CN105641951A - Wind-driving swing toy and using method thereof - Google Patents

Abstract

A wind-driving swing toy mainly comprises a controlled body, an angle detection module, a controlling and driving module and a human-computer interaction module. By means of a driving draught fan, hovering, user-defined swing, line drawing and geometric figure drawing with a low-output laser pen (power is smaller than 0.4 mW) and other motion control functions are realized as needed. Knowledge of subjects such as the automatic control theory can be taught and learnt through lively activities, and due to high cost-effectiveness and practicality, the toy is suitable for teenagers.

Description

A kind of wind-force pendulum toy and using method

Technical field

The present invention relates to a kind of wind-force pendulum toy and using method, can be used for child or teen-age daily amusement and leisure, learning automaton control theory knowledge is had the effect of initiation before learning, belongs to didactical doll field.

Background technology

The operation principle of wind-force pendulum toy has comparatively typical automative control theory feature, and its control method is varied. Further investigation, suffers from wide DEVELOPMENT PROSPECT in many field of engineering technology. Control principle therein processes industrial engineering for people, equally exists reference. At present, the toy that in conjunction with the knowledge of automative control theory, simultaneously can be applicable to again child or teenager use is less and relatively costly. The present invention, while having toy interest, combines theory and practice preferably, allows user enjoy the enjoyment that toy itself brings, and is subject to the front formative education edifying of certain automative control theory. The present invention is a toy can with " teaching through lively activities, blend learning in music " feature, has economy, practicality and novelty.

Summary of the invention

It is an object of the invention to provide one by the subject knowledges such as automative control theory " teaching through lively activities, blend learning in music ", teen-age toy can be suitable for again in economy, practicality simultaneously.

A kind of wind-force pendulum toy, by driving blower fan, realize completing on request hovering, self-defined swing, by the setting-out of low Output of laser pen (power is less than 0.4mW), draw the motion control functions (unit of keeping watch during motion is approximately particle) such as geometric figure.

A kind of wind-force pendulum toy, mainly includes controlled main body, angle detection module, controls to drive module, human-computer interaction module;

Controlled main body is by support, universal joint, rigid body tubule, blower fan group, low Output of laser pen (power is less than 0.4mW), constituting with reference to figure (hereinafter referred to as with reference to figure) of having that the annulus in the same center of circle of angle and length scale forms; Wherein rigid body tubule, blower fan group, low Output of laser pen (power is less than 0.4mW) constitute wind-force pendulum unit (putting hereinafter referred to as wind-force).

The measuring angle module that angle detection module uses model to be MPU6050, real-time feeds back to control driving module by the angle information that wind-force is put;

Control to drive module to include single chip microcontroller (hereinafter referred to as MCU) unit, electric-motor drive unit; MCU unit is responsible for calculating corresponding motor controlled quentity controlled variable at work, electric-motor drive unit directly drive blower fan group;

Human-computer interaction module includes parameter setting unit, liquid crystal display, voice alerting unit; Angle detection module Real-time Feedback wind-force swinging information, MCU unit passes through liquid crystal display angles of display instantaneous value and current wind pendulum state;The MCU unit setting value according to feedback and parameter setting unit, calculates motor drive volume by pid algorithm; The electric-motor drive unit PWM ripple according to corresponding dutycycle, drive motor realizes swinging; Finally, after wind-force pendulum reaches target, voice alerting unit carries out voice message. All adopt 5V power voltage supply with upper module, add safety.

The using method of a kind of wind-force pendulum toy, specifically includes following steps:

Step one. to angle detection module, control to drive module, human-computer interaction module to initialize;

Step 2. the parameter setting unit input in human-computer interaction module controls to require or control parameter, input controlled quentity controlled variable is sent to the MCU unit controlled in driving module by human-computer interaction module, MCU unit is calculated according to the current gauge of controlled quentity controlled variable and angle detection module Real-time Feedback and produces the PWM ripple of corresponding dutycycle, controls motor speed by PWM ripple drive motor driver element;

Wherein MCU unit specific works is as follows:

Open intervalometer and the interruption of MCU in MCU unit, export corresponding PWM ripple, by electric-motor drive unit drive motor, make wind-force pendulum swing; The angle of angle detection module measuring oscillating bar simultaneously, and transfer data to MCU unit in real time; MCU unit sends the target angle information of fork simultaneously, and fork target angle information and fork current angular are compared, and uses pid algorithm that fork is carried out stability contorting; The fork target angle information that the real-time detection angles detection module of MCU unit sends, and change pid control algorithm data at any time according to the fork target angle information received and control the swing of fork;

Step 3. angle detection module detects wind-force swinging information in real time, and wind-force swinging information is sent to control driving module, controls to drive module that wind-force swinging information is sent to human-computer interaction module; Liquid crystal display display wind-force swinging information in human-computer interaction module; Voice alerting unit, when wind-force pendulum realization requires, carries out voice message.

The present invention is had the advantages that

(1) existing toy is partial to emphasize interest mostly, and lacks practicality and educational. Present invention incorporates interest, have teaching simultaneously concurrently and carry out the function of simple Automated condtrol experiment. It is more suitable for teenager to use, it is possible to realize " teaching through lively activities, blend learning in music " theory better.

(2) present invention just organically combines the current popular subject knowledge such as automative control theory, man-machine interaction theory in design, and user has certain initiation effect, is beneficial to teenager and strengthens manipulative ability and cultivate good interest. Meanwhile, present configuration is simple, less costly, it is easy to sales promotion.

Accompanying drawing explanation

Fig. 1 is the simplified example figure of the present invention;

Fig. 2 is the connection block diagram of the present invention;

Fig. 3 is the circuit diagram of MPU6050 chip in the angle detection module that present example provides;

Fig. 4 be present example provide MCU unit in LM3S1138 chip circuit diagram;

Fig. 5 is the circuit diagram of HIP4082 chip in the electric-motor drive unit that present example provides;

Fig. 6 is the circuit diagram of the key circuit of ZLG7290 serial input output programmable keyboard/display chip composition in the parameter setting unit that present example provides;

Fig. 7 is the circuit diagram of LCD12864 LCDs in the liquid crystal display that present example provides;

Fig. 8 is the circuit diagram of ZY1730 speech chip in the voice alerting unit that present example provides;

Fig. 9 is the workflow diagram of the present invention.

Detailed description of the invention:

Below in conjunction with accompanying drawing, the present invention is further described.

As it is shown in figure 1, the simplified example of a kind of wind-force pendulum toy, the main presentation controlled main part of the present invention; Wherein AB, CD, EF are the reinforcing parts of support, tubule (body material) is as fork, its upper end connects support by universal joint, lower end is provided with the blower fan group that 4 hollow-cup motors outwards rearrange by cross, is provided with a low Output of laser pen (power is less than 0.4mW) being perpendicular to blower fan group bottom surface geometric center immediately below blower fan group bottom surface; While universal joint makes tubule and the blower fan group etc. that is arranged on tubule can be attached support, it is possible to take exercises more freely; The red light of low Output of laser pen (power is less than 0.4mW) coordinate be laid in immediately below blower fan group with reference to the calibration information on figure, it is possible to visually reflection wind-force is put intuitively angle, positional information.

As in figure 2 it is shown, present invention additionally comprises 1 angle detection module, 2-1MCU unit, 2-2 electric-motor drive unit, 3-1 parameter setting unit, 3-2 liquid crystal display, 3-3 voice alerting unit; Wherein 2-1,2-2 constitute control driving module, and 3-1,3-2,3-3 constitute human-computer interaction module.

Preferably, angle detection module have employed MPU6050 chip. MPU6050 chip is the first 6 axle modules integrating 3 axis accelerometers and 3 axle gyroscopes in the whole world, compared to multicompartment scheme, decreases substantial amounts of encapsulated space; Its in use, measurement scope can select as required, and it is simple, convenient to control, and chip cost is also accepting within scope. MPU6050 chip circuit figure, as shown in Figure 3. In work, angle detection module feeds back to the angle information of wind-force pendulum in real time and controls to drive the MCU unit in module.

Preferably, MCU unit adopts LM3S1138 chip as master controller. LM3S1138 chip is based on a high-performance of ARMCortex-M3 processor cores, has the chip of abundant pin and favorable compatibility. LM3S1138 chip circuit figure, as shown in Figure 4. In work, the wind-force swinging information that MCU unit feeds back according to angle detection module, the target information of input in incorporating parametric setup unit, employing pid algorithm is calculated, the difference of controlled quentity controlled variable according to demand, generate corresponding PWM ripple, and be conveyed to electric-motor drive unit, control the motion of blower fan group with this in real time.

Fig. 5 is the preferred circuit figure of electric-motor drive unit. The metal-oxide-semiconductor driving chip that electric-motor drive unit adopts model to be HIP4082, has good performance and higher reliability, and has bigger electric current, drive the blower fan group being made up of four hollow-cup motors with this, can put, for wind-force, the power providing stronger. In work, according to the PWM ripple information that MCU unit sends, control the rotation speed of fan of blower fan group.

Fig. 6 is the preferred circuit figure of parameter setting unit. Parameter setting unit adopts the key circuit of ZLG7290 serial input output programmable keyboard/display chip composition, and ZLG7290 can manage up to 64 buttons, and it is internal containing decoding circuit, it is possible to simplifies program, and adopts I2C bus mode. Pin resource can be saved. In work, thus input controls requirement, this unit send to MCU unit, carries out processing computing, and final realization controls wind-force pendulum.

Fig. 7 is the preferred circuit figure of liquid crystal display.Liquid crystal display adopts the LCDs of LCD12864, with Chinese word library, can show Chinese interface intuitively. LCD12864 LCDs compared with the dot matrix LCD module of same type, though hardware circuit or display program will be succinct many, and price is also below the graphic LCD module of identical dot matrix. In work, the present invention passes through liquid crystal display operation display interface, and wind-force puts current information and more self-defining information, it is achieved friendly man-machine interaction experience.

Fig. 8 is the preferred circuit figure of voice alerting unit. Voice alerting unit adopts ZY1730 speech chip, and ZY1730 speech chip adopts simulation process storage mode, and voice data is without digital compression, and this storage mode essentially eliminates common background noise, such that it is able to provide the voice of more high-quality; Meanwhile, though voice content after down circuitry without loss, thus ensure that stablizing of the complete of data and system. In work, voice alerting unit can starting, control operation and realize control when requiring, send the voice message of close friend, add service efficiency and interest, be conducive to amusement and study better to combine.

As it is shown in figure 9, the workflow of a kind of wind-force pendulum toy. In conjunction with Fig. 9, the using method that wind-force is put toy does concrete introduction, specifically includes following steps:

Step one. to angle detection module, control to drive module, human-computer interaction module to initialize;

Step 2. the parameter setting unit input in human-computer interaction module controls to require or control parameter, input controlled quentity controlled variable is sent to the MCU unit controlled in driving module by human-computer interaction module, MCU unit is calculated according to the current gauge of controlled quentity controlled variable and angle detection module Real-time Feedback and produces the PWM ripple of corresponding dutycycle, controls motor speed by PWM ripple drive motor driver element;

Wherein MCU unit specific works is as follows:

Open intervalometer and the interruption of MCU in MCU unit, export corresponding PWM ripple, by electric-motor drive unit drive motor, make wind-force pendulum swing; The angle of angle detection module measuring oscillating bar simultaneously, and transfer data to MCU unit in real time; MCU unit receives the target angle information of wind-force pendulum from parameter setting unit simultaneously, and fork target angle information and fork current angular are compared, and uses pid algorithm that fork is carried out stability contorting; The fork target angle information that the real-time detection angles detection module of MCU unit sends, and change pid control algorithm data at any time according to the fork target angle information received and control the swing of fork;

Step 3. angle detection module detects wind-force swinging information in real time, and pendulum wind-force varied angle information is sent to control driving module, controls to drive module that wind-force swinging information is sent to human-computer interaction module; Liquid crystal display display wind-force swinging information in human-computer interaction module; Voice alerting unit, when wind-force pendulum realization requires, carries out voice message.

Claims (2)

1. a wind-force pendulum toy, mainly includes controlled main body, angle detection module, controls to drive module, human-computer interaction module;

Controlled main body is by support, universal joint, rigid body tubule, blower fan group, low Output of laser pen (power is less than 0.4mW), constituting with reference to figure of having that the annulus in the same center of circle of angle and length scale forms; Wherein rigid body tubule, blower fan group, low Output of laser pen (power is less than 0.4mW) constitute wind-force pendulum unit;

The measuring angle module that angle detection module uses model to be MPU6050, real-time feeds back to control driving module by the angle information that wind-force is put;

Control to drive module to include single chip microcontroller unit, electric-motor drive unit; MCU unit is responsible for calculating corresponding motor controlled quentity controlled variable at work, electric-motor drive unit directly drive blower fan group;

Human-computer interaction module includes parameter setting unit, liquid crystal display, voice alerting unit; Angle detection module Real-time Feedback wind-force swinging information, MCU unit passes through liquid crystal display angles of display instantaneous value and current wind pendulum state; The MCU unit setting value according to feedback and parameter setting unit, calculates motor drive volume by pid algorithm; The electric-motor drive unit PWM ripple according to corresponding dutycycle, drive motor realizes swinging; Finally, after wind-force pendulum reaches target, voice alerting unit carries out voice message; 5V power voltage supply is all adopted with upper module.

2. the using method of a kind of wind-force as claimed in claim 1 pendulum toy, it is characterised in that specifically include following steps:

Step one. to angle detection module, control to drive module, human-computer interaction module to initialize;

Step 2. the parameter setting unit input in human-computer interaction module controls to require or control parameter, input controlled quentity controlled variable is sent to the MCU unit controlled in driving module by human-computer interaction module, MCU unit is calculated according to the current gauge of controlled quentity controlled variable and angle detection module Real-time Feedback and produces the PWM ripple of corresponding dutycycle, controls motor speed by PWM ripple drive motor driver element;

Wherein MCU unit specific works is as follows:

Open intervalometer and the interruption of MCU in MCU unit, export corresponding PWM ripple, by electric-motor drive unit drive motor, make wind-force pendulum swing; The angle of angle detection module measuring oscillating bar simultaneously, and transfer data to MCU unit in real time; MCU unit receives the target angle information of wind-force pendulum from parameter setting unit simultaneously, and fork target angle information and fork current angular are compared, and uses pid algorithm that fork is carried out stability contorting; The fork target angle information that the real-time detection angles detection module of MCU unit sends, and change pid control algorithm data at any time according to the fork target angle information received and control the swing of fork;

Step 3. angle detection module detects wind-force swinging information in real time, and pendulum wind-force varied angle information is sent to control driving module, controls to drive module that wind-force swinging information is sent to human-computer interaction module; Liquid crystal display display wind-force swinging information in human-computer interaction module; Voice alerting unit, when wind-force pendulum realization requires, carries out voice message.