CN204322085U - A kind of early education towards child is accompanied and attended to robot - Google Patents
A kind of early education towards child is accompanied and attended to robot Download PDFInfo
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- CN204322085U CN204322085U CN201420796831.XU CN201420796831U CN204322085U CN 204322085 U CN204322085 U CN 204322085U CN 201420796831 U CN201420796831 U CN 201420796831U CN 204322085 U CN204322085 U CN 204322085U
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Abstract
The utility model discloses a kind of early education towards child to accompany and attend to robot, comprise the final control system as server end and the airborne flat-panel systems as client, final control system is undertaken communicating realizing ordering by interface and airborne flat-panel systems and wraps and the exchange of packet, and client carries out real-time Communication for Power by network and remote terminal; The utility model possesses fault detect and from processing capacity, can the operation conditions of supervisory-controlled robot in real time, in time the mechanical disorder such as process crazy race, overcurrent, communication mess code.Meanwhile, this robot is furnished with obstacle avoidance system and fall arrest system, and in the process that user uses, automatic avoiding barrier, plays the effect of self-protection.
Description
Technical field
The utility model relates to preschool education field, is specifically related to a kind of early education towards child and accompanies and attends to robot.
Background technology
On the market the interchange between aspectant child-parent education or junior partner is adopted mostly to the education of infant at present, undertaken by the father and mother of child or relatives, although generally good education effect can be reached, but also there are two large defects: on the one hand, preschool education is the process of an incremental specialty, part father and mother do not have experience, and energy is limited in addition, have ignored the early intellectual development of child; On the other hand, preschool education needs to take a large amount of energy of father and mother, and father and mother are difficult to accomplish to make the best of both worlds between work and life sometimes.
According to the data of State Statistics Bureau, China mainland area 0-12 year children about 1.9 hundred million people, annual birth place population is about 16,000,000.After 18 Third Plenary Sessions, independent two child's policies are formally implemented successively in various places, the quantity of child can on existing basis, also have the increase of certain amplitude, therefore, greatly develop the early education of network-type intelligence and to accompany and attend to robot, play they accompany and attend to and formative education, ensure infant safety etc. in effect will be the inevitable requirement of social development, this is for the burden alleviating father and mother, and the quality of education improving infant has important function, and social effect is great.
The teleeducation system of Chinese patent application 201410245983.5 disclosed exploitation infant intelligence and method (applying date: 2014-6-5), disclose one by camera device by baby's video upload server, control signal be issued to performance device and then the method completing remote teaching after server process, but he does not have speech identifying function, the processing method of transmission of video is also different from robot.
Disclosed in Chinese patent application 201310095857.1, children's early education intelligence-developing system (applying date: 2013.3.25) discloses the conventional method of the speech recognition for child teaching, the identification of intonation and mood can not be carried out, can not carry out semantics recognition, what functionally also do not have the application to propose enriches easily extensible.
A kind of intelligent interaction disclosed in Chinese patent application 201310175261.2 early teaching system (applying date: 2013.5.14) discloses a kind of teaching system morning be made up of study courseware and robot, control instruction adopts bluetooth approach, study courseware is represented by flash, not there is speech recognition and remote nursing function, control mode is not identical yet, and ways of presentation and the update mode of the content of courses are also different from the application.
Utility model content
For solving the deficiency that prior art exists, the utility model discloses a kind of early education towards child and to accompany and attend to robot, the utility model can realize robot and accompany and attend to the enlightenment of science of infant, amusement and the function such as remote nursing.
For achieving the above object, concrete scheme of the present utility model is as follows:
A kind of early education towards child is accompanied and attended to robot, comprise the final control system as server end and the airborne flat-panel systems as client, final control system is undertaken communicating realizing ordering by interface and airborne flat-panel systems and wraps and the exchange of packet, and client carries out real-time Communication for Power by network and remote terminal;
Airborne flat-panel systems, through speech recognition Intellisense child mood, represents multiple expression according to the user emotion identified by the display unit of airborne flat-panel systems and realizes the function that amusement accompanies and attends to;
Described final control system comprises master control core cell and the monitoring core unit as redundant configuration, master control core cell communicates with airborne flat-panel systems, accept and resolve the movement instruction that client assigns, utilize electric-motor drive unit drive motors according to the speed motion of setting, and the ruuning situation of robot is returned client, monitoring core unit and master control core cell carry out real-time Communication for Power.
Described airborne flat-panel systems is by wireless device and router communication, and router carries out real-time Communication for Power by public network server and remote terminal.
Described airborne flat-panel systems comprises mood interactive system, remote nursing system and early education cellular system;
Described mood interactive system receives the voice messaging of user by airborne Mike and according to the voice messaging received by speech recognition and semantics recognition perception user emotion, makes corresponding information feed back in conjunction with expression animation by display unit;
Described remote nursing system, remote terminal, by communicating with client, can send motion control instruction to client while real time inspection client capture video;
Described early education cellular system, pushes applicable teaching resource according to age of user and existing subscriber's data, and simultaneously in order to ensure the rich of content, server timing can push more recent application and resource, facilitates user to download from main separation.
Described master control core cell comprises primary processor, primary processor is communicated with client by RS232, parse speed setting value, catch the umber of pulse of code-disc simultaneously, obtain the actual speed of motor, form closed loop speed control system, according to speed setting value and values for actual speed, carry out a PID arithmetic every the time of setting, controlled the rotating speed of motor by PWM mode.
Described monitoring core unit comprises redundant processor, redundant processor catches code-disc umber of pulse, resolve the actual speed of motor, and compare with the velocity amplitude that primary processor is resolved, when both are inconsistent, process exception in time according to failure handling mechanisms, between primary processor and redundant processor, regularly carry out data transmission, when redundant processor does not receive data that primary processor sends or receives wrong data, redundant processor resets primary processor in time.
Described primary processor hinders with dropproof circuit, touches circuit and motor-drive circuit is connected with keeping away, described in keep away barrier and be connected with dropproof sensor with dropproof circuit, touch circuit is connected with touch sensor, and motor-drive circuit is connected with motor.
Described motor-drive circuit comprises two mutually isostructural drive circuits, drive circuit comprises revolver drive circuit and right wheel drive circuit, the output of described revolver drive circuit and right wheel drive circuit is connected with the input of door, describedly to be connected with primary processor and redundant processor with the output of door, thus motor two ends current conditions can be monitored in real time, prevent over current of motor.
Described keeping away hinders and dropproof circuit, comprise two parts monomer circuit, circuit adopts a pair infrared emission and receiving tube as keeping away barrier and dropproof Main functional units, reference voltage is obtained through electric resistance partial pressure, the voltage comparator circuit utilizing dual operational amplifier TS922 to form carries out voltage-contrast, and adds filtering and preventing jittering circuit at output.
Described redundant processor is connected with sound light alarming circuit, over-current detection circuit, overheating detection circuit and on-off circuit, and when the too low situation of overcurrent, overheated and cell voltage being detected, shutdown switch circuit, cuts off powered battery.
Described on-off circuit is connected with PMU, PMU comprises battery, on-off circuit, protection circuit, electric power detection and upload circuit, battery is connected with protection circuit, protection circuit and electric power detection and upload circuit and be all connected with on-off circuit, on-off circuit is connected with motor, described on-off circuit is connected with the DC/DC circuit that can be by voltage transitions 5V, can be by voltage transitions 5V DC/DC circuit with can be that the DC/DC circuit of 3.3V and 7 cun of capacitance touch display screens are connected by voltage transitions, the DC/DC circuit that can be by voltage transitions 3.3V is dropproof with the infrared obstacle avoidance be arranged on anterior bottom robot, touch sensor and master control core cell are connected.
When utilizing remote nursing system to carry out remote nursing, public network server starts two monitorings, one is that main connection is monitored, one is assist to burrow monitoring, remote terminal is by after authentication, remote terminal and client all can keep main connection unimpeded with public network server, when remote terminal needs to connect client, need to burrow port by the assistance of server, remote terminal is informed to client by the public network IP after Network address translators, then client attempts being connected with remote terminal, start at identical port simultaneously and intercept, and by public network server, the IP through Network address translators is informed to remote terminal, when remote terminal initiatively connects robot, robot can allow to connect, network burrows successfully, what first connect client is defaulted as primary client, motion control instruction can be sent to client while viewing client-side capture video, other connect is from client, capture video and the current state of robot can only be checked, motion control can not be carried out, after rolling off the production line in primary client, public network server can notify that other make it pass through to apply to become primary client from client.
Described mood interactive system realizes speech recognition in Android platform, the chat knowledge base by SQLite database sharing, speech recognition has identified off-line and ONLINE RECOGNITION two kinds of patterns, when being in off-line mode, system needs to set up grammar file, wherein define speech recognition statement, when system recognizes valid statement from the voice collected, corresponding word can be translated into, semantic understanding and sentiment analysis unit carry out Chinese word segmentation, load sentiment dictionary, degree adverb dictionary, negative word vocabulary and conjunctive word vocabulary, identify each emotion word in sentence, and slide centered by emotion word detection periphery adverbial word and negative word situation, finally the emotion value of all emotion word and qualifier thereof is added up, obtain the emotion value of current sentence, judge the mood that user is current, pass to Emotion expression unit, when being in ray mode, directly the statement of identification can be uploaded onto the server, by server analysis perception user emotion, and then capture related content be back to robot system from network, after judging user emotion, Emotion expression unit is by the gesture switching dynamic facial expressions and personalize, coordinate the personalized speech of customization, robot is made to make rational reaction, give and comfort when user emotion is low, encourage when user emotion is downhearted, make user with robot communication process in feel comfortable.
The beneficial effects of the utility model:
The utility model early teaching system adopts the design philosophy of age-group sublevel, according to personality feature and the hobby of children's Different age group, design the original animation of a set of fusion, story, interactive answer, learning evaluation system, incentive mechanism, contain amusement and the tutoring system of the subjects such as mathematics, language, encyclopaedia, art, craft.System adopts full animation ways of presentation, and left-hand seat is simple, and dramatic, effectively can improve the learning interest of children.By The Cloud Terrace server push, the service realizing robot body upgrades, meet child's craving for new knowledge, marking assessment can also be carried out to the study situation in children's each stage, automatically next step Learning Scheme is pushed according to assessment result, maximum exploitation children brain potential, cultivates spirit of exploration and the learning interest of child.
This early education robot system movement control mode is versatile and flexible, both by the motion of touch-screen control, also supports long-range wireless remote control and Voice command; There is speech recognition and vocal print recognition function, according to chat content, robot word speed, intonation and limb action can be coordinated, express the happiness, anger, grief and joy of robot; Have remote nursing function, user can check child's current state in family by Telnet robot.
In order to ensure the safe and reliable operation of robot, robot of accompanying and attending to fault detect and from processing capacity, can the operation conditions of supervisory-controlled robot in real time, in time the mechanical disorder such as process crazy race, overcurrent, communication mess code.Meanwhile, this robot is furnished with obstacle avoidance system and fall arrest system, and in the process that user uses, automatic avoiding barrier, plays the effect of self-protection.
Accompanying drawing explanation
Fig. 1 is global design scheme block diagram of the present utility model;
Fig. 2 is dual processor controlling system block diagram of the present utility model;
Fig. 3 is primary processor minimum system circuit diagram of the present utility model;
Fig. 4 is redundant processor minimum system circuit diagram of the present utility model;
Fig. 5 is emotional system design frame chart of the present utility model;
Fig. 6 is remote nursing system block diagram of the present utility model;
Fig. 7 is power switch circuit figure mono-of the present utility model;
Fig. 8 is power switch circuit figure bis-of the present utility model;
Fig. 9 is hardware technology scheme power management block diagram of the present utility model;
Figure 10 is hardware technology scheme motor-drive circuit figure of the present utility model;
Figure 11 (a) is hardware technology scheme automatic obstacle avoiding circuit diagram of the present utility model;
Figure 11 (b) is the dropproof circuit diagram of hardware technology scheme of the present utility model;
Figure 12 is hardware technology scheme touch unit circuit diagram of the present utility model.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the utility model is described in detail:
Final control system of the present utility model, as server end, is absorbed in the service of bottom, is communicated by RS232 with client, is realized the exchange of order bag and packet by software interface; Airborne flat-panel systems, as client, is fixed on the face of robot, and run Android system, after speech recognition, Intellisense child mood, represents multiple expression by animation, realizes the function that amusement is accompanied and attended to; Dull and stereotyped camera, as video acquisition passage, is transferred to the terminals such as user mobile phone by the saturating net of network, realizes the function of remote nursing child.
As shown in Figure 1, this robot adopts typical C/S robot mode of operation to global design scheme of the present utility model.Final control system comprises PMU, and PMU provides reliable and stable output voltage and electric current for whole system, and battery electric quantity is measured by master control core, and charactron shows in real time, can realize low pressure alarming and turn-off function; Master control core cell accepts and resolves the movement instruction that client assigns, and drive motors, according to the speed motion of setting, is opened the dropproof function of infrared obstacle avoidance simultaneously, and the ruuning situation of robot is returned client.Monitoring core unit is as redundancy unit, and whether responsible supervisory-controlled robot exists the fault such as out of control, stall, overcurrent and communication mess code.Airborne flat-panel systems mainly comprises mood interactive system, remote nursing system, and teaching system morning three modules.Mood interactive system, by speech recognition and semantics recognition perception user emotion, makes hommization feedback in conjunction with expression animation; Remote nursing system has long-range net to transmit and long-range motion control two parts; Early teaching system acts on the thought of age-group sublevel, in conjunction with cloud memory technology for user provides service.
The dual processor controlling system of final control system is as shown in block diagram 2, and dual processor minimum system circuit as shown in Figure 3,4.Robot have employed STM32 single-chip microcomputer based on Cortex-M3 kernel as primary processor and redundant processor, master control core is communicated with airborne flat-panel systems by RS232, parse speed setting value, catch the umber of pulse of code-disc simultaneously, obtain the actual speed of motor, form closed loop speed control system, according to speed setting value and values for actual speed, every 50ms carries out a PID arithmetic, is controlled the rotating speed of motor by PWM mode.Redundant processor also can catch code-disc umber of pulse, resolves the actual speed of motor, and compares with the velocity amplitude that primary processor is resolved, when both are inconsistent, process exception in time according to failure handling mechanisms.In order to prevent host-processor program abnormal, regularly carry out data transmission between primary processor and redundant processor, when redundant processor does not receive data that primary processor sends or receives wrong data, redundant processor resets primary processor in time.Redundant processor can carry out overcurrent, overheated and battery voltage detection, when there is the situations such as overcurrent, overheated and cell voltage be too low, can shutdown switch circuit, and cut off powered battery.
Master control core cell and monitoring core unit all adopt the STM32 single-chip microcomputer based on Cortex-M3 kernel; Main control unit is responsible for motion planning and robot control, sensor data acquisition and the task such as fusion and power management, and provides the various interfaces of platform courses for airborne flat-panel systems software systems; Monitoring core unit carries out real time monitoring to frequent fault, comprise robot control system power failure, primary controller procedure execution makes mistakes, running status is made mistakes (mainly referring to run attitude or velocity anomaly), when there is mistake in robot system, control system can, according to the menace level of mistake, take classification countermeasure with the work ensureing that robot can be safe, reliable, efficient.
Mood Design of Interactive System block diagram as shown in Figure 5.Robot flies speech recognition technology realize speech recognition based on University of Science and Technology news in Android platform, the chat knowledge base of robot and emotion perception system by SQLite database sharing.Speech recognition has identified off-line and ONLINE RECOGNITION two kinds of patterns, by system according to current network conditions from main separation.When being in off-line mode, system needs to set up grammar file, there is defined speech recognition statement.When system recognizes valid statement from the voice collected, corresponding word can be translated into, semantic understanding and sentiment analysis unit carry out Chinese word segmentation, load sentiment dictionary, degree adverb dictionary, negative word vocabulary and conjunctive word vocabulary, identify each emotion word in sentence, and slide centered by emotion word detection periphery adverbial word and negative word situation, finally the emotion value of all emotion word and qualifier thereof is added up, obtain the emotion value of current sentence, judge the mood that user is current, pass to Emotion expression unit.When being in ray mode, directly the statement of identification can be uploaded onto the server, by server analysis perception user emotion, and then capturing related content from network and being back to robot.After judging user emotion, Emotion expression unit is by the gesture switching dynamic facial expressions and personalize, coordinate the personalized speech of customization, make robot can make rational reaction, can give and comfort when user emotion is low, encourage when user emotion is downhearted, make user with robot communication process in feel comfortable.
The utility model, when amusement is accompanied and attended to, specifically comprises following steps: S01, and microphone gathers user speech and sends voice recognition unit to; S02, voice recognition unit is interrogated according to University of Science and Technology the SDK flying to provide and voiced translation is become word, and passes to semantic understanding and sentiment analysis unit; S03, semantic understanding and sentiment analysis unit carry out Chinese word segmentation, in conjunction with knowing the sentiment dictionary that net provides, carrying out the calculating of emotion value, and pass to Emotion expression unit to sentence by word emotion weight; S04, Emotion expression unit mates with preset rules according to the emotion value calculated, and calls different full animation expression, in conjunction with the personalized speech of customization, makes the emotional feedback of hommization.
The system block diagram of remote nursing unit as shown in Figure 6.Public network server starts two monitorings, and one is that main connection is monitored, and one is assist to burrow monitoring.After authentication, subscription client and robot all can keep main connection unimpeded with server.When user needs to connect robot, need to burrow port by the assistance of server, user is informed to robot by the public network IP after Network address translators, then robot attempts being connected with user, start at identical port simultaneously and intercept, and by server, the IP through Network address translators is informed to user, when user initiatively connects robot, robot can allow to connect, and network burrows successfully.What first connect robot is defaulted as primary client, motion control instruction can be sent to robot while checking robot capture video, other connect is from client, capture video and the current state of robot can only be checked, motion control can not be carried out, after rolling off the production line in primary client, server can notify that other make it pass through to apply to become primary client from client.
Fig. 7,8,9 is depicted as electric power management circuit of the present utility model and block diagram thereof.This circuit by 9v ferric phosphate lithium cell as voltage input source, through on-off circuit directly to feeding electric motors, after through two-stage voltage transitions respectively to 7 cun of capacitance touch screens and main control chip, monitoring unit, keep away barrier dropproof circuit power.On-off circuit is made up of self-recoverage button, triode, PMOS; The shutoff principle of on-off circuit is one end of button is connected to after electric resistance partial pressure the input of main control chip and monitoring core, and when main control chip corresponding pin detects that duration is the high level of more than 1s, main control chip sends instruction by power-off.Simultaneously cell voltage is by the AD pin of dividing potential drop access main control chip, and when the voltage detected is lower than alarm threshold, robot is reported to the police by acousto-optic, and low-voltage information is uploaded to host computer carries out display alarm; When detect voltage lower than can operating voltage time, main control chip and monitoring core can send powered-down instruction simultaneously, prevent the danger of putting.In voltage conversion circuit, consider the voltage requirements of 7 cun of capacitance touch screens, the output current of Systematic selection TI company is 3A, output voltage is the LM2576 of 5v; Its maximum input voltage can support 40v, and output end voltage 3.3v, 5v, 12v etc. are adjustable, and this circuit adopts its 5v to export; Output adopts inductance capacitor filtering to ensure the stable output of power supply.Circuit also adds the power supply chip of the AS1117M3-3.3 of Alpha Co., Ltd, and for main monitoring chip and other sensor circuits provide reliable and stable power supply, its output current size is 800mA, meets actual needs.
Figure 10 shows that motor-drive circuit of the present utility model.Circuit adopts LG9110 as driving core, and this chip has cheapness, the advantage such as efficient, easy to operate.Inside is embedded with H-bridge circuit, can realize the positive and negative driving of motor, and the High-current output of 800mA meets actual demand of the present utility model completely.Over-current detection circuit is included in circuit, its operation principle is, the output current of H bridge flows into ground wire through resistance R17, when motor generation stall or the extreme case such as electric current is excessive, the dividing potential drop of R17 increases, now triode Q4 conducting, main control chip detect the lower jumping of corresponding pin along time, main control chip sends instruction, and the PWM closing main control chip exports or power supply etc., thus prevents motor excessive and occur the danger that burns out by electric current.Value through calculating R17 should within the scope of 0.58 Ω-2.592 Ω, and definite resistance depends on corresponding alarm current size.
Figure 11 (a)-(b) is depicted as automatic obstacle avoiding of the present utility model and dropproof circuit.Diagram is respectively keeps away barrier and dropproof circuit, and utility model comprises two parts monomer circuit.Circuit adopts a pair infrared emission and receiving tube as keeping away barrier and dropproof Main functional units, reference voltage is obtained through electric resistance partial pressure, the voltage comparator circuit utilizing dual operational amplifier TS922 to form carries out voltage-contrast, and add filtering and preventing jittering circuit at output, thus obtain solid barrier and fall alarm signal.
Figure 12 shows that touch circuit of the present utility model.Touch circuit in utility model and adopt TS04,4 passages touch chip and complete its function.CS1, CS2, CS3, CS4 are the detection input capacitance of chip, are used for adjusting the sensitivity touching chip.4 tunnels of chip export and real output signal are transferred to master control core, according to the touch situation of diverse location, thus touch response accordingly.
Robots internal system's teaching resource of the present utility model was classified according to the applicable age, when user's program request teaching resource, system pushes applicable teaching resource according to age of user and existing subscriber's data, simultaneously in order to ensure the rich of content, server timing can push more recent application and resource, facilitates user to download from main separation.
Robot has learning ability, not only can complete the user's request that developer is contemplated to, and also independently can evolve out in the use procedure of user and be more suitable for the function of user's use.Under network connection, when the dialogue of robot and user exceedes the scope of knowledge base, current session upload server can be inquired about by robot, and returns results and carry out voice answering, Query Result is added in knowledge base, the knowledge base of constantly expansion oneself simultaneously.In addition user also can teach robot knowledge by the mode of voice or text event detection, identification statement when expansion knowledge base and speech recognition off-line mode in grammar file.
By reference to the accompanying drawings detailed description of the invention of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.
Claims (7)
1. the early education towards child is accompanied and attended to robot, it is characterized in that, comprise the final control system as server end and the airborne flat-panel systems as client, final control system is undertaken communicating realizing ordering by interface and airborne flat-panel systems and wraps and the exchange of packet, and client carries out real-time Communication for Power by network and remote terminal;
Described final control system comprises master control core cell and the monitoring core unit as redundant configuration, and master control core cell and airborne flat-panel systems carry out communication monitoring core cell and master control core cell carries out real-time Communication for Power.
2. a kind of early education towards child is accompanied and attended to robot as claimed in claim 1, and it is characterized in that, described airborne flat-panel systems is by wireless device and router communication, and router carries out real-time Communication for Power by public network server and remote terminal.
3. a kind of early education towards child is accompanied and attended to robot as claimed in claim 1, it is characterized in that, master control core cell comprises primary processor, described primary processor hinders with dropproof monomer circuit, touches circuit and motor-drive circuit is connected with keeping away, described barrier of keeping away is connected with dropproof sensor with dropproof monomer circuit, touch circuit to be connected with touch sensor, motor-drive circuit is connected with motor.
4. a kind of early education towards child is accompanied and attended to robot as claimed in claim 3, it is characterized in that, described motor-drive circuit comprises two mutually isostructural drive circuits, drive circuit comprises revolver drive circuit and right wheel drive circuit, the output of described revolver drive circuit and right wheel drive circuit is connected with the input of door, describedly to be connected with primary processor and redundant processor with the output of door, thus motor two ends current conditions can be monitored in real time, prevent over current of motor.
5. a kind of early education towards child is accompanied and attended to robot as claimed in claim 3, it is characterized in that, described keeping away hinders and dropproof monomer circuit, comprise two parts monomer circuit, circuit adopts a pair infrared emission and receiving tube as keeping away barrier and dropproof Main functional units, obtain reference voltage through electric resistance partial pressure, the voltage comparator circuit utilizing dual operational amplifier TS922 to form carries out voltage-contrast, and adds filtering and preventing jittering circuit at output.
6. a kind of early education towards child is accompanied and attended to robot as claimed in claim 1, it is characterized in that, described monitoring core unit comprises redundant processor, described redundant processor is connected with sound light alarming circuit, over-current detection circuit, overheating detection circuit and on-off circuit, when the too low situation of overcurrent, overheated and cell voltage being detected, shutdown switch circuit, cuts off powered battery.
7. a kind of early education towards child is accompanied and attended to robot as claimed in claim 6, it is characterized in that, described on-off circuit is connected with PMU, PMU comprises battery, on-off circuit, protection circuit, electric power detection and upload circuit, battery is connected with protection circuit, protection circuit and electric power detection and upload circuit and be all connected with on-off circuit, on-off circuit is connected with motor, described on-off circuit is connected with the DC/DC circuit that can be by voltage transitions 5V, can be by voltage transitions 5V DC/DC circuit with can be that the DC/DC circuit of 3.3V and 7 cun of capacitance touch display screens are connected by voltage transitions, the DC/DC circuit that can be by voltage transitions 3.3V is dropproof with the infrared obstacle avoidance be arranged on anterior bottom robot, touch sensor and master control core cell are connected.
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