CN105641951B - A kind of wind-force pendulum toy and application method - Google Patents
A kind of wind-force pendulum toy and application method Download PDFInfo
- Publication number
- CN105641951B CN105641951B CN201610000726.4A CN201610000726A CN105641951B CN 105641951 B CN105641951 B CN 105641951B CN 201610000726 A CN201610000726 A CN 201610000726A CN 105641951 B CN105641951 B CN 105641951B
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- China
- Prior art keywords
- wind
- module
- control
- force
- angle
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/26—Magnetic or electric toys
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/22—Games, e.g. card games
Abstract
A kind of wind-force puts toy, mainly including controlled main body, angle detection module, control drive module, human-computer interaction module；By driving blower fan, hovering, self-defined swing are completed on request, by low output laser pen to realize（Power is less than 0.4mW）Setting-out, draw the motion control functions such as geometric figure.The subject knowledges such as automative control theory " can be taught through lively activities, blend learning in music ", while be adapted to teen-age toy again in economy, practicality.
Description
Technical field
The present invention relates to a kind of wind-force pendulum toy and application method, lain fallow available for child or teen-age daily entertainment,
Have the function that to impart rudimentary knowledge to beginners before learning to learning automaton control theory knowledge, belong to didactical doll field.
Background technology
The operation principle of wind-force pendulum toy has a more typical automative control theory feature, and its control method is a variety of more
Sample.Further investigation, wide DEVELOPMENT PROSPECT is suffered from many field of engineering technology.Control principle therein is handled for people
Industrial Engineering, equally exist reference.At present, the knowledge of automative control theory can be combined, while is applied to child or blue or green few again
The toy that year uses is less and cost is higher.The present invention preferably combines theoretical and real while with toy interest
Trample, allow user to enjoy the enjoyment that toy is brought in itself, and exerted a gradual, uplifting influence on by formative education before certain automative control theory.
The present invention is a toy can with " teaching through lively activities, blend learning in music " feature, economical, practicality and novelty.
The content of the invention
It is an object of the invention to provide one kind can by the subject knowledges such as automative control theory " teach through lively activities, residence learn in
It is happy ", while it is adapted to teen-age toy again in economy, practicality.
A kind of wind-force puts toy, by driving blower fan, to realize completion hovering on request, self-defined swing, pass through
Low output laser pen（Power is less than 0.4mW）Setting-out, draw the motion control functions such as geometric figure（Unit of being kept watch during motion is approximately
Particle）.
A kind of wind-force puts toy, mainly including controlled main body, angle detection module, control drive module, man-machine interaction mould
Block；
Controlled main body is by support, universal joint, rigid body tubule, blower fan group, low output laser pen（Power is less than 0.4mW）, tool
The reference chart of the angled and annulus in the same center of circle of length scale composition（Hereinafter referred to as reference chart）Form；Wherein rigid body is thin
Pipe, blower fan group, low output laser pen（Power is less than 0.4mW）Constitute wind-force pendulum unit（Hereinafter referred to as wind-force is put）.
Angle detection module uses model MPU6050 measuring angle module, and the angle information in real time putting wind-force is anti-
It is fed to control drive module；
Control drive module includes single chip microcontroller（Hereinafter referred to as MCU）Unit, electric-motor drive unit；MCU units
It is responsible for calculating corresponding motor control amount at work, blower fan group is directly driven by electric-motor drive unit；
Human-computer interaction module includes parameter setting unit, liquid crystal display, voice alerting unit；Angle detection module is real
When feed back wind-force swinging information, MCU units pass through liquid crystal display angles of display instantaneous value and current wind pendulum state；
MCU units calculate motor drive volume according to feedback and the setting value of parameter setting unit by pid algorithm；Electric-motor drive unit
According to the PWM ripples of corresponding dutycycle, motor swings to realize；Finally, the voice alerting unit after wind-force pendulum reaches target
Carry out voice message.5V power voltage supplies are used with upper module, add security.
A kind of application method of wind-force pendulum toy, specifically comprises the following steps：
Step 1 initializes to angle detection module, control drive module, human-computer interaction module；
Parameter setting unit input control in step 2 human-computer interaction modules requires or control parameter, man-machine interaction mould
Block sends input control quantity real according to controlled quentity controlled variable and angle detection module to the MCU units in control drive module, MCU units
When the current amount fed back calculate and produce the PWM ripples of corresponding dutycycle, pass through PWM ripple motor driver elements controlled motor and turn
Speed；
Wherein MCU units specific works are as follows：
Timer and the interruption of the MCU in MCU units is opened, corresponding PWM ripples is exported, is driven by electric-motor drive unit
Motor, swing wind-force pendulum；The angle of angle detection module measuring oscillating bar simultaneously, and MCU units are transferred data in real time；Together
When MCU units send the target angle information of swing rod, and swing rod target angle information is made compared with swing rod current angular
Stability contorting is carried out to swing rod with pid algorithm；The swing rod angle on target letter that the real-time detection angles detection module of MCU units is sent
Breath, and pid control algorithm data are changed according to the swing rod target angle information received at any time and control the swing of swing rod；
Step 3 angles detection module detects wind-force swinging information in real time, and wind-force swinging information is sent into control
Wind-force swinging information is sent to human-computer interaction module by drive module processed, control drive module；Liquid in human-computer interaction module
Brilliant display unit shows wind-force swinging information；Voice alerting unit carries out voice message when wind-force pendulum realization requires.
Beneficial effect possessed by the present invention：
（1）Existing toy is partial to emphasize interest mostly, and lacks practicality and educational.Present invention incorporates interest
Taste, while have teaching concurrently and carry out the function of simple Automated condtrol experiment.It is more suitable for teenager's use, can be preferably real
Existing " teaching through lively activities, blend learning in music " theory.
（2）It is current popular that the present invention just organically combines automative control theory, man-machine interaction theory etc. in design
Subject knowledge, there is certain initiation effect to user, strengthen manipulative ability beneficial to teenager and cultivate good interest.
Meanwhile the present invention is simple in construction, cost is relatively low, easy sales promotion.
Brief description of the drawings
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 chips in the angle detection module that present example provides；
Fig. 4 is the circuit diagram of LM3S1138 chips in the MCU units that present example provides；
Fig. 5 is the circuit diagram of HIP4082 chips in the electric-motor drive unit that present example provides；
Fig. 6 is ZLG7290 serial inputs output programmable keyboard/display in the parameter setting unit that present example provides
The circuit diagram of the key circuit of chip composition；
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 chips in the voice alerting unit that present example provides；
Fig. 9 is the workflow diagram of the present invention.
Embodiment：
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of simplified example of wind-force pendulum toy, the main presentation controlled main part of the present invention；Its
Middle AB, CD, EF are the reinforcing part of support, tubule（Body material）As swing rod, its upper end connects branch by universal joint
Frame, lower end are provided with the blower fan group that 4 hollow-cup motors are outwards rearranged by cross, are provided with immediately below blower fan group bottom surface
One low output laser pen perpendicular to blower fan group bottom surface geometric center（Power is less than 0.4mW）；Universal joint makes tubule and installation
While blower fan group on tubule etc. can be attached support, can more freely it take exercises；Low output laser pen（Power is small
In 0.4mW）Red light coordinate and be laid in calibration information in the reference chart immediately below blower fan group, can be intuitively in vision
Angle, the positional information of upper reflection wind-force pendulum.
As shown in Fig. 2 present invention additionally comprises 1 angle detection module, 2-1MCU units, 2-2 electric-motor drive units, 3-1 ginsengs
Number setup unit, 3-2 liquid crystal displays, 3-3 voice alerting units；Wherein 2-1,2-2 form control drive module, 3-1,3-
2nd, 3-3 forms human-computer interaction module.
Preferably, angle detection module employs MPU6050 chips.MPU6050 chips are that global the first 3 axles of integrating add
6 axle modules of speedometer and 3 axle gyroscopes, compared to multicompartment scheme, reduce substantial amounts of encapsulated space；It is being used
In, measurement range can be selected as needed, and simply, conveniently, chip cost is also within the scope of receiving for control.
MPU6050 chip circuit figures, as shown in Figure 3.In work, angle detection module in real time feeds back to the angle information that wind-force is put
Control the MCU units in drive module.
Preferably, MCU units use LM3S1138 chips as master controller.LM3S1138 chips are to be based on ARM
A high-performance of Cortex-M3 processor cores, there is abundant pin and the chip of favorable compatibility.LM3S1138 chips electricity
Lu Tu, as shown in Figure 4.In work, wind-force swinging information that MCU units feed back according to angle detection module, incorporating parametric is set
The target information inputted in order member, is calculated using pid algorithm, according to demand the difference of controlled quentity controlled variable, generates corresponding PWM
Ripple, and electric-motor drive unit is conveyed to, control blower fan group to move in real time with this.
Fig. 5 is the preferred circuit figure of electric-motor drive unit.Electric-motor drive unit is driven using model HIP4082 metal-oxide-semiconductor
Dynamic chip, has preferable performance and higher reliability, and has larger electric current, is driven with this by four hollow-cup motors
The blower fan group of composition, it can be put for wind-force and stronger power is provided.In work, according to the PWM ripple information of MCU units transmission, control
The rotation speed of fan of blower fan group.
Fig. 6 is the preferred circuit figure of parameter setting unit.Parameter setting unit can be compiled using the output of ZLG7290 serial inputs
The key circuit of Cheng Jianpan/display chip composition, ZLG7290 can manage up to 64 buttons, contain decoding circuit inside it,
Program can be simplified, and use I2C bus modes.Pin resource can be saved.In work, thus input control requires, by
The unit is sent to MCU units, carries out processing computing, final to realize control wind-force pendulum.
Fig. 7 is the preferred circuit figure of liquid crystal display.Liquid crystal display uses LCD12864 LCDs, band
There is Chinese word library, can intuitively show Chinese interface.The graphic dot matrix liquid crystal display of LCD12864 LCDs and same type
Module is compared, no matter hardware circuit or display program will succinctly much, and price is also below the figure liquid of identical dot matrix
Crystal module.In work, the present invention is by liquid crystal display operation display interface, and wind-force pendulum current information and more self-defined
Information, realize close friend man-machine interaction experience.
Fig. 8 is the preferred circuit figure of voice alerting unit.Voice alerting unit uses ZY1730 speech chips, ZY1730 languages
Sound chip uses simulation process storage mode, and voice data essentially eliminates common without digital compression, this storage mode
Background noise, so as to provide more high-quality voice；Meanwhile voice content will not also be lost after down circuitry, from
And it ensure that the stabilization of the complete and system of data.In work, voice alerting unit can be in beginning, control operation and realization control
It is required that when, the voice message of close friend is sent, adds service efficiency and interest, is advantageous to entertain and learns preferably combination.
A kind of as shown in figure 9, workflow of wind-force pendulum toy.With reference to Fig. 9, the application method that toy is put to wind-force is done and had
Body introduction, specifically comprises the following steps：
Step 1 initializes to angle detection module, control drive module, human-computer interaction module；
Parameter setting unit input control in step 2 human-computer interaction modules requires or control parameter, man-machine interaction mould
Block sends input control quantity real according to controlled quentity controlled variable and angle detection module to the MCU units in control drive module, MCU units
When the current amount fed back calculate and produce the PWM ripples of corresponding dutycycle, pass through PWM ripple motor driver elements controlled motor and turn
Speed；
Wherein MCU units specific works are as follows：
Timer and the interruption of the MCU in MCU units is opened, corresponding PWM ripples is exported, is driven by electric-motor drive unit
Motor, swing wind-force pendulum；The angle of angle detection module measuring oscillating bar simultaneously, and MCU units are transferred data in real time；Together
When MCU units the target angle information of wind-force pendulum is received from parameter setting unit, and swing rod target angle information and swing rod are worked as
Preceding angle is compared, and stability contorting is carried out to swing rod using pid algorithm；The real-time detection angles detection module of MCU units is sent
Swing rod target angle information, and pid control algorithm data and control are changed according to the swing rod target angle information received at any time
The swing of swing rod；
Step 3 angles detection module detects wind-force swinging information in real time, and pendulum wind-force varied angle information is sent to
Drive module is controlled, wind-force swinging information is sent to human-computer interaction module by control drive module；In human-computer interaction module
Liquid crystal display shows wind-force swinging information；Voice alerting unit carries out voice message when wind-force pendulum realization requires.
Claims (2)
1. a kind of wind-force puts toy, it is characterised in that mainly including controlled main body, angle detection module, control drive module, people
Machine interactive module；
Controlled main body by support, universal joint, rigid body tubule, blower fan group, low output laser pen, there is the same of angle and length scale
The reference chart of the annulus composition in one center of circle is formed；Wherein rigid body tubule, blower fan group, low output laser pen constitute wind-force pendulum；
Angle detection module uses model MPU6050 measuring angle module, in real time feeds back to the angle information that wind-force is put
Control drive module；
Drive module is controlled to include MCU units, electric-motor drive unit；MCU units are responsible for calculating corresponding motor control at work
Amount processed, blower fan group is directly driven by electric-motor drive unit；
Human-computer interaction module includes parameter setting unit, liquid crystal display, voice alerting unit；Angle detection module is anti-in real time
Wind-force swinging information is presented, MCU units pass through liquid crystal display angles of display instantaneous value and current wind pendulum state；MCU is mono-
Member calculates motor drive volume according to feedback and the setting value of parameter setting unit by pid algorithm；Electric-motor drive unit is according to phase
The PWM ripples of dutycycle are answered, motor swings to realize；Finally, voice alerting unit carries out language after wind-force pendulum reaches target
Sound is prompted；5V power voltage supplies are used with upper module.
2. the application method of a kind of wind-force pendulum toy as claimed in claim 1, it is characterised in that specifically comprise the following steps：
Step 1 initializes to angle detection module, control drive module, human-computer interaction module；
Parameter setting unit input control in step 2 human-computer interaction modules requires or control parameter, human-computer interaction module will
Input control quantity sends anti-in real time according to controlled quentity controlled variable and angle detection module to the MCU units in control drive module, MCU units
The current amount of feedback calculates and produces the PWM ripples of corresponding dutycycle, passes through PWM ripple motor driver element controlled motor rotating speeds；
Wherein MCU units specific works are as follows：
Timer and the interruption of the MCU in MCU units is opened, exports corresponding PWM ripples, electricity is driven by electric-motor drive unit
Machine, swing wind-force pendulum；The angle of the rigid body tubule of angle detection module measurement simultaneously, and MCU units are transferred data in real time；
Simultaneously MCU units from parameter setting unit receive wind-force pendulum target angle information, and to rigid body tubule target angle information with
Rigid body tubule current angular is compared, and stability contorting is carried out to rigid body tubule using pid algorithm；MCU units detect angle in real time
The rigid body tubule target angle information that detection module is sent is spent, and is changed at any time according to the rigid body tubule target angle information received
The swing of pid control algorithm data and control rigid body tubule；
Step 3 angles detection module detects wind-force swinging information in real time, and wind-force pendulum varied angle information is sent into control
Wind-force swinging information is sent to human-computer interaction module by drive module, control drive module；Liquid crystal in human-computer interaction module
Display unit shows wind-force swinging information；Voice alerting unit carries out voice message when wind-force pendulum realization requires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000726.4A CN105641951B (en) | 2016-01-04 | 2016-01-04 | A kind of wind-force pendulum toy and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610000726.4A CN105641951B (en) | 2016-01-04 | 2016-01-04 | A kind of wind-force pendulum toy and application method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105641951A CN105641951A (en) | 2016-06-08 |
| CN105641951B true CN105641951B (en) | 2018-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610000726.4A Expired - Fee Related CN105641951B (en) | 2016-01-04 | 2016-01-04 | A kind of wind-force pendulum toy and application method |
Country Status (1)
| Country | Link |
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| CN (1) | CN105641951B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106097817B (en) * | 2016-06-21 | 2019-02-19 | 河海大学常州校区 | The experimental teaching unit and its application method of three axis wind pendular motions control |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191410244A (en) * | 1914-04-25 | 1914-09-10 | Jules Mace | Improvements in and relating to Arrangements for Keeping Toy Sailing Boats Approximately on their Course and Making them Veer at a Given Moment. |
| US4551113A (en) * | 1983-08-05 | 1985-11-05 | Kabushiki Kaisha Ag | Radio controlled yacht and sail for the latter |
| CN202711068U (en) * | 2012-09-06 | 2013-01-30 | 中山大学 | Control circuit of inverted pendulum system |
| CN202904380U (en) * | 2012-11-07 | 2013-04-24 | 王帅 | Angle detection and control apparatus |
| CN104881034A (en) * | 2015-05-27 | 2015-09-02 | 杭州电子科技大学 | Sailboard experiment system and sailboard measure method |
-
2016
- 2016-01-04 CN CN201610000726.4A patent/CN105641951B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191410244A (en) * | 1914-04-25 | 1914-09-10 | Jules Mace | Improvements in and relating to Arrangements for Keeping Toy Sailing Boats Approximately on their Course and Making them Veer at a Given Moment. |
| US4551113A (en) * | 1983-08-05 | 1985-11-05 | Kabushiki Kaisha Ag | Radio controlled yacht and sail for the latter |
| CN202711068U (en) * | 2012-09-06 | 2013-01-30 | 中山大学 | Control circuit of inverted pendulum system |
| CN202904380U (en) * | 2012-11-07 | 2013-04-24 | 王帅 | Angle detection and control apparatus |
| CN104881034A (en) * | 2015-05-27 | 2015-09-02 | 杭州电子科技大学 | Sailboard experiment system and sailboard measure method |
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| Publication number | Publication date |
|---|---|
| CN105641951A (en) | 2016-06-08 |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20180105 Termination date: 20190104 |