CN104971501A - Multi-driving autonomous boxing model robot system and control method thereof - Google Patents

Abstract

The invention provides a multi-driving autonomous boxing model robot system and a control method thereof, and relates to the field of autonomous control robot. Problems of complex structure, inflexible movement and a difficulty in realization of independent control of left and right arms of a current boxing model robot are solved. Linkage mechanisms are arranged in a left arm and a right arm of a robot body. A motor drives the left arm and the right arm to carry out punching actions via the linage mechanism. The linkage mechanisms in the left arm and the right arm are mutually independently, so the left arm and the right arm can carry out different types of punching actions in different directions simultaneously in the same time. Via a front walking mechanism and a back walking mechanism at the bottom of the robot body, movement of the robot can be achieved. Via an elevating mechanism, rising or descending of the whole robot body can be achieved, and real actions in the boxing processes can be simulated. The robot system is suitable for simulation of boxing counteracting exercises or games.

Description

The autonomous boxing dummies robot system of many drivings and control method thereof

Technical field

The present invention relates to autonomous control field.

Background technology

Boxing is fabulous sports.So be often used as the theme of new equipment.These devices can be divided into a few class, and the first kind is the device that boxing function is relevant.The device of punch action is simulated, for people as impact object as a kind of.Adopt similar principle, a kind of electronic system virtual device being shown as punch action.Equations of The Second Kind is the device can assisted punch action.3rd class, by boxing be used as games for play, in addition can people operate wherein machinery boxing device.The little mechanism of imitative boxing having two people to operate respectively, or monomer imitates the little mechanism of punch action as the use of viewing and admiring, but this product structure is complicated at present, action is dumb, and be difficult to realize controlling respectively left and right arms.

Summary of the invention

In order to solve, existing boxing dummies robot architecture is complicated, action is dumb in the present invention, and is difficult to the problem that realizes controlling respectively left and right arms, provides a kind of and drives autonomous boxing dummies robot system and control method thereof more.

The autonomous boxing dummies robot system of many drivings comprises robot body, punch device, running gear, tumbler and control device, described punch device, running gear, tumbler and control device are all located in robot body, control device is for controlling punch device, running gear and tumbler carry out action, the head of robot body is provided with by hitting region and infrared distance measurement unit, the upper body of robot body is provided with by hitting region, described being provided with in hitting region is impacted sensor, infrared distance measurement unit is for launching infrared laser with the distance of monitoring human body and external object, described infrared distance measurement unit is connected with control device, imageing sensor and decoder is provided with in robot body, described imageing sensor is by decoder connection control device,

Described punch device comprises left punch motor, right punch motor and link gear, described left punch motor and right punch motor make punching action respectively by the left arm of a link gear control machine human body and right arm, and two link gears are located in the left and right arms of robot body respectively;

This link gear comprises forearm, postbrachium, front rod, crank and back link, described left punch motor or right punch motor control back link by crank and pump, and then drive postbrachium and front rod to swing up and down, postbrachium front end is connected with front arm tip, make forearm make punching action, forearm front end is the fist of robot body;

Described running gear comprises walking mechanism and elevating mechanism, described walking mechanism and lifter cam are all positioned at the bottom of robot body, described walking mechanism comprises four road wheels and walking motor, described control device drives four road wheels to carry out Two-wheeled or four-wheel drive action by walking motor, described elevating mechanism comprises lifter cam, left elevating motor and right elevating motor, and described control device drives lifter cam action by left elevating motor and right elevating motor;

Described tumbler comprises neck rotation motor, and described control device is by neck rotation motor driving machine device human body neck rotation;

Described control device comprises:

For the motor drive block of driven machine human body action;

For sending the autonomous antagonism module of instruction to driver module;

The power module of operating voltage during for providing robot body regular event;

Described motor drive block comprises:

For controlling left punch motor, robot body is made to make the left punching action driver module of left punching action;

For controlling right punch motor, robot body is made to make the right punching action driver module of right punching action;

For controlling neck rotation motor, robot body is made to make the neck rotation driver module of neck rotation action;

Walk motor for control lines, make robot body make the hoofing part module of walking motion;

For controlling left elevating motor, robot body is made to make the left lifting driver module of left lifting action;

For controlling right elevating motor, robot body is made to make the right lifting driver module of right lifting action;

Described autonomous antagonism module is realized by microprocessor, and described autonomous antagonism module comprises:

For arranging the presetting module of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning control module of path planning according to identification signal;

For whether detecting by hitting region by the impact detection module hit;

For the vibration detection module of measuring robots body vibration;

For generating driving instruction and the instruction generation shown corresponding information and display module;

For realizing the communication module of radio communication between driver module;

For judging whether the stopping judge module receiving stop signal, be that then robot body stops action, no, then performance objective identification and path planning control module;

Described target identification and path planning control module comprise:

For extracting the path array of setting as current track data, and the path extraction module of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body, and the head oscillation module of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the module whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head adjusting module; No, then target end identification and path planning control module;

For adjusting the corner of the head of robot body, make the head adjusting module of face orientation target;

Target range for the distance of monitoring human body and target measures module;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to module;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment module that can impact distance, is, then perform impact module, no, then perform and hide judge module;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body sends the impact module of stroke;

For according to target towards, by impact vibrations and illuminated situation hide judge module the need of what hide, be, then perform hide control module, no, then target end identification and path planning control module;

For sending hide action according to hiding path array control body, and corresponding " mark " be set hide control module;

Described target range measures module and comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image transmitter module of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extracting module of feature extraction;

For comparing the feature extracted and target signature, the target signature judge module whether both judgements match then performs distance calculation module, no, then return and perform infrared light image transmitter module;

For the distance calculation module of the spacing of computing machine human body and target;

Impact detection module realizes by by impact sensor or by impact sensor array, by reading the data sent by impact sensor, judges whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate impact detection module;

Vibration detection module is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection module;

Described instruction generation and display module comprise:

The initialization module of port is driven for initializing motor;

For reading " mark " data read module of " mark " data;

For judging whether according to " mark " data the action event judge module that action event occurs; Be that then position, execute flag position and driver module, no, then perform display judge module;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the driver module of corresponding actions by motor drive block driven machine human body;

For judging whether the display judge module of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and display module, no, then direct END instruction generation and display module.

The above-mentioned control method of autonomous boxing dummies robot system that drives comprises more:

For the motor actuation step of driven machine human body action;

For sending the autonomous antagonism step of instruction to actuation step;

Described motor actuation step comprises:

For controlling left punch motor, robot body is made to make the left punching action actuation step of left punching action;

For controlling right punch motor, robot body is made to make the right punching action actuation step of right punching action;

For controlling neck rotation motor, robot body is made to make the neck rotation actuation step of neck rotation action;

Walk motor for control lines, make robot body make the hoofing part step of walking motion;

For controlling left elevating motor, robot body is made to make the left lifting actuation step of left lifting action;

For controlling right elevating motor, robot body is made to make the right lifting actuation step of right lifting action;

Described autonomous antagonism step is realized by microprocessor, and described autonomous antagonism step comprises:

For arranging the foresee steps of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning rate-determining steps of path planning according to identification signal;

For whether detecting by hitting region by the impact detecting step hit;

For the vibration detection step of measuring robots body vibration;

For generating driving instruction and the instruction generation shown corresponding information and step display;

For realizing the communication steps of radio communication between actuation step;

For judging whether the stopping determining step receiving stop signal, be that then robot body stops action, no, then performance objective identification and path planning rate-determining steps;

Described target identification and path planning rate-determining steps comprise:

For extracting the path array of setting as current track data, and the path extraction step of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body, and the head oscillation step of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the step whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head set-up procedure; No, then target end identification and path planning rate-determining steps;

For adjusting the corner of the head of robot body, make the head set-up procedure of face orientation target;

For the target range determination step of the distance of monitoring human body and target;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to step;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment step that can impact distance, is, then perform impact step, no, then perform and hide determining step;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body sends the impact step of stroke;

For according to target towards, by impact vibrations and illuminated situation hide determining step the need of what hide, be, then perform hide rate-determining steps, no, then target end identification and path planning rate-determining steps;

For sending hide action according to hiding path array control body, and corresponding " mark " be set hide rate-determining steps;

Described target range determination step comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image step of transmitting of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extraction step of feature extraction;

For comparing the feature extracted and target signature, the target signature determining step whether both judgements match, is, then perform distance calculation procedure, no, then return and perform infrared light image step of transmitting;

For the distance calculation procedure of the spacing of computing machine human body and target;

Impact detecting step realizes by by impact sensor or by impact sensor array, by reading the data sent by impact sensor, judges whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate impact detecting step;

Vibration detection step is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection step;

Described instruction generation and step display comprise:

The initialization step of port is driven for initializing motor;

For reading " mark " data reading step of " mark " data;

For judging whether according to " mark " data the action event determining step that action event occurs; Be that then position, execute flag position and actuation step, no, then perform display determining step;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the actuation step of corresponding actions by motor actuation step driven machine human body;

For judging whether the display determining step of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and step display, no, then direct END instruction generation and step display.

Beneficial effect: autonomous boxing dummies robot system architecture is simple in many drivings of the present invention, flexible movements, in the left arm and right arm of robot body, link gear is set, motor drives left arm and right arm to make punching action by link gear, and, because the link gear in left arm and right arm is mutually independent, therefore, left arm and right arm can make different directions or multi-form punching action at one time simultaneously.At bottom pre-walking mechanism and the rear walking mechanism of robot body, the movement of robot can be realized.Elevating mechanism can realize rising or the decline of robot body entirety, simulates the action in boxing process more really.

Accompanying drawing explanation

Fig. 1 is the front view of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention one;

Fig. 2 is the right view of Fig. 1;

Fig. 3 is the theory diagram of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention one;

The structural representation of Fig. 4 for the link gear described in detailed description of the invention one and the principle schematic of robot punch, wherein dotted line represents punch track;

Fig. 5 is the theory diagram of the left punching action driver module described in detailed description of the invention three, right punching action driver module, neck rotation driver module, hoofing part module, left lifting driver module and right lifting driver module;

Fig. 6 is a kind of concrete electrical block diagram of the left punching action driver module described in detailed description of the invention three, right punching action driver module, neck rotation driver module, hoofing part module, left lifting driver module and right lifting driver module;

Fig. 7 is the autonomous antagonism module described in detailed description of the invention one and the annexation schematic diagram of impact detection module;

Fig. 8 is the annexation schematic diagram of autonomous antagonism module, encoder and the imageing sensor described in detailed description of the invention one;

The annexation schematic diagram that Fig. 9 is the autonomous antagonism module described in detailed description of the invention one and vibration detection module;

Figure 10 is the flow chart of the autonomous antagonism step described in detailed description of the invention 11;

The flow chart that Figure 11 is the target identification described in detailed description of the invention 11 and path planning rate-determining steps;

Figure 12 is the flow chart of the target distance measurement step described in detailed description of the invention 11;

The flow chart that Figure 13 is the instruction generation described in detailed description of the invention 11 and step display.

Detailed description of the invention

Detailed description of the invention one, composition graphs 1-Fig. 4, Fig. 7-Fig. 9 illustrates this detailed description of the invention, the autonomous boxing dummies robot system of many drivings described in this detailed description of the invention comprises robot body 1, punch device, running gear, tumbler and control device, described punch device, running gear, tumbler and control device are all located in robot body 1, control device is for controlling punch device, running gear and tumbler carry out action, the head of robot body 1 is provided with by hitting region and infrared distance measurement unit, the upper body of robot body 1 is provided with by hitting region and by light area 4, described being provided with in hitting region is impacted sensor, infrared distance measurement unit is for launching infrared laser with the distance of monitoring human body 1 with external object, described infrared distance measurement unit is connected with control device, imageing sensor and decoder is provided with in robot body 1, described imageing sensor is by decoder connection control device,

Described punch device comprises left punch motor, right punch motor and link gear, described left punch motor and right punch motor make punching action respectively by the left arm 8 of a link gear control machine human body 1 and right arm 7, and two link gears are located in the left and right arms of robot body 1 respectively;

This link gear comprises forearm 11, postbrachium 12, front rod 13, crank 15 and back link 14, described left punch motor or right punch motor control back link 14 by crank 15 and pump, and then drive postbrachium 12 and front rod 13 to swing up and down, postbrachium 12 front end is connected with forearm 11 end, make forearm 11 make punching action, forearm 11 front end is the fist of robot body 1;

Described running gear comprises walking mechanism and elevating mechanism, described walking mechanism and lifter cam 10 are all positioned at the bottom of robot body 1, described walking mechanism comprises four road wheels 2 and walking motor, described control device drives the action of four road wheels 2 by walking motor, described elevating mechanism comprises lifter cam 10, left elevating motor and right elevating motor, and described control device drives lifter cam 10 action by left elevating motor and right elevating motor;

Described tumbler comprises neck rotation motor, and described control device is by neck rotation motor driving machine device human body 1 neck rotation;

Described control device comprises:

For the motor drive block of driven machine human body 1 action;

For sending the autonomous antagonism module of instruction to driver module;

The power module of operating voltage during for providing robot body 1 regular event;

Described motor drive block comprises:

For controlling left punch motor, robot body 1 is made to make the left punching action driver module of left punching action;

For controlling right punch motor, robot body 1 is made to make the right punching action driver module of right punching action;

For controlling neck rotation motor, robot body 1 is made to make the neck rotation driver module of neck rotation action;

Walk motor for control lines, make robot body 1 make the hoofing part module of walking motion;

For controlling left elevating motor, robot body 1 is made to make the left lifting driver module of left lifting action;

For controlling right elevating motor, robot body 1 is made to make the right lifting driver module of right lifting action;

Described autonomous antagonism module is realized by microprocessor, and described autonomous antagonism module comprises:

For arranging the presetting module of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning control module of path planning according to identification signal;

For whether detecting by hitting region by the impact detection module hit;

For the vibration detection module of measuring robots body 1 vibration;

For generating driving instruction and the instruction generation shown corresponding information and display module;

For realizing the communication module of radio communication between driver module;

For judging whether the stopping judge module receiving stop signal, be, then robot body 1 stops action, no, then performance objective identification and path planning control module;

Described target identification and path planning control module comprise:

For extracting the path array of setting as current track data, and the path extraction module of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body 1, and the head oscillation module of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the module whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head adjusting module; No, then target end identification and path planning control module;

For adjusting the corner of the head of robot body 1, make the head adjusting module of face orientation target;

Module is measured for monitoring human body 1 and the target range of the distance of target;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to module;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment module that can impact distance, is, then perform impact module, no, then perform and hide judge module;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body 1 sends the impact module of stroke;

For according to target towards, by impact vibrations and illuminated situation hide judge module the need of what hide, be, then perform hide control module, no, then target end identification and path planning control module;

For sending hide action according to hiding path array control body 1, and corresponding " mark " be set hide control module;

Described target range measures module and comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image transmitter module of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extracting module of feature extraction;

For comparing the feature extracted and target signature, the target signature judge module whether both judgements match then performs distance calculation module, no, then return and perform infrared light image transmitter module;

For the distance calculation module of computing machine human body 1 with the spacing of target;

Impact detection module realizes by by impact sensor 19 or by impact sensor array, by reading the data sent by impact sensor, judge whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate to impact detection module;

Vibration detection module is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection module;

Described instruction generation and display module comprise:

The initialization module of port is driven for initializing motor;

For reading " mark " data read module of " mark " data;

For judging whether according to " mark " data the action event judge module that action event occurs; Be that then position, execute flag position and driver module, no, then perform display judge module;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the driver module of corresponding actions by motor drive block driven machine human body 1;

For judging whether the display judge module of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and display module, no, then direct END instruction generation and display module.

In present embodiment, robot body 1 is humanoid, more lively simulation human action.

In present embodiment, in the left arm 8 and right arm 7 of robot body 1, link gear is set, motor drives left arm 8 and right arm 7 to make punching action by link gear, and, because the link gear in left arm 8 and right arm 7 is mutually independent, therefore, left arm 8 and right arm 7 can make different directions or multi-form punching action at one time simultaneously.Walking mechanism bottom robot body 1, can realize the movement of robot, meanwhile, realizes trunk and rotates, can realize the rotation of robot body 1 entirety, thus enable robot realize the movement of all directions by the cooperation between each road wheel 2.Elevating mechanism can realize rising or the decline of robot body 1 entirety, simulates the action in boxing process more really.

Driver module can carry out drive to all sites of robot, and the action that robot is made in boxing process is independent of one another, simulates the action form of human body in boxing process more really.

The impact detection module of autonomous antagonism module and vibration detection module are respectively by the impact whether being subject to external object by hitting region of pressure and vibration parameters determination robot, and then by driver module driven machine people each position action, control makes corresponding voluntary straining maneuver.

Described in present embodiment, system external portion target identifies, when external object is near robot body 1, autonomous antagonism module controls corresponding motor by driver module and makes stroke, while making stroke, the position that can also realize robot body 1 is moved and health lifting, with the change of this position, robot body 1 also can change with the relative position of external object, therefore, target identification module is also needed to carry out real-time identification and searching to external object, when external object hit robot body 1 by hitting region time, because pressure detecting module experiences pressure, now show that robot body 1 is hit, now, autonomous antagonism module is made by driver module control and is hidden action, thus achieve the Robet for boxing system of offending and defending and having both, while simulation punch action, integration can also be carried out according to by the number of times impacted, increase the severity of antagonism, can also be that improvement is in the future ready as certain reference data basis, when carrying out boxing antagonism, sometimes the position that impacts of extraneous target is not by hitting region, so impact detection module and just cannot pressure be detected, robot also just cannot make corresponding action, and in present embodiment, add vibration detection module, even if the position that external object impacts does not belong to by hitting region, vibration detection module also can detect the vibration of robot body 1 and the vibration signal that produces, and autonomous antagonism module equally also can make corresponding action by each position of driver module control.

Above-mentioned all processes are all act on robot body 1 by external object, thus produce corresponding signal, robot independently carries out the voluntary straining maneuver impacting or hide by this signal, simultaneously each position is driven by independently motor, simulates boxing voluntary straining maneuver more really.

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention two, this detailed description of the invention and detailed description of the invention one is, described all motor are brushless direct current motor or permasyn morot.

Detailed description of the invention three, composition graphs 5 illustrates this detailed description of the invention, this detailed description of the invention is with the difference of the autonomous boxing dummies robot system of many drivings described in detailed description of the invention two, described left punching action driver module, right punching action driver module, neck rotation driver module, hoofing part module, left lifting driver module is identical with the structure of right lifting driver module, include microprocessor and motion controller 16, three-phase bridge circuit 18 pre-driver 17 and three-phase bridge circuit 18, the control signal output of microprocessor and motion controller 16 connects the control signal input of three-phase bridge circuit 18 pre-driver 17, the drive singal output of three-phase bridge circuit 18 pre-driver 17 connects the driving signal input of three-phase bridge circuit 18, the drive singal output of three-phase bridge circuit 18 is for connecting the driving signal input of motor, the feedback signal input terminal of microprocessor and motion controller 16 is for connecting the feedback signal output of motor.

Figure 6 shows that a kind of electrical block diagram of left punching action driver module, right punching action driver module, neck rotation driver module, hoofing part module, left lifting driver module and right lifting driver module specifically.

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention four, this detailed description of the invention and detailed description of the invention one is, described communication module adopts Wifi communication to realize.

Communication module described in present embodiment have employed Wifi communication, thus can control with having the mobile phone of Wifi function, notebook computer and desktop computer, convenient, flexible.

The communication module of present embodiment can adopt USR-WIFI232-T type wireless communication module or LSD5WF-3017 type wireless communication module.

USR-WIFI232-T is a small and exquisite module being integrated with all Wi-Fi functions, and size is 22mm x 13.5mm x 6mm only.For applications such as illumination and sockets, have employed 1x10 pin two mm contact pin connector, be easy to be welded on the hardware single board circuit of the product of client.Module is equipped with special pad or external antenna connector, is applicable to the application of various external antenna.

Super low-power consumption embedded Wi-Fi module provides a kind of physical equipment by user and is connected on Wi-Fi wireless network, and provides the solution of the interface transmission data such as UART serial ports.This module hardware is integrated with MAC, baseband chip, Transmit Receive Unit, and power amplifier; Embedded firmware then supports Wi-Fi agreement and configuration, and the ICP/IP protocol stack of networking.USR-WIFI232-T is the Low Power Loss Solution of the 802.11b/g/n Wi-Fi of a integration, by USR-WIFI232-T module, the equipment that traditional low side serial equipment or MCU control all can access Wi-Fi wireless network very easily, thus realizes internet of things control and management.

LSD5WF-3017 be specially for realize embedded system wireless LAN communication application and design a high-performance, low cost IEEE 802.11b/g/n USB interface wireless module, what use this module that user can be made by embedded hardware USBHost interface efficient quick expands wireless LAN communication function.Module core is a highly integrated MIMO (multi input, multi output), MAC, 2T2R base band and 2.4G radio frequency chip, support that PHY speed is up to 300Mbps, meet IEEE802.11b/g/n standard criterion completely, the radio architectures of optimization and Baseband algorithms provide excellent performance and low-power consumption.LSD5WF-3017 modular design, based on the standard feature scope of safety, will provide high-quality for client and meets a kind of simple, low cost of international standard, has the design of radio network functions product reliably.

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention five, this detailed description of the invention and detailed description of the invention four is, described communication module adopts high frequency points point to-point communication to realize.

Wireless communication module in present embodiment adopts NRF905 wireless communication module.

NRF905 monolithic wireless transceiver is the monolithic radio frequency emitter chip that Nordic company of Norway releases, and operating voltage is 1.9-3.6V, and 32 pin QFN encapsulate.Its characteristic is as follows:

The open ISM band of 1433Mhz exempts from permission to use.

2 maximum operating frequency 50kbps, efficient GFSK modulation, antijamming capability is strong, and carrying Shi He Industry Control occasion.

3125 channels, meet multi-point and frequency hopping communications needs.

4 built in hardware CRC error detections and point-to-multipoint delivery address control.

5 low-power consumption 1.9V-3.6V work, and under standby mode, state is only 2.5uA

6 transceiving mode switch time <650us

7 modules can establish address by software, just can export data when only receiving the machine address, and directly can connect various single-chip microcomputer and use, software programming is very convenient.

8TX Mode: in+10dBm situation, electric current is 30mA; RX Mode:12.2mA.

9 standard DIP spacing interfaces, are convenient to Embedded Application.

10RFModule-Quick-DEV rapid development system, containing development board.

NRF905 wireless communication module pin function is as shown in table 1 below:

The pin function of table 1 NRF905 wireless communication module

Transmission and reception flow process is as follows:

ShockBurst TX transmission flow: when microcontroller has data to send, by SPI interface, the address of receiver is sent with the data that will send and is passed to module chronologically, and SPI interface rate is determined when communication protocol and cell configuration.Microcontroller sets high TRX_CE and TX_EN, the ShockBurstTM sending mode of excitation module.Module sends automatically, and process comprises: 1 radio frequency register is opened automatically; 2 data packings; (3) packet is sent; 4 work as data is sent completely, and DSR pin is set high.If AUTO_RETRAN is set high, module can constantly be retransmitted, until TRX_CE is set low.When TRX_CE is set low, module process of transmitting completes, and automatically enters idle pulley.

ShockBurst RX receives flow process: when TRX_CE for high, TX_EN be low time, module enters ShockBurst TM receiving mode.After 650us, module constantly detects, wait-receiving mode data.When module detects the carrier wave of same frequency range, carrier detect pin is set high.When receiving an address matched, AM pin is set high.When a correct receives data packets is complete, module removes prefix, address and CRC check position automatically, then DR pin is set high.Microcontroller sets low TRX_CE, and module enters idle pulley.Microcontroller by PSI mouth, with certain speed data mobile in microcontroller.When all data receivers are complete, module sets low DR pin and AM pin.Module now enters receiving mode, sending mode or shutdown mode.

Detailed description of the invention six, composition graphs 7 illustrate this detailed description of the invention, this detailed description of the invention is with the difference of the autonomous boxing dummies robot system of many drivings described in detailed description of the invention one, is describedly made up of the miniature single pressure sensor 19 of multiple FB09 by impact sensor array.

In present embodiment, the miniature list of each FB09 is impacted sensor 19 and all connects and independently resist module, and as shown in Figure 8, in figure, circle represents by impact sensor.Be used in and impacted situation by the Sensor monitoring that impacted of hitting region matrix arrangement.Once occur, by impact situation, to be exported the corresponding signal of telecommunication by impact sensor, deliver to signal processing circuit and process, then carry out acoustic-optic indicator and send information to remote controller.

The miniature list of FB09 is impacted sensor and adopts stainless steel to be made, and volume is little, and output signal is large, is widely used in narrow space field, as electron trade device for measuring force such as closing pressure detections.It is as shown in table 2 that the miniature list of FB09 is impacted sensor parameters, and range is as shown in table 3.

The miniature list of table 2 FB09 is impacted sensor parameters

The miniature list of table 3 FB09 is impacted the range of sensor

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention seven, this detailed description of the invention and detailed description of the invention one is, described by impact sensor 19 adopt pressure microswitch to realize.

When by hitting region by when can experience being formed by impact sensor of pressure, describedly adopted pressure microswitch to realize by impact sensor.

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention eight, this detailed description of the invention and detailed description of the invention one is, described imageing sensor 5 is for adopting CCD camera or CMOS camera.

Detailed description of the invention nine, composition graphs 9 illustrate this detailed description of the invention, and this detailed description of the invention is with the difference of the autonomous boxing dummies robot system of many drivings described in detailed description of the invention one, and described vibrating sensor is 3-axis acceleration sensor 21.

MMA7361LC can be adopted to carry out the vibration of measuring robots health as 3-axis acceleration sensor.The signal output part of MMA7361LC connects the built-in A/D converter of microprocessor.MMA7361LC is low-power consumption, low profile electric capacity, micromechanics type accelerometer, has Signal Regulation, one-stage low-pass filter, has temperature-compensating, selftest.Zero offset and sensitivity are Default Values, do not need external equipment.5V powers, modulating output 0.5-4.5V.

The difference of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention ten, this detailed description of the invention and detailed description of the invention one is, described acoustic-optic indicator module comprises buzzer, on-off circuit and light emitting diode, described buzzer receives the pulse signal of instruction generation and the transmission of display module module, realize acoustic alarm, instruction generation and display module control light emitting diode by on-off circuit and realize light warning.

Detailed description of the invention 11, composition graphs 10-Figure 13 illustrate this detailed description of the invention, and the control method of the autonomous boxing dummies robot system of the many drivings described in detailed description of the invention one comprises:

For the motor actuation step of driven machine human body 1 action;

For sending the autonomous antagonism step of instruction to actuation step;

Described motor actuation step comprises:

For controlling left punch motor, robot body 1 is made to make the left punching action actuation step of left punching action;

For controlling right punch motor, robot body 1 is made to make the right punching action actuation step of right punching action;

For controlling neck rotation motor, robot body 1 is made to make the neck rotation actuation step of neck rotation action;

Walk motor for control lines, make robot body 1 make the hoofing part step of walking motion;

For controlling left elevating motor, robot body 1 is made to make the left lifting actuation step of left lifting action;

For controlling right elevating motor, robot body 1 is made to make the right lifting actuation step of right lifting action;

Described autonomous antagonism step is realized by microprocessor, and described autonomous antagonism step comprises:

For arranging the foresee steps of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning rate-determining steps of path planning according to identification signal;

For whether detecting by hitting region by the impact detecting step hit;

For the vibration detection step of measuring robots body 1 vibration;

For generating driving instruction and the instruction generation shown corresponding information and step display;

For realizing the communication steps of radio communication between actuation step;

For judging whether the stopping determining step receiving stop signal, be, then robot body 1 stops action, no, then performance objective identification and path planning rate-determining steps;

Described target identification and path planning rate-determining steps comprise:

For extracting the path array of setting as current track data, and the path extraction step of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body 1, and the head oscillation step of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the step whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head set-up procedure; No, then target end identification and path planning rate-determining steps;

For adjusting the corner of the head of robot body 1, make the head set-up procedure of face orientation target;

For the target range determination step of monitoring human body 1 with the distance of target;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to step;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment step that can impact distance, is, then perform impact step, no, then perform and hide determining step;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body 1 sends the impact step of stroke;

For according to target towards, by impact vibrations and illuminated situation hide determining step the need of what hide, be, then perform hide rate-determining steps, no, then target end identification and path planning rate-determining steps;

For sending hide action according to hiding path array control body 1, and corresponding " mark " be set hide rate-determining steps;

Described target range determination step comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image step of transmitting of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extraction step of feature extraction;

For comparing the feature extracted and target signature, the target signature determining step whether both judgements match, is, then perform distance calculation procedure, no, then return and perform infrared light image step of transmitting;

For the distance calculation procedure of computing machine human body 1 with the spacing of target;

Impact detecting step realizes by by impact sensor 19 or by impact sensor array, by reading the data sent by impact sensor, judge whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate to impact detecting step;

Vibration detection step is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection step;

Described instruction generation and step display comprise:

The initialization step of port is driven for initializing motor;

For reading " mark " data reading step of " mark " data;

For judging whether according to " mark " data the action event determining step that action event occurs; Be that then position, execute flag position and actuation step, no, then perform display determining step;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the actuation step of corresponding actions by motor actuation step driven machine human body 1;

For judging whether the display determining step of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and step display, no, then direct END instruction generation and step display.

In detailed description of the invention 12, present embodiment, front walking cam 2 and rear walking cam 9 adopt omni-directional wheel to realize.When adopting omni-directional wheel, walking motor drives way with driving to need to increase, and software also will do corresponding change, and realization is moved more flexibly.

Claims (10)

1. the autonomous boxing dummies robot system of many drivings, it is characterized in that, it comprises robot body (1), punch device, running gear, tumbler and control device, described punch device, running gear, tumbler and control device are all located in robot body (1), control device is for controlling punch device, running gear and tumbler carry out action, the head of robot body (1) is provided with by hitting region and infrared distance measurement unit, the upper body of robot body (1) is provided with by hitting region (4), described being provided with in hitting region is impacted sensor, infrared distance measurement unit is for launching infrared laser with the distance of monitoring human body (1) with external object, described infrared distance measurement unit is connected with control device, imageing sensor (5) and decoder is provided with in robot body (1), described imageing sensor is by decoder connection control device,

Described punch device comprises left punch motor, right punch motor and link gear, described left punch motor and right punch motor make punching action respectively by the left arm (8) of a link gear control machine human body (1) and right arm (7), and two link gears are located in the left and right arms of robot body (1) respectively;

This link gear comprises forearm (11), postbrachium (12), front rod (13), crank (15) and back link (14), described left punch motor or right punch motor control back link (14) by crank (15) and pump, and then drive postbrachium (12) and front rod (13) to swing up and down, postbrachium (12) front end is connected with forearm (11) end, make forearm (11) make punching action, forearm (11) front end is the fist of robot body (1);

Described running gear comprises walking mechanism and elevating mechanism, described walking mechanism and lifter cam (10) are all positioned at the bottom of robot body (1), described walking mechanism comprises four road wheels (2) and walking motor, described control device drives four road wheels (2) to carry out Two-wheeled or four-wheel drive action by walking motor, described elevating mechanism comprises lifter cam (10), left elevating motor and right elevating motor, and described control device drives lifter cam (10) action by left elevating motor and right elevating motor;

Described tumbler comprises neck rotation motor, and described control device is by neck rotation motor driving machine device human body (1) neck rotation;

Described control device comprises:

For the motor drive block of driven machine human body (1) action;

For sending the autonomous antagonism module of instruction to driver module;

The power module of operating voltage during for providing robot body (1) regular event;

Described motor drive block comprises:

For controlling left punch motor, robot body (1) is made to make the left punching action driver module of left punching action;

For controlling right punch motor, robot body (1) is made to make the right punching action driver module of right punching action;

For controlling neck rotation motor, robot body (1) is made to make the neck rotation driver module of neck rotation action;

Walk motor for control lines, make robot body (1) make the hoofing part module of walking motion;

For controlling left elevating motor, robot body (1) is made to make the left lifting driver module of left lifting action;

For controlling right elevating motor, robot body (1) is made to make the right lifting driver module of right lifting action;

Described autonomous antagonism module is realized by microprocessor, and described autonomous antagonism module comprises:

For arranging the presetting module of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning control module of path planning according to identification signal;

For whether detecting by hitting region by the impact detection module hit;

For the vibration detection module of measuring robots body (1) vibration;

For generating driving instruction and the instruction generation shown corresponding information and display module;

For realizing the communication module of radio communication between driver module;

For judging whether the stopping judge module receiving stop signal, be that then robot body (1) stops action, no, then performance objective identification and path planning control module;

Described target identification and path planning control module comprise:

For extracting the path array of setting as current track data, and the path extraction module of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body (1), and the head oscillation module of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the module whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head adjusting module; No, then target end identification and path planning control module;

For adjusting the corner of the head of robot body (1), make the head adjusting module of face orientation target;

Module is measured for monitoring human body (1) and the target range of the distance of target;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to module;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment module that can impact distance, is, then perform impact module, no, then perform and hide judge module;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body (1) sends the impact module of stroke;

For according to target towards, by impact vibrations and illuminated situation hide judge module the need of what hide, be, then perform hide control module, no, then target end identification and path planning control module;

For sending hide action according to hiding path array control body (1), and corresponding " mark " be set hide control module;

Described target range measures module and comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image transmitter module of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extracting module of feature extraction;

For comparing the feature extracted and target signature, the target signature judge module whether both judgements match then performs distance calculation module, no, then return and perform infrared light image transmitter module;

For the distance calculation module of computing machine human body (1) with the spacing of target;

Impact detection module realizes by by impact sensor (19) or by impact sensor array, by reading the data sent by impact sensor, judge whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate to impact detection module;

Vibration detection module is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection module;

Described instruction generation and display module comprise:

The initialization module of port is driven for initializing motor;

For reading " mark " data read module of " mark " data;

For judging whether according to " mark " data the action event judge module that action event occurs; Be that then position, execute flag position and driver module, no, then perform display judge module;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the driver module of corresponding actions by motor drive block driven machine human body (1);

For judging whether the display judge module of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and display module, no, then direct END instruction generation and display module.

2. the autonomous boxing dummies robot system of many drivings according to claim 1, it is characterized in that, described all motor are brushless direct current motor or permasyn morot.

3. the autonomous boxing dummies robot system of many drivings according to claim 2, it is characterized in that, described left punching action driver module, right punching action driver module, neck rotation driver module, hoofing part module, left lifting driver module is identical with the structure of right lifting driver module, include microprocessor and motion controller (16), three-phase bridge circuit (18) pre-driver (17) and three-phase bridge circuit (18), the control signal output of microprocessor and motion controller (16) connects the control signal input of three-phase bridge circuit (18) pre-driver (17), the drive singal output of three-phase bridge circuit (18) pre-driver (17) connects the driving signal input of three-phase bridge circuit (18), the drive singal output of three-phase bridge circuit (18) is for connecting the driving signal input of motor, the feedback signal input terminal of microprocessor and motion controller (16) is for connecting the feedback signal output of motor.

4. the autonomous boxing dummies robot system of many drivings according to claim 1, is characterized in that, described communication module adopts Wifi communication or high frequency points point to-point communication to realize.

5. according to claim 1 drive autonomous boxing dummies robot system more, it is characterized in that, to be describedly made up of the miniature single pressure sensor of multiple FB09 (19) by impact sensor array.

6. the autonomous boxing dummies robot system of many drivings according to claim 1, is characterized in that, described by the realization of impact sensor (19) employing pressure microswitch.

7. the autonomous boxing dummies robot system of many drivings according to claim 1, is characterized in that, described imageing sensor (5) is for adopting CCD camera or CMOS camera.

8. the autonomous boxing dummies robot system of many drivings according to claim 1, it is characterized in that, described vibrating sensor is 3-axis acceleration sensor (21).

9. the autonomous boxing dummies robot system of many drivings according to claim 1, it is characterized in that, described acoustic-optic indicator module comprises buzzer, on-off circuit and light emitting diode, described buzzer receives the pulse signal of instruction generation and display module transmission, realize acoustic alarm, instruction generation and display module control light emitting diode by on-off circuit and realize light warning.

10. the control method driving autonomous boxing dummies robot system according to claim 1 more, it is characterized in that, it comprises:

For the motor actuation step of driven machine human body (1) action;

For sending the autonomous antagonism step of instruction to actuation step;

Described motor actuation step comprises:

For controlling left punch motor, robot body (1) is made to make the left punching action actuation step of left punching action;

For controlling right punch motor, robot body (1) is made to make the right punching action actuation step of right punching action;

For controlling neck rotation motor, robot body (1) is made to make the neck rotation actuation step of neck rotation action;

Walk motor for control lines, make robot body (1) make the hoofing part step of walking motion;

For controlling left elevating motor, robot body (1) is made to make the left lifting actuation step of left lifting action;

For controlling right elevating motor, robot body (1) is made to make the right lifting actuation step of right lifting action;

Described autonomous antagonism step is realized by microprocessor, and described autonomous antagonism step comprises:

For arranging the foresee steps of path array and initial value, target feature library, range finding feature database and infrared radiation light array, described path array comprises close to destination path array and hide path array, target feature library comprise respectively towards feature;

Identify for target to external world, and carry out target identification and the path planning rate-determining steps of path planning according to identification signal;

For whether detecting by hitting region by the impact detecting step hit;

For the vibration detection step whether measuring robots body (1) is vibrated;

For generating driving instruction and the instruction generation shown corresponding information and step display;

For realizing the communication steps of radio communication between actuation step;

For judging whether the stopping determining step receiving stop signal, be that then robot body (1) stops action, no, then performance objective identification and path planning rate-determining steps;

Described target identification and path planning rate-determining steps comprise:

For extracting the path array of setting as current track data, and the path extraction step of corresponding " mark " is set;

For swinging by the head of preset head swing angle control machine human body (1), and the head oscillation step of corresponding " mark " is set;

For extracting the sensed image that imageing sensor is shot with video-corder, pretreatment being carried out to this sensed image, then carrying out feature extraction, compare the object judgement the step whether feature in the feature and target feature library extracted coincide, then find target, and Executive Head set-up procedure; No, then target end identification and path planning rate-determining steps;

For adjusting the corner of the head of robot body (1), make the head set-up procedure of face orientation target;

For the target range determination step of monitoring human body (1) with the distance of target;

For by " close to destination path array " control close to target, and the target arranging corresponding " mark " is close to step;

For judging whether the distance of robot and target is less than or equal to the Distance Judgment step that can impact distance, is, then perform several large step, no, then perform and hide determining step;

For set robot oneself height with towards, and to arrange corresponding " mark ", and then control machine human body (1) sends the impact step of stroke;

For according to target towards, by impact vibrations and illuminated situation hide determining step the need of what hide, be, then perform hide rate-determining steps, no, then target end identification and path planning rate-determining steps;

For sending hide action according to hiding path array control body (1), and corresponding " mark " be set hide rate-determining steps;

Described target range determination step comprises:

Launching predetermined infrared light image for controlling infrared emission parts according to infrared radiation light array, receiving the infrared light image step of transmitting of the infrared light image that infrared receiver array received arrives simultaneously;

For the infrared light image of the infrared light image of transmitting and reception being carried out encoding ratio comparatively and reconstruct target image, then this target image is carried out to target image reconstruct and the characteristic extraction step of feature extraction;

For comparing the feature extracted and target signature, the target signature determining step whether both judgements match, is, then perform distance calculation procedure, no, then return and perform infrared light image step of transmitting;

For the distance calculation procedure of computing machine human body (1) with the spacing of target;

Impact detecting step realizes by by impact sensor (19) or by impact sensor array, by reading the data sent by impact sensor, judge whether head or health are impacted according to these data, be, then arrange head impacted mark or health impacted mark, no, then terminate to impact detecting step;

Vibration detection step is realized by vibrating sensor, the data sent by read sensor, has judged whether vibration, be according to these data, then arrange corresponding " mark ", no, then terminate vibration detection step;

Described instruction generation and step display comprise:

The initialization step of port is driven for initializing motor;

For reading " mark " data reading step of " mark " data;

For judging whether according to " mark " data the action event determining step that action event occurs; Be that then position, execute flag position and actuation step, no, then perform display determining step;

Described action event turns rising, impact, head left-hand rotation and head right-hand rotation after comprising retrogressing, advance, front right-hand rotation/right lateral, front left-hand rotation/left lateral, the rising of cam forward, cam;

For the set of corresponding for action flag register action flag bit, and sent flag bit set and the actuation step of corresponding actions by motor actuation step driven machine human body (1);

For judging whether the display determining step of " mark " that need display; Then by the corresponding flag bit set of show label register, and displaying contents is sent to data register, and control acoustic-optic indicator module to need display information show, END instruction generation and step display, no, then direct END instruction generation and step display.