CN102397703A - Novel routing vehicle system based on electroencephalogram control - Google Patents
Novel routing vehicle system based on electroencephalogram control Download PDFInfo
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- CN102397703A CN102397703A CN201110375765XA CN201110375765A CN102397703A CN 102397703 A CN102397703 A CN 102397703A CN 201110375765X A CN201110375765X A CN 201110375765XA CN 201110375765 A CN201110375765 A CN 201110375765A CN 102397703 A CN102397703 A CN 102397703A
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Abstract
The invention relates to a novel routing vehicle system based on electroencephalogram control. The invention collects the electroencephalogram signal of a user focusing on doing something, then transmits the electroencephalogram signal to a small toy vehicle through a wireless transmission technology, later processes the electroencephalogram signal by using the single chip of the vehicle, finally extracts the property signal of the electroencephalogram signal and matches the property signal with the corresponding specific speed value to realize the speed control of the vehicle. A transmitter of an infrared photoelectric sensor on the vehicle body transmits the infrared light to a map and reflects the signal to a receiver while the infrared light meets white-matrix black lines or black-matrix white lines, then a signal receiver transmits the signal to the single chip, and the single chip controls the rotation speed of the left motor and the right motor of the vehicle after processing by the single chip so as to turn the vehicle left and right. The invention exercises the concentration of the user via the game process, and improves the focusing attention while user plays the game, so that the user can more easily reach the ideal state while doing other works.
Description
Technical field
The invention belongs to the automatic control technology field, relate to a kind of novel directly cart system of seeking based on the brain electric control.
Background technology
Along with progress of science and technology and development; Novel toy emerges in an endless stream; The remote-control toy of acousto-optic electricity one becomes the main flow in market already; People are also actively expanding new toy industry in development traditional toy industry, therefore intelligent toy becomes each new developing goal of big toy manufacturer.Compared to the traditional intelligence toy, brain electric control intelligent toy possesses inborn huge advantage.The traditional intelligence toy needs the player to possess certain manipulative ability and theoretical foundation, and this just defines the exclusive product that the traditional intelligence toy can only be adult or young scientific and technological fan.Brain electric control toy does not then possess above restriction, and brain electric control toy has obtained liking of children with its unique novel control mode.Brain electric control toy is not only that toy is in a form and a technical innovation; Just expression of children education expert is arranged; It controls the form of expression of toy through brain wave; To a certain degree to cultivating the coordination of child's brain and hand, thereby and induce child to focus one's attention on and to play certain curative effect aspect ' ADD ' treating.At present, the domestic head of a family is increasingly high requiring aspect ' intelligence development ' to toy, and the appearance of brain electronic game tool will be the trend that has led toy product of new generation undoubtedly.
Based on the toy dolly control mode of brain electricity, be a kind of more direct people and toy interactive mode, user's notice degree is embodied a concentrated reflection of through toy dolly velocity magnitude, more intuitively, more meet user's mental model.The brain electricity is the current potential of about tens microvolts of producing in the cerebral nerve electrical activity process; Tradition brain electricity equipment is applied to scientific research, Medical Devices mostly; Present stage is domestic also not to have manufacturer that the brain electrical control equipment is applied to the consumer level product for civilian use, and mostly has following problem: (1) need wear electrode cap and smear conductive paste, and inconvenient user uses; Each use is all very complicated loaded down with trivial details, and the user experiences bad; (2) price is very expensive, and a whole set of brain electricity equipment does not wait to up to a million at hundreds of thousands, and ordinary consumer can not be born this price; (3) EEG signals that collect need special software and hardware to understand; And output is the data and the oscillogram of specialty mostly; This just defines scientific research personnel or medical worker that the user can only be a professional domain, and general public can't well make the electric equipment of requiring mental skill.
The human at present use for biology sensor also rests on the primary stage, and human body make-up is very complicated, but present stage can be by the bio signal of the fine use of people but seldom.Science and technology is maked rapid progress, along with signal processing technology, and production technology, the development of brain algorithm and other art, popularizing of brain power technology is rapid day by day.And a mode provided by the present invention important development direction popularizing of brain power technology just.
Summary of the invention
The present invention is directed to the deficiency of prior art, a kind of novel directly cart system of seeking based on the brain electric control is provided.
Basic design of the present invention: the present invention is absorbed in the EEG signals when doing something through gathering the user; Pass to the toy dolly through Radio Transmission Technology; The dolly single-chip microcomputer is handled EEG signals; Extract characteristic signal wherein, and mate, thereby realize control little vehicle speed with corresponding specific speed value.Infrared photoelectric sensor transmitter emission infrared light on the dolly car body is to map; Run into white background black line (or black matrix white line) then reflected signal give receiver; Signal receiver sends signal to single-chip microcomputer again; Single-chip microcomputer is handled the control dolly left and right sides, back motor speed, turns about the realization dolly.Said equipment comprises the wear-type eeg collection system, signal processing apparatus, radio transmitting device and toy dolly.
The technical scheme that technical solution problem of the present invention is taked is:
A kind of novel directly cart system of seeking based on the brain electric control comprises headphone, seeks footpath dolly and scene map.Headphone collection and process user EEG signals; To seeking the footpath dolly, control little vehicle speed through wireless network transmissions; Dolly goes along the path in the scene map automatically.
The present invention is absorbed in the EEG signals when doing something through gathering the user; Pass to the toy dolly through Radio Transmission Technology; The dolly single-chip microcomputer is handled EEG signals; Extract characteristic signal wherein, and mate, thereby realize control little vehicle speed with corresponding specific speed value.Infrared photoelectric sensor transmitter emission infrared light on the dolly car body is to map; Run into white background black line (or black matrix white line) then reflected signal give receiver; Signal receiver sends signal to single-chip microcomputer again; Single-chip microcomputer is handled the control dolly left and right sides, back motor speed, turns about the realization dolly.Said equipment comprises the wear-type eeg collection system, signal processing apparatus, radio transmitting device and toy dolly.
Described wear-type eeg collection system is to gather user's EEG signals through the dried electrode of collection that is placed on human body head brain forehead; Gather in the process of signal; Amplify through corresponding signal, signal denoising, wait a series of Filtering Processing after; Convert data signal in the input brain electricity microprocessor chip, and send in the moving of car control appliance on the dolly through wireless transmitter module.
Described headphone comprises: brain wave acquisition treating apparatus, headphone mainboard, first wireless launcher.
The brain wave acquisition device comprises gathers dried electrode, the dried electrode of benchmark, Think Gear brain electric treatment chip.Think Gear brain electric treatment chip P1 interface 1 pin, 2 pin and the dried electrode of collection link to each other; 3 pin link to each other with GND; 4 pin, 5 pin link to each other with the dried electrode of benchmark.Think Gear brain electric treatment chip P3 interface 1 pin links to each other with GND; 2 pin link to each other with VCC; 3 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 4 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin.Think Gear brain electric treatment chip P4 interface 1 pin links to each other with the 3.3V positive source; 2 pin link to each other with the 3.3V power cathode.
The headphone mainboard comprises peripheral components such as USB charging circuit, STM8S103F3 single-chip microcomputer, indication LED.STM8S103F3 single-chip microcomputer 2 pin link to each other with Think Gear brain electric treatment chip 3 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with Think Gear brain electric treatment chip 4 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and the C2 electric capacity other end links to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 1 one ends with VCC, and capacitor C 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with the positive pole of LED1, and the negative pole of LED1 links to each other with an end of resistance R 1, and the other end of resistance R 1 links to each other with GND.SWIM debugging interface 1 pin links to each other with VCC; SWIM debugging interface 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; SWIM debugging interface 3 pin link to each other with GND; SWIM debugging interface 4 pin link to each other with STM8S103F3 single-chip microcomputer 4 pin.MiniUSB interface 1 pin links to each other with charged lithium cells interface 4 pin; MiniUSB interface 5 pin, 6 pin, 7 pin link to each other with GND.
LTC4054 lithium cell charging chip 1 pin links to each other with resistance R 2 one ends, and resistance R 2 other ends link to each other with the LED1 negative pole; LTC4054 lithium cell charging chip 2 pin link to each other with GND; LTC4054 lithium cell charging chip 3 pin link to each other with Li interface 1 pin, and Li interface 2 pin link to each other with GND; LTC4054 lithium cell charging chip 4 pin link to each other with LED1 positive pole, miniUSB interface 1 pin, capacitor C 3 one ends, and capacitor C 3 other ends link to each other with GND; LTC4054 lithium cell charging chip 5 pin link to each other with resistance R 3 one ends, and resistance R 3 other ends link to each other with GND.
First wireless launcher comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.
Described moving of car control appliance is the general name of a series of soft hardware equipment on the dolly car body.Mainly comprise several sections:
(1) vehicle motor drive circuit.Receive control signal, and itself and specific dolly velocity amplitude are mated, control the size of little vehicle speed.
(2) reset circuit is used in the dolly debugging.Be used for the replacement of dolly state and reset.
(3) dolly power supply booster circuit.
(4) dolly is sought the footpath circuit.Be used for the moving of car path planning, control moving of car direction.
(5) dolly control circuit driver.
Described vehicle motor drive circuit comprises the STM8S103F3 single-chip microcomputer; The CC2500RF wireless receiving module; Realize communicating by letter through serial port with signal handling equipment; After obtaining control command itself and specific dolly velocity amplitude are mated, carry out the control of dolly left and right sides motor movement state, control the size of little vehicle speed through pwm signal.And can receive the moving of car path planning signal that dolly is sought footpath circuit answer, and carry out the control of dolly left and right sides motor movement state through pwm signal, turn or keep straight on about the control dolly.
The described footpath dolly of seeking comprises: seek footpath circuit, dolly mainboard, second radio receiver.
Seek the footpath circuit and comprise left side probe, right probe, 7414 multivibrators.Left side probe comprises emission and accepts infrared tube and peripheral circuit thereof.Left side probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Left side probe infrared emission LED1 negative pole links to each other with GND; The a left side infrared Photo of acceptance Sen of probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The a left side infrared Photo of acceptance Sen negative pole of probe links to each other with resistance VCC.Right probe comprises emission and accepts infrared tube and peripheral circuit thereof.Right probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Right probe infrared emission LED1 negative pole links to each other with GND; The infrared Photo of acceptance Sen of right probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The infrared Photo of acceptance Sen negative pole of right probe links to each other with resistance VCC.7414 multivibrators, 1 pin and anodal linking to each other of a left side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 2 pin link to each other with 7414 multivibrators, 3 pin; 7414 multivibrators, 4 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 7414 multivibrators, 7 pin link to each other with GND; 7414 multivibrators, 10 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin; 7414 multivibrators, 11 pin link to each other with 7414 multivibrators, 12 pin; 7414 multivibrators, 13 pin and anodal linking to each other of the right side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 14 pin link to each other with VCC.
The dolly mainboard is made up of STM8S103F3 single-chip microcomputer and peripheral circuit, and peripheral circuit comprises: phonation circuit, booster circuit, motor-drive circuit and indication LED circuit.
Phonation circuit comprises language IC and loudspeaker: voice IC2 pin links to each other with loudspeaker one end, and the loudspeaker other end links to each other with voice IC3 pin; Voice IC4 pin links to each other with VCC; Voice IC5 pin links to each other with GND; Voice IC6 pin links to each other with STM8S103F3 single-chip microcomputer 6 pin; Voice IC7 pin links to each other with STM8S103F3 single-chip microcomputer 5 pin.
Booster circuit comprises battery, MH7011D3.3 voltage stabilizing chip and other peripheral components composition: MH7011D3.3 voltage stabilizing chip 1 pin links to each other with GND; MH7011D3.3 voltage stabilizing chip 2 pin link to each other with inductance L 1 one ends, and the L1 other end links to each other with anode, and GND links to each other with GND; MH7011D3.3 voltage stabilizing chip 3 pin link to each other with VCC with diode 1N5819 negative pole, and diode 1N5819 positive pole links to each other with MH7011D3.3 voltage stabilizing chip 2 pin; Capacitor C 6 positive poles link to each other with VCC, and negative pole links to each other with GND; Capacitor C 3 one ends link to each other with VCC, and the other end links to each other with GND.
Motor-drive circuit comprises left motor-drive circuit and right motor-drive circuit: left motor one end links to each other with capacitor C 4 one ends, resistance R 2 one ends; Drain electrode links to each other resistance R 2 other ends with FET Q3; The Q3 earth terminal links to each other with resistance R 11 1 ends; The R11 other end links to each other with STM8S103F3 single-chip microcomputer 14 pin, and the Q3 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 4 other ends.Right motor one end links to each other with capacitor C 5 one ends, resistance R 3 one ends; Drain electrode links to each other resistance R 3 other ends with FET Q4; The Q4 earth terminal links to each other with resistance R 12 1 ends; The R12 other end links to each other with STM8S103F3 single-chip microcomputer 13 pin, and the Q4 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 5 other ends.
The indication LED circuit comprises LED and other peripheral components: indication LED D4 positive pole links to each other with VCC with indication LED D3 is anodal; The D4 negative pole links to each other with resistance R 6 one ends with the D3 negative pole; The R6 other end extremely links to each other with NPN triode Q16C; The Q16E utmost point links to each other with GND, and the Q16B utmost point links to each other with resistance R 5 one ends, and resistance R 5 other ends link to each other with STM8S103F3 single-chip microcomputer 20 pin.
STM8S103F3 single-chip microcomputer 1 pin links to each other with indication LED is anodal, and the LED negative pole links to each other with resistance R 1 one ends, and resistance R 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 2 pin link to each other with 7414 multivibrators, 4 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with 7414 multivibrators, 10 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin, and SWIM debugging interface 1 pin links to each other with VCC, and 2 pin link to each other with STM8S103F3 single-chip microcomputer 18 pin, and 3 pin link to each other with GND; STM8S103F3 single-chip microcomputer 5 pin link to each other with voice IC7 pin; STM8S103F3 single-chip microcomputer 6 pin link to each other with voice IC6 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and capacitor C 2 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 9 one ends with VCC, and capacitor C 9 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 13 pin link to each other with right motor R12 one end; STM8S103F3 single-chip microcomputer 14 pin link to each other with left motor R11 one end; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with indication LED circuit R5 one end.
Second radio receiver comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.
Described scene map comprises: dolly path, background decorative.Coherent, the uniform lines that draw on white background for black pen in the dolly path.Background decorative is a series of decorative picture.
The present invention has following beneficial effect with respect to prior art:
1. game form of the present invention is abundant, and the various games form can be set, and game form flexibly, conveniently can satisfy the demand of different age people.
2. the present invention can temper user's focus through game process, improves notice in the time of recreation and concentrates, and makes the user reach desirable state more easily carrying out other work.
3. the present invention can improve user's allowance through game process, and unique entertainment form makes the user when carrying out Entertainment and loosening, and improves the overwrought mood of user, and favourable user psychology is healthy.
Description of drawings
Fig. 1 is a system architecture The general frame of the present invention.
Fig. 2 is a brain electronic game tool remote operated vehicle entire system block diagram.
Fig. 3 seeks the footpath circuit block diagram for brain electronic game tool remote operated vehicle.
Fig. 4 is brain electronic game tool remote operated vehicle eeg signal acquisition and treatment circuit circuit diagram.
Fig. 5 is brain electronic game tool remote operated vehicle headphone miniUSB circuit figure.
Fig. 6 is brain electronic game tool remote operated vehicle headphone lithium cell charging circuit figure.
Fig. 7 is a brain electronic game tool remote operated vehicle headphone RF radio transmitter circuit diagram.
Fig. 8 is a brain electronic game tool remote operated vehicle headphone SWIM debug circuit circuit diagram.
Fig. 9 is a brain electronic game tool remote operated vehicle dolly control circuit circuit diagram.
Figure 10 is brain electronic game tool remote operated vehicle indication LED circuit figure.
Figure 11 seeks the footpath module for brain electronic game tool remote operated vehicle and seeks diameter probe circuit figure.
Figure 12 seeks footpath module multi-resonant oscillating circuit circuit diagram for brain electronic game tool remote operated vehicle.
Figure 13 is a brain electronic game tool remote operated vehicle phonation circuit circuit diagram.
Figure 14 is a brain electronic game tool remote operated vehicle motor-drive circuit circuit diagram.
Figure 15 is a brain electronic game tool remote operated vehicle booster circuit circuit diagram.
Figure 16 is a brain electronic game tool remote operated vehicle TGAM brain electrical chip connecting circuit circuit diagram.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
As shown in Figure 1, control of the present invention system possesses signals collecting, and signal is handled, four functional modules of wireless telecommunications and toy driving, thus obtain experience and training effect preferably through the co-ordination between each module.The directly cart system of seeking based on the brain electric control described in the invention is because its control characteristic is particularly suitable for children and white collar active, the neophilia things and uses.The developer can not only be used for control and seek the footpath dolly according to the concrete equipment and the different concrete application of method exploitation of this invention, can also be used for other man-machine interactive application, for example is used for the game control platform.Below the control that just combines to seek the footpath dolly native system is done detailed explanation.
As shown in Figure 2; Basic principle of the present invention is will control advancing with the velocity magnitude time of toy dolly as the user, need not carry out the action of any limbs and language, as long as focus one's attention on or loosen as far as possible; Alpha wave will produce corresponding variation in the EEG signals that corresponding sensory area electrode writes down on the scalp of brain forehead; After the EEG Processing control circuit receives EEG signals,, can identify the size of user's notice concentration degree through analyzing the variation of alpha wave numerical value in the EEG signals; And be converted into " focus " and " allowance " two specially numerical value and export to the dolly control circuit; The dolly control circuit matees the velocity amplitude size of itself and characteristics, and combines the routing information that arrives in the trolley path planning circuit, thus the velocity magnitude and the direct of travel of control dolly.
This control system comprises following several sections:
1) wear-type eeg collection system: by the collection of EEG signals, signal is handled, analog-to-digital conversion, and transmit four parts composition.The wear-type eeg collection system has been given prominence to easily worn property from designing with regard to designing to brain electrical remote control dolly characteristics, use simple to operate, integrated level is high, low in energy consumption, be easy to characteristics such as children carry.The embedded high-performance lithium battery of system, with the TGAM of U.S. neurosky company series brain electric treatment chip as the system core, the EEG signals that processing collected arrives; Utilize its plate to carry integrated digital to analog converter (ADC; Analog-to-Digital Converter), realizes the digital collection of signal, and utilized CC2500 series RF module to accomplish wireless transmission of signal; Improve the integrated level and the transfer function of system greatly, broken through brain wave acquisition restriction spatially.In the wear-type eeg collection system, for the portability of real realization system, CC2500 series 2.4GHz RF transceiver has been adopted in system's design.It is integrated configurable demodulator that transfers to of height that data transmission rate can reach 500kbps.Receiver selectivity that volume little, highly sensitive (under the 10kbps-98dBm, 1% data packet error rate), control data transmission rate able to programme, current drain are low, outstanding and modular capability, low price.
2) little truck control device: be meant the dolly control appliance that is positioned at the dolly body interior.Dolly in the present embodiment is reequiped by voltage-controlled toy dolly, is driven by Brush-Less DC motor, adopts the moving full drive form of bi-motor.The dolly control circuit links to each other with vehicle motor through circuit, through the advancing of control vehicle motor rotating speed size realization dolly, rapid change, function such as turn to.
3) dolly path map: the dolly path map is made up of several sections such as dolly path, background decoratives.Coherent, the uniform lines that draw on white background for black pen in the dolly path are used to plan moving of car direction and path.Background decorative then is an a series of decorative picture etc.
As shown in Figure 3; Through the infrared signal of seeking the diameter probe emission and receiving; Dolly can identify the even black line on the map path, and through dolly Single-chip Controlling dolly left and right sides rotating speed of motor with turn to different, thereby realize the advancing of dolly, speed change, acceleration and turning.Make dolly move ahead along the good path of planning always.
Like Fig. 4, shown in 16; Brain electronic game tool remote operated vehicle eeg signal acquisition and treatment circuit are made up of brain wave acquisition process chip and earphone single-chip microcomputer; The brain wave acquisition process chip is responsible for the EEG signals that obtain are gathered and handled, and the earphone single-chip microcomputer then matees the processing signals that obtains and changes.Think Gear brain electric treatment chip P1 interface 1 pin, 2 pin and the dried electrode of collection link to each other; 3 pin link to each other with GND; 4 pin, 5 pin link to each other with the dried electrode of benchmark.Think Gear brain electric treatment chip P3 interface 1 pin links to each other with GND; 2 pin link to each other with VCC; 3 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 4 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin.Think Gear brain electric treatment chip P4 interface 1 pin links to each other with the 3.3V positive source; 2 pin link to each other with the 3.3V power cathode.STM8S103F3 single-chip microcomputer 2 pin link to each other with Think Gear brain electric treatment chip 3 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with Think Gear brain electric treatment chip 4 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and the C2 electric capacity other end links to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 1 one ends with VCC, and capacitor C 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with the positive pole of LED1, and the negative pole of LED1 links to each other with an end of resistance R 1, and the other end of resistance R 1 links to each other with GND.
As shown in Figure 5, brain electronic game tool remote operated vehicle headphone miniUSB circuit is the interface circuit that is used for the earphone charging.MiniUSB interface 1 pin links to each other with charged lithium cells interface 4 pin; MiniUSB interface 5 pin, 6 pin, 7 pin link to each other with GND.
As shown in Figure 6, brain electronic game tool remote operated vehicle headphone lithium cell charging circuit is the main energy supply module that the brain dateline is worn earphone, is made up of charged lithium cells and corresponding charging circuit.LTC4054 lithium cell charging chip 1 pin links to each other with resistance R 2 one ends, and resistance R 2 other ends link to each other with the LED1 negative pole; LTC4054 lithium cell charging chip 2 pin link to each other with GND; LTC4054 lithium cell charging chip 3 pin link to each other with Li interface 1 pin, and Li interface 2 pin link to each other with GND; LTC4054 lithium cell charging chip 4 pin link to each other with LED1 positive pole, miniUSB interface 1 pin, capacitor C 3 one ends, and capacitor C 3 other ends link to each other with GND; LTC4054 lithium cell charging chip 5 pin link to each other with resistance R 3 one ends, and resistance R 3 other ends link to each other with GND.
As shown in Figure 7; Brain electronic game tool remote operated vehicle headphone RF radio transmitter is one of chief component of headphone and the communication of dolly subject radio; The control signal that the conversion that wireless module will obtain is good sends to little vehicle control through RF wireless transmission chip, and little vehicle control carries out moving of car control through the signal that obtains.Wireless launcher comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.
As shown in Figure 8, brain electronic game tool remote operated vehicle headphone SWIM debug circuit is the main interface of headphone debugging.SWIM debugging interface 1 pin links to each other with VCC; SWIM debugging interface 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; SWIM debugging interface 3 pin link to each other with GND; SWIM debugging interface 4 pin link to each other with STM8S103F3 single-chip microcomputer 4 pin.
As shown in Figure 9, brain electronic game tool remote operated vehicle dolly control circuit is a moving of car major control device.Being made up of dolly control single chip computer and corresponding peripheral component, is the core of moving of car control.STM8S103F3 single-chip microcomputer 1 pin links to each other with indication LED is anodal, and the LED negative pole links to each other with resistance R 1 one ends, and resistance R 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 2 pin link to each other with 7414 multivibrators, 4 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with 7414 multivibrators, 10 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin, and SWIM debugging interface 1 pin links to each other with VCC, and 2 pin link to each other with STM8S103F3 single-chip microcomputer 18 pin, and 3 pin link to each other with GND; STM8S103F3 single-chip microcomputer 5 pin link to each other with voice IC7 pin; STM8S103F3 single-chip microcomputer 6 pin link to each other with voice IC6 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and capacitor C 2 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 9 one ends with VCC, and capacitor C 9 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 13 pin link to each other with right motor R12 one end; STM8S103F3 single-chip microcomputer 14 pin link to each other with left motor R11 one end; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with indication LED circuit R5 one end.
Shown in figure 10, brain electronic game tool remote operated vehicle indication LED circuit is mainly used in the prompting of dolly state, and through the LED indicating circuit, we can well learn whether dolly has received the brain electric control signal, and the size of brain electric control signal intensity.The indication LED circuit comprises LED and other peripheral components: indication LED D4 positive pole links to each other with VCC with indication LED D3 is anodal; The D4 negative pole links to each other with resistance R 6 one ends with the D3 negative pole; The R6 other end extremely links to each other with NPN triode Q16C; The Q16E utmost point links to each other with GND, and the Q16B utmost point links to each other with resistance R 5 one ends, and resistance R 5 other ends link to each other with STM8S103F3 single-chip microcomputer 20 pin.
Shown in figure 11, brain electronic game tool remote operated vehicle is sought the footpath module and is sought the main sensors that the diameter probe circuit is a dolly, we can say to be exactly the eyes of dolly, does not have it, and dolly just can not move according to the good path of planning.About probe divides two, co-ordination each other makes dolly correctly discern path direction.Left side probe comprises emission and accepts infrared tube and peripheral circuit thereof.Left side probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Left side probe infrared emission LED1 negative pole links to each other with GND; The a left side infrared Photo of acceptance Sen of probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The a left side infrared Photo of acceptance Sen negative pole of probe links to each other with resistance VCC.Right probe comprises emission and accepts infrared tube and peripheral circuit thereof.Right probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Right probe infrared emission LED1 negative pole links to each other with GND; The infrared Photo of acceptance Sen of right probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The infrared Photo of acceptance Sen negative pole of right probe links to each other with resistance VCC.
Shown in figure 12, brain electronic game tool remote operated vehicle is sought the important component part in the control circuit of module multi-resonant oscillating circuit dolly path, footpath, and the signal that probe is collected converts the pulse signal that single-chip microcomputer can be discerned into.7414 multivibrators, 1 pin and anodal linking to each other of a left side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 2 pin link to each other with 7414 multivibrators, 3 pin; 7414 multivibrators, 4 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 7414 multivibrators, 7 pin link to each other with GND; 7414 multivibrators, 10 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin; 7414 multivibrators, 11 pin link to each other with 7414 multivibrators, 12 pin; 7414 multivibrators, 13 pin and anodal linking to each other of the right side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 14 pin link to each other with VCC.
Shown in figure 13, be used to the to play broadcast of background music of brain electronic game tool remote operated vehicle phonation circuit makes recreation that the substitution sense more arranged, and more is rich in enjoyment.Phonation circuit comprises language IC and loudspeaker: voice IC2 pin links to each other with loudspeaker one end, and the loudspeaker other end links to each other with voice IC3 pin; Voice IC4 pin links to each other with VCC; Voice IC5 pin links to each other with GND; Voice IC6 pin links to each other with STM8S103F3 single-chip microcomputer 6 pin; Voice IC7 pin links to each other with STM8S103F3 single-chip microcomputer 5 pin.
Shown in figure 14, brain electronic game tool remote operated vehicle motor-drive circuit is the major control device of moving of car.Motor-drive circuit comprises left motor-drive circuit and right motor-drive circuit: left motor one end links to each other with capacitor C 4 one ends, resistance R 2 one ends; Drain electrode links to each other resistance R 2 other ends with FET Q3; The Q3 earth terminal links to each other with resistance R 11 1 ends; The R11 other end links to each other with STM8S103F3 single-chip microcomputer 14 pin, and the Q3 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 4 other ends.Right motor one end links to each other with capacitor C 5 one ends, resistance R 3 one ends; Drain electrode links to each other resistance R 3 other ends with FET Q4; The Q4 earth terminal links to each other with resistance R 12 1 ends; The R12 other end links to each other with STM8S103F3 single-chip microcomputer 13 pin, and the Q4 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 5 other ends.
Shown in figure 15, brain electronic game tool remote operated vehicle booster circuit is the main energy supply circuit of dolly work, and booster circuit comprises battery, MH7011D3.3 voltage stabilizing chip and other peripheral components composition: MH7011D3.3 voltage stabilizing chip 1 pin links to each other with GND; MH7011D3.3 voltage stabilizing chip 2 pin link to each other with inductance L 1 one ends, and the L1 other end links to each other with anode, and GND links to each other with GND; MH7011D3.3 voltage stabilizing chip 3 pin link to each other with VCC with diode 1N5819 negative pole, and diode 1N5819 positive pole links to each other with MH7011D3.3 voltage stabilizing chip 2 pin; Capacitor C 6 positive poles link to each other with VCC, and negative pole links to each other with GND; Capacitor C 3 one ends link to each other with VCC, and the other end links to each other with GND.
Claims (1)
1. the novel directly cart system of seeking based on the brain electric control comprises headphone, seeks footpath dolly and scene map, it is characterized in that: headphone collection and process user EEG signals; To seeking the footpath dolly, control little vehicle speed through wireless network transmissions; Dolly goes along the path in the scene map automatically;
Described headphone comprises brain wave acquisition treating apparatus, headphone mainboard and first radio transmitting device;
The brain wave acquisition device comprises gathers dried electrode, the dried electrode of benchmark, Think Gear brain electric treatment chip; Think Gear brain electric treatment chip P1 interface 1 pin, 2 pin and the dried electrode of collection link to each other; 3 pin link to each other with GND; 4 pin, 5 pin link to each other with the dried electrode of benchmark; Think Gear brain electric treatment chip P3 interface 1 pin links to each other with GND; 2 pin link to each other with VCC; 3 pin link to each other with TXD; 4 pin link to each other with RXD; Think Gear brain electric treatment chip P4 interface 1 pin links to each other with the 3.3V positive source; 2 pin link to each other with the 3.3V power cathode;
The headphone mainboard comprises USB charging circuit, STM8S103F3 single-chip microcomputer and indication LED peripheral component; STM8S103F3 single-chip microcomputer 2 pin link to each other with Think Gear brain electric treatment chip 3 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with Think Gear brain electric treatment chip 4 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and the C2 electric capacity other end links to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 1 one ends with VCC, and capacitor C 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with the positive pole of LED1, and the negative pole of LED1 links to each other with an end of resistance R 1, and the other end of resistance R 1 links to each other with GND; SWIM debugging interface 1 pin links to each other with VCC; SWIM debugging interface 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; SWIM debugging interface 3 pin link to each other with GND; SWIM debugging interface 4 pin link to each other with STM8S103F3 single-chip microcomputer 4 pin; MiniUSB interface 1 pin links to each other with charged lithium cells interface 4 pin; MiniUSB interface 5 pin, 6 pin, 7 pin link to each other with GND; Charged lithium cells interface 1 pin links to each other with resistance R 2 one ends, and resistance R 2 other ends link to each other with the LED1 negative pole; Charged lithium cells interface 2 pin link to each other with GND; Charged lithium cells interface 3 pin link to each other with Li interface 1 pin, and Li interface 2 pin link to each other with GND; Charged lithium cells interface 4 pin link to each other with LED1 positive pole, miniUSB interface 1 pin, capacitor C 3 one ends, and capacitor C 3 other ends link to each other with GND; Charged lithium cells interface 5 pin link to each other with resistance R 3 one ends, and resistance R 3 other ends link to each other with GND; SWITCH switch 1 pin links to each other with charged lithium cells interface 3 pin; SWITCH switch 2 pin link to each other with TPS78233 voltage stabilizing chip 1 pin, 3 pin; TPS78233 voltage stabilizing chip 1 pin, 3 pin link to each other with capacitor C 4 one ends, and capacitor C 4 other ends link to each other with GND; TPS78233 voltage stabilizing chip 2 pin link to each other with GND; TPS78233 voltage stabilizing chip 4 pin link to each other with filter capacitor C6 negative pole, and filter capacitor C6 positive pole links to each other with VCC; TPS78233 voltage stabilizing chip 5 pin link to each other with VCC;
First radio transmitting device comprises CC2500 radio frequency transmission chip and peripheral circuit thereof; CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin;
The described footpath dolly of seeking comprises and seeks footpath circuit, the dolly mainboard and second radio transmitting device;
Seek the footpath circuit and comprise left side probe, right probe, 7414 multivibrators; Left side probe is formed by seeking footpath infrared tube and correspondent peripheral circuit with right probe; Left side probe comprises that left side probe infrared emission LED1 positive pole links to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Left side probe infrared emission LED1 negative pole links to each other with GND; The a left side infrared Photo of acceptance Sen of probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The a left side infrared Photo of acceptance Sen negative pole of probe links to each other with resistance VCC; Right probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Right probe infrared emission LED1 negative pole links to each other with GND; The infrared Photo of acceptance Sen of right probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The infrared Photo of acceptance Sen negative pole of right probe links to each other with resistance VCC;
7414 multivibrators, 1 pin and anodal linking to each other of a left side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 2 pin link to each other with 7414 multivibrators, 3 pin; 7414 multivibrators, 4 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 7414 multivibrators, 7 pin link to each other with GND; 7414 multivibrators, 10 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin; 7414 multivibrators, 11 pin link to each other with 7414 multivibrators, 12 pin; 7414 multivibrators, 13 pin and anodal linking to each other of the right side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 14 pin link to each other with VCC;
The dolly mainboard is made up of STM8S103F3 single-chip microcomputer and peripheral circuit, and peripheral circuit comprises phonation circuit, booster circuit, motor-drive circuit and indication LED circuit;
Phonation circuit comprises language IC and loudspeaker: voice IC2 pin links to each other with loudspeaker one end, and the loudspeaker other end links to each other with voice IC3 pin; Voice IC4 pin links to each other with VCC; Voice IC5 pin links to each other with GND; Voice IC6 pin links to each other with STM8S103F3 single-chip microcomputer 6 pin; Voice IC7 pin links to each other with STM8S103F3 single-chip microcomputer 5 pin;
Booster circuit comprises battery, MH7011D3.3 voltage stabilizing chip and other peripheral components composition: MH7011D3.3 voltage stabilizing chip 1 pin links to each other with GND; MH7011D3.3 voltage stabilizing chip 2 pin link to each other with inductance L 1 one ends, and the L1 other end links to each other with anode, and GND links to each other with GND; MH7011D3.3 voltage stabilizing chip 3 pin link to each other with VCC with diode 1N5819 negative pole, and diode 1N5819 positive pole links to each other with MH7011D3.3 voltage stabilizing chip 2 pin; Capacitor C 6 positive poles link to each other with VCC, and negative pole links to each other with GND; Capacitor C 3 one ends link to each other with VCC, and the other end links to each other with GND;
Motor-drive circuit comprises left motor-drive circuit and right motor-drive circuit: left motor one end links to each other with capacitor C 4 one ends, resistance R 2 one ends; Drain electrode links to each other resistance R 2 other ends with FET Q3; The Q3 earth terminal links to each other with resistance R 11 1 ends; The R11 other end links to each other with STM8S103F3 single-chip microcomputer 14 pin, and the Q3 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 4 other ends; Right motor one end links to each other with capacitor C 5 one ends, resistance R 3 one ends; Drain electrode links to each other resistance R 3 other ends with FET Q4; The Q4 earth terminal links to each other with resistance R 12 1 ends; The R12 other end links to each other with STM8S103F3 single-chip microcomputer 13 pin, and the Q4 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 5 other ends;
The indication LED circuit comprises LED and other peripheral components: indication LED D4 positive pole links to each other with VCC with indication LED D3 is anodal; The D4 negative pole links to each other with resistance R 6 one ends with the D3 negative pole; The R6 other end extremely links to each other with NPN triode Q16C; The Q16E utmost point links to each other with GND, and the Q16B utmost point links to each other with resistance R 5 one ends, and resistance R 5 other ends link to each other with STM8S103F3 single-chip microcomputer 20 pin;
STM8S103F3 single-chip microcomputer 1 pin links to each other with indication LED is anodal, and the LED negative pole links to each other with resistance R 1 one ends, and resistance R 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 2 pin link to each other with 7414 multivibrators, 4 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with 7414 multivibrators, 10 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin, and SWIM debugging interface 1 pin links to each other with VCC, and 2 pin link to each other with STM8S103F3 single-chip microcomputer 18 pin, and 3 pin link to each other with GND; STM8S103F3 single-chip microcomputer 5 pin link to each other with voice IC7 pin; STM8S103F3 single-chip microcomputer 6 pin link to each other with voice IC6 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and capacitor C 2 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 9 one ends with VCC, and capacitor C 9 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 13 pin link to each other with right motor R12 one end; STM8S103F3 single-chip microcomputer 14 pin link to each other with left motor R11 one end; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with indication LED circuit R5 one end;
Second radio transmitting device comprises CC2500 radio frequency transmission chip and peripheral circuit thereof; CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin;
Described scene map comprises dolly path and background decorative; Coherent, the uniform lines that draw on white background for black pen in the dolly path; Background decorative is a series of decorative picture.
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| CN109907941A (en) * | 2019-04-02 | 2019-06-21 | 西安交通大学 | A kind of wrist rehabilitation control device based on focus level |
| CN110413128A (en) * | 2019-08-12 | 2019-11-05 | 浙江强脑科技有限公司 | Automobile control method, device and storage medium based on eeg data |
| WO2021027593A1 (en) * | 2019-08-12 | 2021-02-18 | 浙江强脑科技有限公司 | Automobile control method and apparatus based on electroencephalogram data, and storage medium |
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| CN102397703B (en) | 2013-12-18 |
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