the button 428 of lower part control CPU31 scanning body and hands foot position
It does not press, then continues whether detection sole infrared facility downwards is in vacant state；
In step S312, motor reversion notice host computer: if lower part control CPU31 detects that sole infrared facility is in
Vacant state then issues toggling command to the motor of foot, and sends correlated condition signal to host computer, and notice host computer carries out
Relevant treatment；And continue whether detection IIC downwards disconnects；
In step S313, whether IIC is disconnected: if to detect that sole infrared facility is not in outstanding by lower part control CPU31
Dummy status, lower part control CPU31 then detect whether iic bus disconnects；
In step S314, chest red light is bright: if lower part control CPU31 then detects iic bus disconnection, lower part control
CPU31 issues the instruction for lighting chest red light；And continue whether detection infrared induction module downwards opens；
It is infrared whether to open in step S315: if lower part control CPU31 then detects iic bus and is in normal condition,
Then continue whether detection infrared induction module downwards opens；
In step S316, infrared unlatching: if lower part control CPU31 then detects infrared induction module unlatching, open
Infrared induction module；And continue whether detection infrared induction module downwards opens；And detect whether host computer has new instruction to need
It handles；
In step S317, whether host computer has new command: if lower part control CPU31 then detects infrared induction module not
It opens, then detects whether host computer has new instruction to need to handle；
It in step S318, executes instruction: if host computer has new instruction to need to handle, executing new instruction；It executes
After complete instruction, be delayed 25ms；
In step S319, be delayed 25ms: if the not new instruction of host computer needs to handle, be delayed 25ms；Then again
It is secondary to be recycled into normal operating conditions step S306；
In step S306, into normal operating conditions: after delay 25ms, being recycled into normal operating conditions step again
Step S307 ~ S319 behind S306 and normal operating conditions step.
Wherein, it should be noted that aforementioned APP application software based on android system, including but not limited to platform APP,
Time APP, quarter-bell APP, computer APP, photograph album APP, Video chat APP, monitoring APP, this story APP, talking pen reading are drawn
APP, setting APP, store APP, changing interface mode APP, buddy system APP；Wherein buddy system APP includes event triggering
APP, voice dialogue APP, feeding system APP, growth system APP, intelligence development class trivial games APP, interaction class trivial games APP etc.；Benefit
Intelligence class trivial games APP includes seven-piece puzzle game APP, the game APP that spells, beats suslik game APP, Fishing game APP etc.；Interaction
Class trivial games APP includes hide-and-seek APP, the APP that takes a walk, the APP that plays chess, the game APP that plays the musical instrument, beat a drum game APP etc.；In addition, may be used also
To have task APP, be integrated into regard to APP, community platform APP, stage property store APP etc..
The structure of intelligent toy robot 411 involved by the preferred embodiment of the present invention referring to fig. 4, intelligent toy robot
411 include head 412, neck 416, hand 413, body 414 and foot 415, and is set in 411 body of intelligent toy robot
Circuit board；The face of intelligent toy robot 411 is equipped with the touch screen 417 that can show various anthropomorphic countenances；Intelligent toy machine
411 neck 416 of device people is equipped with multivariant built-in joint；Built-in joint mainly by multivariant bowl-type shell component,
And the head 412 of rotation and the steering engine 418 on the head 412 swung up and down form；Wherein, bowl-type shell component covers on head 412
Outside steering engine 418, the connecting portion on intelligent toy robot 411 head 412 and body 414 and neck 416 is connected.
Preferably, the foot 415 of intelligent toy robot 411 be equipped with walking mechanism 423, walking mechanism 423 include motor,
Walking driver gear 424, walking passive gear 425, grating wheel, grating encoder and the infrared inductor 426 for making walking sensor；Row
Driving wheel 424 and 425 part of walking passive gear is walked to expose from the sole of intelligent toy robot 411；Walking driver gear 424 is by going
Motor driven is walked, grating wheel and walking driver gear 424 are coaxially connected, and grating encoder is set close to the inboard of grating wheel or outside
It sets；Infrared inductor 426 is two, is respectively arranged at former and later two positions of the sole of intelligent toy robot 411.Foot
415 use the wheeled walking of motor driven, subsidiary grating encoder and infrared inductor 426, substantially increase walking precision, both may be used
To detect fixed walking path, run trace can also be carried out by calculating, can be applied to labyrinth of playing chess and walk, greatly increase
Its playfellow's performance is added.Cooperate the camera 427 being subsequently noted, the object in visual range can also be identified, even
This kind of game of zillionaire can be played, the financial business managerial ability of child can be cultivated.
Preferably, the steering engine 418 for being equipped with driving hand 413 in vivo and swinging of intelligent toy robot 411.So that hand
413 can act, can not only cooperate the expression of display make hand 413 act expression, also facilitate expand it is other such as beat a drum, bullet
The functions such as qin.
Preferably, the face of intelligent toy robot 411 sets there are two camera 427, and one of camera 427 is put down
Depending on angle setting, another camera 427 be inclined visual angle angle be arranged.The game virtually interacted with reality, by taking the photograph
As the progress image recognition of head 427, is interacted by card with intelligent toy robot 411, improve interactive convenience.Figure
Figure, text, letter, number etc. can be identified as identifying, a jigsaw puzzle shape can be shown by screen, user is with really
Seven-piece puzzle risks shape in face of intelligent toy robot 411, after intelligent toy robot 411 is identified by camera 427, makees
Different reaction out, for example praise, bonus point etc., similar game also spells, spells picture mosaic, spell building blocks, calculate arithmetic etc..It is different
427 mode of dual camera of angle setting, increases angular field of view.The use of touch screen 417 increases the convenience of interaction,
Operate more intuitive convenience.
Preferably, the limbs of intelligent toy robot 411 are removable modular construction；Or intelligent toy robot
411 limbs are equipped with the expansion interface of extension limb action accessory.Expand function by installation fitting or replacement hand 413
Can, such as beat a drum, play the musical instrument；Foot 415 can be swept the floor by extending cleaning attachment, can also carry out nothing by enlarging charging base station
Line charge electricity.
Preferably, the limbs of intelligent toy robot 411, head 412, abdomen are equipped with button 428, and button 428 can be touching
Switch, touch-switch or touch sensor are touched, the back of intelligent toy robot 411 is equipped with knob 419, which has both
There is press-button structure；Wherein, LED light, the LED light, that is, forehead lamp breath light 420 are equipped at the button 428 on head 412；
LED light is equipped at the button 428 of abdomen, in the LED light, that is, 421 intelligent toy robot 411 of abdomen RGB breath light
Portion is equipped with gravity sensor 16, loudspeaker, microphone, rechargeable battery.Soft-touch control, touch-switch or touch sensor make intelligence
Toy robot 411 can perceive the behavior of extraneous situation and people, for example touch, pat etc., gravity sensing is intelligent object for appreciation
Tool robot 411 is able to detect gravity center shift, and cooperation step grating sensing can control walking center of gravity, it is made to keep balance.Gravity
Induction can also be the variation that intelligent toy robot 411 perceives its posture, such as hangs upside down, lies low, falls, and pass through its motor control
System can be such that intelligent toy robot 411 act from falling to standing etc..In addition, DC power supply jack 422 and rechargeable battery are set
It is placed in inside head 412.Main control unit circuit 1,412 control unit circuit of head and lower part control unit circuit 3 make respectively
At corresponding circuit board, it is installed in the head 412 of intelligent toy robot 411 and/or in body 414.
It should be noted that physical circuit used in the present embodiment is all the typical case electricity of corresponding function component
Road, Related product specification has corresponding explanation, and to save space, corresponding physical circuit does not provide explanation still further.
Book and specific embodiment do not limit the present invention in any way according to the above description, and the invention is not limited to upper
Face is disclosed and the specific embodiment of description, to some modification and variation of the invention, it should also fall into right of the invention and want
In the protection scope asked.
Claims (5)
1. a kind of control system of intelligent toy robot, including circuit control system and software control system；It is characterized by:
Circuit control system includes the main control unit circuit of load software control system kernel software, controls the head control of head movement
Element circuit, and the lower part control unit circuit of control body part and trick piecemeal activity, main control unit circuit, head control
Element circuit processed and lower part control unit circuit are connected with each other by system bus to each other；The main control unit circuit include with
Lower circuit module: master cpu and the master control connecting with master cpu run circuit；It includes bluetooth wifi mould that master control, which runs circuit,
Block, microphone circuit, power amplifier, touch screen module and gravity sensor；Wherein, power amplifier be set to intelligent toy machine
Speaker electrical connection inside people；Microphone circuit is connect with the microphone electric being set to inside intelligent toy robot；Institute
Stating head control unit circuit includes following circuits module: head control CPU and the head fortune connecting with head control CPU
Row circuit；Head operation circuit includes head boot-strap circuit, electric power management circuit, lamp and touch circuit, head servo driving electricity
Road；The lower part control unit circuit includes following circuits module: lower part controls CPU and connect down with lower part control CPU
Portion runs circuit；It includes infrared circuit, LED drive circuit, motor-drive circuit, lower part servo driving that lower part, which runs circuit,
Circuit, lower part boot-strap circuit, knob detection circuit and hand foot touch circuit；The system bus is iic bus；It is described
The head servo driving circuit of head operation circuit and the head steering engine of the headwork of control intelligent toy robot electrically connect
It connects；Outside the forehead lamp breath light on the head that lamp and touch circuit control are set to intelligent toy robot, also controls and be set to intelligence
The button and DC power supply jack on the head of toy robot；Electric power management circuit and the charge inside for being set to intelligent toy robot
Cell electrical connection.
2. the control system of intelligent toy robot as described in claim 1, it is characterized in that: under lower part operation circuit
The hand steering engine of portion's servo driving circuit and control intelligent toy robot hand motion is electrically connected；Knob detection circuit with set
Knob in the back of intelligent toy robot is electrically connected；The touch circuit of hand foot be set to intelligent toy robot
The button of the hand foot at back is electrically connected；The abdomen RGB of LED drive circuit and the abdomen for being set to intelligent toy robot is exhaled
Inhale lamp connection；Infrared circuit is connect with the infrared sensor for the sole for being set to intelligent toy robot；Motor-drive circuit
It is electrically connected with the motor of control intelligent toy robot foot action.
3. the control system of intelligent toy robot as claimed in claim 2, it is characterized in that: the software control system includes
The Android operation system core and Android application software being loaded into master cpu, the head control being loaded into head control CPU
Processing procedure sequence, and the lower part control program being loaded into lower part control CPU；Wherein, Android operation system core is mounted with bluetooth
Wifi driver, microphone driver, power amplifier driver, touch screen driver and gravity sensor driver；Its
In, master cpu and Android operation system core are defined as host computer.
4. the control system of intelligent toy robot as claimed in claim 3, it is characterized in that: head control program includes
Following steps:
Each module initialization: after system electrification, each circuit module in head control unit circuit is initialized；
During steering engine is returned, head controls CPU and issues reset instruction to the head steering engine of control headwork, it is ensured that intelligent toy machine
The head of people returns normal position；
Pull-up PKEY makes host computer be switched on: head controls CPU and issues instruction, powers on for master control element circuit；
Host computer ends machine: receiving host computer booting by iic bus and completes signal；
Forehead lamp breath light effect: if head control CPU does not receive host computer and issues booting completion signal, forehead lamp is opened
Breath light waits host computer booting to complete；
Into normal operating conditions: if head control CPU receives host computer and issues booting completion signal, initially entering normal
Working condition；
Whether long-pressing back: enter normal operating conditions after, head control CPU scan back button whether be in defined length
Time down state；
Into shutdown process: notice host computer shuts down, if scanning result is to press shape as defined in back button is in for a long time
State, head control CPU and then send off signal to host computer, and notice host computer carries out shutdown movement；And after continuing scanning downwards
Whether back button is pressed；
Whether pat back: if scanning result is long-time down state as defined in back button is not in, being in short-term
Between the beating state pressed；
Notice host computer: if scanning result is the beating state that back button is in that the short time presses, head controls CPU
It is sent to host computer and pats signal, the Android application software run in host computer is notified to implement specific function；And continue to sweep downwards
Retouch whether head button is pressed；
Whether touch head: if the button that scanning result is not back is in the beating state that the short time presses, continuation is swept downwards
Whether the button for retouching head is pressed；
Notice host computer: if the button that scanning result is head is in the touch condition pressed, head controls CPU to upper
Machine, which is sent, touches head signal, and the Android application software run in host computer is notified to implement specific function；
Whether DC is inserted into: if scanning result is not that head button is in the touch condition pressed, detecting whether DC power supply is inserted into；
Notice host computer: if detection DC power supply is insertion, host computer is notified to call power management subprogram；And DC is detected again
Whether power supply is inserted into；
Whether DC is inserted into: no matter being had and is not detected that DC power supply is inserted into, be stabilization, detects whether DC power supply is inserted into again；
Notice host computer: if detection DC power supply is insertion, host computer is notified to call power management routines；
Detect battery capacity: then, head controls CPU and detects battery capacity；
Notice host computer: head control CPU will test battery capacity and be sent to host computer；
Whether IIC disconnects: head control CPU then detects whether iic bus disconnects；
Super automatic shutdown after a period of time surpasses automatic after a period of time if control CPU detection iic bus in head disconnects
Shutdown；
Whether host computer has new command, if control CPU detection iic bus in head is in normal condition, receives host computer and sends
Signal, whether host computer have new instruction to need to handle；
It executes instruction: if host computer has new instruction to need to handle, executing new instruction；After having executed instruction, recycle again
Into normal operating conditions step；
Into normal operating conditions: if host computer is that not new instruction needs to handle, being recycled into normal work shape again
The step of behind state step and normal operating conditions step.
5. the control system of intelligent toy robot as described in claim 3 or 4, it is characterized in that: the lower part controls program
The following steps are included:
Each module initialization: after system electrification, each circuit module in the control unit circuit of lower part is initialized；
During master clock switching steering engine is returned: lower part controls CPU and issues reset instruction to the steering engine of control hand motion, and to master clock
Switch over the hand position normal position of recurrence identical as host computer, and ensuring intelligent toy robot；
Host computer ends machine: receiving host computer booting by iic bus and completes signal；
Abdomen RGB breath light: it if lower part control CPU does not receive host computer and issues booting completion signal, opens abdomen RGB and exhales
Lamp is inhaled, host computer booting is waited to complete；
Into normal operating conditions: if lower part control CPU receives host computer and issues booting completion signal, initially entering normal
Working condition；
Whether back knob rotates: after entering normal operating conditions, whether control CPU detection back knob in lower part is in contorted
State；
Rotation amount is notified host computer: if control CPU detection back knob in lower part is in rotation status, lower part controls CPU will
The rotation amount signal of back knob is sent to host computer, and the Android application software run in host computer is notified to implement specific metering
Function；And whether the button for continuing the body and hands foot of scanning downwards position is pressed；
Whether each position key is pressed: if control CPU detection back knob in lower part is not in rotation status, continuation is swept downwards
Whether the button for retouching body and hands foot position is pressed；
Notice host computer: it if the button of lower part control CPU scan body and hands foot position has wherein one or more to press, notifies
Host computer implements corresponding function；And continue whether detection sole infrared facility downwards is in vacant state；
Sole is infrared hanging: if the button of lower part control CPU scan body and hands foot position is not pressed, continuing detection downwards
Whether sole infrared facility is in vacant state；
Motor reversion notice host computer: if lower part control CPU detects that sole infrared facility is in vacant state, to foot
Motor issues toggling command, and sends correlated condition signal to host computer, and notice host computer carries out relevant treatment；And continue downward
Whether detection IIC disconnects；
Whether IIC disconnects: if lower part control CPU detects that sole infrared facility is not in vacant state, lower part control CPU is connect
Detection iic bus whether disconnect；
Chest red light is bright: if lower part control CPU then detects iic bus disconnection, chest red light is lighted in control CPU sending in lower part
Instruction；And continue whether detection infrared induction module downwards opens；
It is infrared whether to open: if lower part control CPU then detects iic bus and is in normal condition, to continue to detect downwards infrared
Whether induction module is opened；
Infrared unlatching: if lower part control CPU then detects infrared induction module unlatching, infrared induction module is opened；And continue
Whether detection infrared induction module opens downwards；And detect whether host computer has new instruction to need to handle；
Whether host computer has new command: if lower part control CPU then detects infrared induction module and do not open, detecting host computer is
It is no to there is new instruction to need to handle；
It executes instruction: if host computer has new instruction to need to handle, executing new instruction；After having executed instruction, be delayed 25ms；
Delay 25ms: if the not new instruction of host computer needs to handle, be delayed 25ms；Then it is recycled into normal work again
State step；
Into normal operating conditions: after delay 25ms, being recycled into normal operating conditions step and normal operating conditions step again
The step of rapid back.
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| CN106823378A (en) * | 2017-02-20 | 2017-06-13 | 包伯瑜 | A kind of role playing toy system |
| CN107367993A (en) * | 2017-08-07 | 2017-11-21 | 浙江工业大学 | Data acquisition device system for sixdegree-of-freedom simulation teaching |
| JP6989395B2 (en) * | 2018-01-10 | 2022-01-05 | パナソニック株式会社 | Interaction devices, interaction methods, interaction programs and robots |
| CN109144606A (en) * | 2018-08-06 | 2019-01-04 | 瑞声科技(新加坡)有限公司 | A kind of motor driving method, terminal device and computer readable storage medium |
| CN111381944A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Robot operating system based on Android and implementation method thereof |
| JP7415389B2 (en) * | 2019-09-18 | 2024-01-17 | 株式会社デンソーウェーブ | Robot failure diagnosis device |
| WO2021087698A1 (en) * | 2019-11-04 | 2021-05-14 | 南京阿凡达机器人科技有限公司 | Robot distributed control system and method, robot, and storage medium |
| CN111754829A (en) * | 2020-07-02 | 2020-10-09 | 北京阿拉校园科技有限公司 | Novel online intelligent learning robot |
| CN113119084B (en) * | 2021-03-23 | 2023-06-02 | 同济大学 | IIC bus-based modularized robot and control method |
| CN113997307B (en) * | 2021-12-10 | 2024-04-05 | 深圳爱善学教育咨询有限公司 | Walking type education robot |
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