CN106345129A - Intelligent toy robot control system - Google Patents
Intelligent toy robot control system Download PDFInfo
- Publication number
- CN106345129A CN106345129A CN201610910307.4A CN201610910307A CN106345129A CN 106345129 A CN106345129 A CN 106345129A CN 201610910307 A CN201610910307 A CN 201610910307A CN 106345129 A CN106345129 A CN 106345129A
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- China
- Prior art keywords
- host computer
- head
- circuit
- cpu
- intelligent toy
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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
- A63H33/26—Magnetic or electric toys
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H5/00—Musical or noise- producing devices for additional toy effects other than acoustical
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- 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
- G09B5/00—Electrically-operated educational appliances
- G09B5/06—Electrically-operated educational appliances with both visual and audible presentation of the material to be studied
- G09B5/065—Combinations of audio and video presentations, e.g. videotapes, videodiscs, television systems
Abstract
The invention discloses an intelligent toy robot control system, which is characterized in that the control system comprises a circuit control system and a software control system, wherein a main control unit circuit, a head control unit circuit and a lower control unit circuit of the circuit control system are mutually connected through system buses; an Android operation system core and Android application software are used. The intelligent toy robot control system has the advantages that the control is modularized; the structure is compact; all unit circuits are mutually and harmoniously controlled in a system bus mode; the work division is cooperated; the system is favorably and flexibly expanded. Through connection with Internet, the functions of on-line updating, on-line expansion, network interaction, network monitoring and the like are realized; parents can conveniently master the conditions of children in real time. Relevant APP is flexibly installed or uninstalled; multimedia can enrich the facial expression in a way of combination of form and spirit; good interaction with children is realized, so that the children can achieve the study effect in the game playing process; the goal of education is achieved; the creativity of the children can be better inspired.
Description
Technical field
The present invention relates to a kind of robot toy, particularly to a kind of control of the intelligent toy robot of child early education playfellow
System processed.
Background technology
Current child's early education product, such as learning machine, early learning machine, point reader, Story machine etc., in children with ocular be all
Ice-cold equipment, major part is all so teacher-centered learning style by way of simple broadcasting video, story, sound
Interaction mode is single, and the time is slightly long, and child easily produces worry it is difficult to muchly transfer the enthusiasm of children for learning, makes study
Dry as dust, the effect of study is unsatisfactory.And, there is the robot toy of touch screen, due to the position such as its cervical region joint
The degree of freedom of motion is few, and some neck joint are directly ignored as, and head is directly arranged on body, although such scheme
Simply, but simultaneously also the outward appearance of impact robot toy aesthetics so that robot toy can not be vivider simulation true man
Various actions and expression.
Existing child's early education product typically adopts single-chip embedded control system, and control circuit structure is relatively simple
Single, function is few, does not have network function, more the later stage cannot be led to exist and expand with the convenient Android operation system loading application software
Open up poor performance, be unable to the defects such as online upgrading.
Content of the invention
There is shortage control system in the control system for solving the problems, such as existing child's early education product, the present invention provides a kind of
Function is many, exist scalability good, can online upgrading intelligent toy robot control system.
For achieving the above object, the scheme that the present invention takes is: a kind of control system of intelligent toy robot, including electricity
Path control system and software control system；It is characterized in that: circuit control system includes load software control system kernel software
Main control unit circuit, control the head control unit circuit of head movement, and control body part and trick piecemeal activity
Bottom control unit circuit, main control unit circuit, head control unit circuit and bottom control unit circuit pass through to each other
System bus is connected with each other.Main control unit circuit, head control unit circuit and bottom is allowed to control using system bus mode single
First circuit is coordinated to control each other, shares out the work and helps one another, main control unit circuit is freed, be conducive to system to expand for greater flexibility
Exhibition.
Further illustrating as such scheme, aforementioned main control unit circuit includes circuits below module: master control cpu, with
And the master control being connected with master control cpu runs circuit；Master control runs circuit and includes bluetooth wifi module, microphone circuit, power amplifier electricity
Road, touch screen module and gravity sensor；Wherein, power amplifier and the speaker electrical within located at intelligent toy robot connect
Connect；Microphone circuit with located at intelligent toy robot within microphone electric be connected.Bluetooth wifi module, Mike's wind-powered electricity generation
Circuit module based on road, power amplifier, touch screen module and gravity sensor, the control system of intelligent toy robot can
To be connected with the Internet by bluetooth wifi module, realize online upgrading, in level expanded function, network interdynamic, network monitoring etc.
Function, significantly facilitates the real-time control to juvenile's situation for the head of a family.
Further illustrating as such scheme, aforementioned head control unit circuit includes circuits below module: head control
Cpu processed and the head being connected with head control cpu run circuit；Head runs circuit and includes head boot-strap circuit, power supply pipe
Reason circuit, lamp and touch circuit, head servo driving circuit.
Further illustrating as such scheme, aforementioned bottom control unit circuit includes circuits below module: bottom control
Circuit is run in cpu processed and the bottom being connected with bottom control cpu；Bottom is run circuit and is included infrared circuit, led drive
Galvanic electricity road, motor-drive circuit, bottom servo driving circuit, bottom boot-strap circuit, knob testing circuit and hand foot touch
Touch circuit.
Further illustrating as such scheme, aforementioned system bus is iic bus.
Further illustrating as such scheme, aforementioned head runs head servo driving circuit and the control intelligence of circuit
The head steering wheel electrical connection of the headwork of toy robot；Lamp and touch circuit control the head located at intelligent toy robot
Outside the forehead lamp breath light in portion, also control button and the dc supply hub all located at the head of intelligent toy robot；Power supply pipe
Reason circuit and the internal charging battery electrical connection located at intelligent toy robot.
Further illustrating as such scheme, the aforementioned bottom servo driving circuit running circuit and control intelligent toy
The hand steering wheel electrical connection of robot hand action；Knob testing circuit and the knob located at the back of intelligent toy robot
Electrical connection；The circuit that touches of hand foot is electrically connected with the button of the hand foot at the back located at intelligent toy robot
Connect；Led drive circuit is connected with the abdominal part rgb breath light of the abdominal part located at intelligent toy robot；Infrared circuit with set
Infrared sensor in the sole of intelligent toy robot connects；Motor-drive circuit moves with controlling intelligent toy robot foot
The motor electrical connection made.
As the further explanation of such scheme, aforementioned software control system includes the peace being all loaded in master control cpu
Tall and erect operating system kernel and ARIXTRA application software, are loaded into the head control program in head control cpu, and are loaded into bottom
Control the bottom control program in cpu；Wherein, Android operation system core is mounted with bluetooth wifi driver, mike drives
Dynamic program, power amplifier driver, touch screen driver and gravity sensor driver；Wherein, master control cpu and ARIXTRA operation system
System core is defined as host computer.
Further illustrate, wherein, aforementioned head control program comprises the following steps:
Each module initialization: after system electrification, each circuit module in head control unit circuit is initialized；
During steering wheel is returned, head controls cpu to send reset instruction it is ensured that intelligent toy machine to the head steering wheel controlling headwork
The head of people returns normal position；
Pull-up pkey makes host computer start shooting: head controls cpu to send instruction, is that master control element circuit switches on power；
Host computer ends machine: receives host computer start by iic bus and completes signal；
Forehead lamp breath light effect: if head controls cpu not receive host computer and send start completes signal, open forehead lamp
Breath light, waits host computer start to complete；
Enter normal operating conditions: if head controls cpu to receive host computer and send start completes signal, initially enter normal
Working condition；
Whether grow by back: after entering normal operating conditions, head controls whether the button that cpu scans back is in the length of regulation
Time down state；
Enter shutdown process: notify host computer shutdown: if scanning result is back button be in regulation press shape for a long time
State, head controls cpu then to send off signal to host computer, notifies host computer to carry out shutdown action；And after continuing to scan downwards
Whether back of the body button is pressed；
Whether pat back: if scanning result is back button being not in the long-time down state that specifies, be in short-term
Between the beating state pressed；
Notify host computer: if scanning result is back button being in the beating state that the short time presses, head controls cpu then
Send to host computer and pat signal, notify the ARIXTRA application software running in host computer to implement specific function；And continue to sweep downwards
Retouch whether head button is pressed；
Whether touch head: if the button that scanning result is not back is in the beating state that the short time presses, continue to sweep downwards
Whether the button retouching head is pressed；
Notify host computer: if the button that scanning result is head is in the touch condition pressed, head controls cpu then to upper
Machine sends and touches head signal, notifies the ARIXTRA application software running in host computer to implement specific function；
Whether dc inserts: if scanning result is not head button being in the touch condition pressed, whether detection dc power supply inserts；
Notify host computer: if detection dc power supply is insertion, notify host computer to call power management subprogram；And detect dc again
Whether power supply inserts；
Whether dc inserts: no matter has and the insertion of dc power supply is not detected, be stabilization, whether detection dc power supply inserts again；
Notify host computer: if detection dc power supply is insertion, notify host computer to call power management routines；
Detection battery electric quantity: and then, head controls cpu detection battery electric quantity；
Notify host computer: head controls cpu that detection battery electric quantity is sent to host computer；
Whether iic disconnects: head controls cpu then to detect whether iic bus disconnects；
Super automatic shutdown after a period of time, if head controls cpu, detection iic bus disconnects, and surpasses automatic after a period of time
Shutdown；
Whether host computer has new command, if head controls cpu detection, iic bus is in normal condition, receives host computer and sends
Signal, host computer whether have new instruction need process；
Execute instruction: if host computer has new instruction to need to process, execute new instruction；After having executed instruction, circulate again
Enter normal operating conditions step；
Enter normal operating conditions: if host computer is not have new instruction to need to process, be recycled into normal work shape again
State step and normal operating conditions step step below.
In addition, aforementioned bottom control program comprises the following steps:
Each module initialization: after system electrification, each circuit module in the control unit circuit of bottom is initialized；
During master clock switching steering wheel is returned: bottom controls cpu to send reset instruction to the steering wheel controlling hand motion, and to master clock
Switch over identical with host computer, and guarantee the hand position normal position of recurrence of intelligent toy robot；
Host computer ends machine？Host computer start is received by iic bus and completes signal；
Abdominal part rgb breath light: if bottom controls cpu not receive host computer and send start completes signal, open abdominal part rgb and exhale
Inhale lamp, wait host computer start to complete；
Enter normal operating conditions: if bottom controls cpu to receive host computer and send start completes signal, initially enter normal
Working condition；
Whether back knob rotates？After entering normal operating conditions, it is contorted whether bottom controls cpu detection back knob to be in
State；
Rotation amount is notified host computer: if bottom controls cpu detection back knob to be in rotation status, bottom control cpu will
The rotation amount signal of back knob is sent to host computer, notifies the ARIXTRA application software running in host computer to implement specific metering
Function；And continue to scan downwards whether the button of body and hands foot position is pressed；
Whether each position button is pressed？If bottom controls cpu, detection back knob is not in rotation status, continues to sweep downwards
Whether the button retouching body and hands foot position is pressed；
Notify host computer: if bottom controls the button that cpu scans body and hands foot position to have wherein one or more to press, notify
Host computer implements corresponding function；And continue to detect downwards whether sole infrared facility is in vacant state；
Sole is infrared hanging？If bottom controls the button that cpu scans body and hands foot position not press, continue to detect downwards
Whether sole infrared facility is in vacant state；
Motor reversion notifies host computer: if bottom controls cpu sole infrared facility is detected is in vacant state, to foot
Motor sends toggling command, and sends correlation behavior signal to host computer, notifies host computer to carry out relevant treatment；And continue downwards
Whether detection iic disconnects；
Whether iic disconnects: if bottom controls cpu sole infrared facility is detected is not in vacant state, bottom controls cpu to connect
Whether detection iic bus disconnects；
Chest when red: if bottom controls cpu then to detect that iic bus disconnects, bottom control cpu sends and lights chest red light
Instruction；And continue to detect downwards whether infrared induction module opens；
Infrared whether open: if bottom controls cpu then to detect that iic bus is in normal condition, continue detection downwards infrared
Whether induction module is opened；
Infrared unlatching: if bottom controls cpu then to detect that infrared induction module is opened, open infrared induction module；And continue
Whether detection infrared induction module opens downwards；And detect whether host computer has new instruction to need to process；
Whether host computer has new command: if bottom controls cpu then to detect that infrared induction module is not opened, detection host computer is
No have new instruction to need to process；
Execute instruction: if host computer has new instruction to need to process, execute new instruction；After having executed instruction, time delay 25ms；
Time delay 25ms: if host computer does not have new instruction to need to process, time delay 25ms；Then it is recycled into normal work again
State step；
Enter normal operating conditions: after time delay 25ms, be recycled into normal operating conditions step and normal operating conditions step again
Rapid step below.
From the foregoing, it will be observed that the present invention mainly has the advantage that control module, compact conformation, circuit control system is using system
System bus mode allows each unit circuit to coordinate each other to control, and shares out the work and helps one another, main control unit circuit is freed, is conducive to
System extends for greater flexibility.It is connected with the Internet, realize online upgrading, in work(such as level expanded function, network interdynamic, network monitorings
Can, significantly facilitate the real-time control to juvenile's situation for the head of a family.Applied soft using Android operation system core (android) and ARIXTRA
Part, can install or unload the application software (app) of correlation, very flexibly as needed.Intelligent handss can also be extended as needed
Machine function, realizes online shopping mall's function in conjunction with service end.For example expression animation can be shown by touch screen module, coordinate loudspeaker
The sound that sends, can show the different emotions such as happiness, anger, grief and joy；The state such as hungry, thirsty can also be showed；The limbs controlling move
Work can the expressive expression of unity of form and spirit DIFENG, preferably well interactive with child, intelligent toy robot is just childish little
Partner, gives full play to enjoyment and the enthusiasm that child interacts therewith.May then pass through touch screen touch function can make withered
Dry study video becomes the learning game with more interaction contents, so that child is at play learning, helps the head of a family to reach religion
The purpose educated is moreover it is possible to preferably excite the creativity of child.This intelligent toy robot " partner ", is also international endorsement
" partner's education " theory communicates.
Brief description
Fig. 1 is the schematic block circuit diagram of embodiment of the present invention.
Fig. 2 is the system control process figure of head control unit.
Fig. 3 is the system control process figure of bottom control unit.
Fig. 4 is the axonometric chart of the intelligent toy robot of one embodiment of the present invention.
Part drawing reference numeral illustrates:
1- main control unit circuit, 2- head control unit circuit, 3- bottom control unit circuit, 11- master control cpu, 12- bluetooth
Wifi module, 13- microphone circuit, 14- power amplifier, 15- touch screen module, 16- gravity sensor；21- head controls
Cpu,22- head boot-strap circuit, 23- electric power management circuit, 24- lamp and touch circuit,25-HeadServo driving circuit；Under 31-
Portion's control cpu, 32- infrared circuit, 33- led drive circuit, 34- motor-drive circuit,35-BottomServo driving electricity Road,36-BottomBoot-strap circuit,37- knob testing circuit, the touch circuit of 38- hand foot.
411- intelligent toy robot, 412- head, 413- hand, 414- body, 415- foot, 416- cervical region, 417-
Touch screen, 418- steering wheel, 419- knob, 420- forehead lamp breath light, 421- abdominal part rgb breath light, 422-dc supply hub,
423- walking mechanism, 424- walking driver gear, 425- walking passive gear, 426- infrared inductor, 427- photographic head, 428- presses
Button.
Specific embodiment
Below in conjunction with the accompanying drawings and preferred embodiment, the present invention and its Advantageous Effects are carried out further specifically
Bright.
Referring to Fig. 1 ~ Fig. 4, the control system of intelligent toy robot includes circuit control system and software control system；Its
It is characterised by: circuit control system includes the main control unit circuit 1 of load software control system kernel software, control head movement
Head control unit circuit 2, and control the bottom control unit circuit 3 of body part and trick piecemeal activity, master control list
First circuit 1, head control unit circuit 2 and bottom control unit circuit 3 are connected with each other by system bus to each other.
Aforementioned main control unit circuit 1 includes circuits below module: master control cpu11 and the master control being connected with master control cpu11
Run circuit；Master control runs circuit and includes bluetooth wifi module 12, microphone circuit 13, power amplifier 14, touch screen module 15
With gravity sensor 16；Wherein, power amplifier 14 with located at intelligent toy robot within speaker electrical be connected；Mike
Circuit 13 with located at intelligent toy robot 411 within microphone electric be connected.Wherein, master control cpu11 includes model
Rk3188 processor and its periphery auxiliary circuit.
Preferably, head control unit circuit 2 includes circuits below module: head control cpu21 and with head control
The head that cpu21 connects runs circuit；Head runs circuit and includes head boot-strap circuit 22, electric power management circuit 23, lamp and touch
Touch circuit 24, head servo driving circuit 25.Wherein, head controls cpu21 to include model stm8s103 processor and its week
Side auxiliary circuit.
Preferably, bottom control unit circuit 3 includes circuits below module: bottom control cpu31 and with bottom control
Circuit is run in the bottom that cpu31 connects；Bottom is run circuit and is included infrared circuit 32, led drive circuit 33, Motor drive
Circuit 34, bottom servo driving circuit 35, the touch circuit of bottom boot-strap circuit 36, knob testing circuit 37 and hand foot
38.Wherein, bottom controls cpu31 to include model stm8s207 processor and its periphery auxiliary circuit.
Preferably, system bus is iic bus.
Preferably, head runs the head servo driving circuit 25 of circuit and the head controlling intelligent toy robot 411
The head steering wheel electrical connection of action；Lamp controls the forehead lamp of the head located at intelligent toy robot 411 with touching circuit 24
Outside breath light, also control button and the dc supply hub all located at the head of intelligent toy robot 411；Electric power management circuit 23
With the internal charging battery electrical connection located at intelligent toy robot 411.
Preferably, bottom servo driving circuit 35 and control intelligent toy robot 411 hand motion of circuit are run
Hand steering wheel is electrically connected；Knob testing circuit 37 and the knob electrical connection located at the back of intelligent toy robot 411；Handss
The button electrical connection touching circuit 38 and the hand foot located at the back of intelligent toy robot 411 of foot of portion；Led drives
Galvanic electricity road 33 is connected with the abdominal part rgb breath light of the abdominal part located at intelligent toy robot 411；Infrared circuit 32 with located at
The infrared sensor of the sole of intelligent toy robot 411 connects；Motor-drive circuit 34 and control intelligent toy robot 411
The motor electrical connection of foot action.
Preferably, software control system includes the Android operation system core being all loaded in master control cpu11 and ARIXTRA should
With software, it is loaded into the head control program in head control cpu21, and is loaded into bottom and control the bottom control in cpu31
Processing procedure sequence；Wherein, Android operation system core is mounted with bluetooth wifi driver, mike driver, power amplifier driving journey
Sequence, touch screen driver and gravity sensor 16 driver；Wherein, master control cpu11 and Android operation system core are defined as
Host computer.
Preferably, wherein, head control program comprises the following steps:
In step s201, program starts from there；
In step s202, each module initialization: after system electrification, to each circuit module in head control unit circuit 2
Initialized；
In step s203, during steering wheel is returned, head controls cpu21 to send reset instruction to the head steering wheel controlling headwork,
Guarantee that the head of intelligent toy robot 411 returns normal position；
In step s204, pull-up pkey makes host computer start shooting: head controls cpu21 to send instruction, is that master control element circuit 1 connects
Energising source；
In step s205, host computer ends machine: receives host computer start by iic bus and completes signal；
In step s206, forehead lamp breath light effect: if head controls cpu21 not receive host computer and send start completes letter
Number, then open forehead lamp breath light, wait host computer start to complete；
In step s207, enter normal operating conditions: if head controls cpu21 to receive host computer and send start completes letter
Number, then initially enter normal operating conditions；
In step s208, if length presses back: after entering normal operating conditions, head controls cpu21 to scan the button of back
Whether it is in the long-time down state of regulation；
In step s209, enter shutdown process: notify host computer shutdown: if scanning result is back button is in regulation
Long-time down state, head control cpu21 then to host computer send off signal, notify host computer carry out shutdown action；
And continue to scan downwards whether back button is pressed；
In step s210, if pat back: if scanning result is back button be not in specify press shape for a long time
State, is in the beating state that the short time presses；
In step s211, notify host computer: if scanning result is back button being in the beating state that the short time presses,
Head controls cpu21 then to send beating signal to host computer, notifies the ARIXTRA application software running in host computer to implement specific work(
Energy；And continue whether downward scanning head button 428 is pressed；
In step s212, if touch head: if the button that scanning result is not back is in the beating shape that the short time presses
State, whether the button 428 continuing downward scanning head is pressed；
In step s213, notify host computer: if the button 428 that scanning result is head is in the touch condition pressed, head
Portion controls cpu21 then to send touch head signal to host computer, notifies the ARIXTRA application software running in host computer to implement specific
Function；
In step s214, if dc inserts: if scanning result is not head button 428 is in the touch condition pressed, examines
Survey whether dc power supply inserts；
In step s215, notify host computer: if detection dc power supply is insertion, notify host computer to call the sub- journey of power management
Sequence；And whether detection dc power supply inserts again；
In step s216, if dc inserts: no matter have and the insertion of dc power supply is not detected, be stabilization, detect dc power supply again
Whether insert；
In step s217, notify host computer: if detection dc power supply is insertion, notify host computer to call power management routines；
In step s218, detect battery electric quantity: and then, head controls cpu21 detection battery electric quantity；
In step s219, notify host computer: head controls cpu21 that detection battery electric quantity is sent to host computer；
In step s220, whether iic disconnects: head controls cpu21 then to detect whether iic bus disconnects；
In step s221, surpass automatic shutdown after a period of time, detection iic bus disconnects if head controls cpu21, exceedes
Automatic shutdown after a period of time；
In step s222, whether host computer has new command, if head controls cpu21 detection, iic bus is in normal condition,
Receive the signal that host computer is sent, whether host computer has new instruction to need to process；
In step s223, execute instruction: if host computer has new instruction to need to process, execute new instruction；Execute finger
After order, it is recycled into normal operating conditions step s207 again；
In step s207, enter normal operating conditions: if host computer be do not have new instruction need process, circulate again into
Enter normal operating conditions step s207 and normal operating conditions step s207 step s208 ~ s223 below.
Preferably, wherein, bottom control program comprises the following steps:
In step s301, program starts from there；
In step s302, each module initialization: after system electrification, to each circuit module in bottom control unit circuit 3
Initialized；
In step s303, during master clock switching steering wheel is returned: bottom controls cpu31 to send reset to the steering wheel controlling hand motion
Instruction, and master clock is switched over identical with host computer, and guarantee the hand position recurrence of intelligent toy robot 411 normally
Position；
In step s304, host computer ends machine？Host computer start is received by iic bus and completes signal；
In step s305, abdominal part rgb breath light: if bottom controls cpu31 not receive host computer and send start completes signal,
Then open abdominal part rgb breath light, wait host computer start to complete；
In step s306, enter normal operating conditions: if bottom controls cpu31 to receive host computer and send start completes letter
Number, then initially enter normal operating conditions；
In step s307, whether back knob rotates？After entering normal operating conditions, bottom controls cpu31 detection back rotation
Whether button is in rotation status；
In step s308, rotation amount is notified host computer: detection back knob is in rotation status if bottom controls cpu31,
Then bottom controls cpu31 that the rotation amount signal of back knob is sent to host computer, notifies the ARIXTRA application running in host computer
Specific function of measuring implemented by software；And continue to scan downwards whether the button 428 of body and hands foot position is pressed；
In step s309, whether each position button is pressed？If it is contorted that bottom controls cpu31 detection back knob to be not in
State, then whether the button 428 continuing to scan downwards body and hands foot position is pressed；
In step s310, notify host computer: if bottom controls the button 428 that cpu31 scans body and hands foot position to have wherein
One or more press, notify host computer implement corresponding function；And continue to detect downwards whether sole infrared facility is in outstanding
Dummy status；
In step s311, sole is infrared hanging？If bottom controls the button 428 that cpu31 scans body and hands foot position not have
Press, then continue to detect whether sole infrared facility is in vacant state downwards；
In step s312, motor reversion notifies host computer: if bottom controls cpu31 sole infrared facility is detected being in vacantly
State, then send toggling command to the motor of foot, and sends correlation behavior signal to host computer, notifies host computer to carry out correlation
Process；And continue to detect downwards whether iic disconnects；
In step s313, whether iic disconnects: if bottom controls cpu31 sole infrared facility is detected is not in hanging shape
State, bottom controls cpu31 then to detect whether iic bus disconnects；
In step s314, chest when red: if bottom controls cpu31 then to detect that iic bus disconnects, bottom controls
Cpu31 sends the instruction lighting chest red light；And continue to detect downwards whether infrared induction module opens；
In step s315, infrared whether open: if bottom controls cpu31 then to detect that iic bus is in normal condition, continue
Whether the continuous infrared induction module of detection downwards opens；
In step s316, infrared unlatching: if bottom controls cpu31 then to detect that infrared induction module is opened, open infrared
Induction module；And continue to detect downwards whether infrared induction module opens；And detect whether host computer has new instruction to need to locate
Reason；
In step s317, whether host computer has new command: if bottom controls cpu31 then to detect that infrared induction module is not opened
Open, then whether detection host computer has new instruction to need to process；
In step s318, execute instruction: if host computer has new instruction to need to process, execute new instruction；Execute finger
After order, time delay 25ms；
In step s319, time delay 25ms: if host computer does not have new instruction to need to process, time delay 25ms；Then follow again
Ring enters normal operating conditions step s306；
In step s306, enter normal operating conditions: after time delay 25ms, be recycled into normal operating conditions step again
S306, and normal operating conditions step step s307 ~ s319 below.
Wherein it is desired to it is noted that the aforementioned app application software based on Android system, including but not limited to platform app,
Time app, quarter-bell app, computer app, photograph album app, Video chat app, monitoring app, paint this story app, talking pen read
App, setting app, store app, changing interface mode app, buddy system app；Wherein buddy system app includes event triggering
App, voice dialogue app, feeding system app, growth system app, Fructus Alpiniae Oxyphyllae class trivial games app, interactive class trivial games app etc.；Benefit
Intelligence class trivial games app includes a seven-piece puzzle game app, the game app that spells, beats suslik game app, Fishing game app etc.；Interactive
Class trivial games app includes hide-and-seek app, the app that takes a walk, the app that plays chess, the game app that plays the musical instrument, beat a drum game app etc.；In addition, also may be used
To have task app, to be integrated into regard to app, community platform app, stage property store app etc..
Involved by the preferred embodiments of the present invention, the structure of intelligent toy robot 411 is referring to Fig. 4, intelligent toy robot
411 include head 412, cervical region 416, hand 413, body 414 and foot 415, and in intelligent toy robot 411 body
Circuit board；The face of intelligent toy robot 411 is provided with the touch screen 417 that can show various anthropomorphic countenances；Intelligent toy machine
Device people 411 cervical region 416 is provided with multivariant built-in joint；Built-in joint mainly by multivariant bowl-type shell component,
And the head 412 of rotation and the steering wheel 418 of the head 412 swinging up and down form；Wherein, bowl-type shell component is enclosed within head 412
Outside steering wheel 418, connect the connecting portion of intelligent toy robot 411 head 412 and body 414 and cervical region 416.
Preferably, the foot 415 of intelligent toy robot 411 is provided with walking mechanism 423, walking mechanism 423 include motor,
Walking driver gear 424, walking passive gear 425, grating wheel, grating encoder and the infrared inductor 426 making walking sensor；OK
Walk drivewheel 424 and walking passive gear 425 part is exposed from the sole of intelligent toy robot 411；Walking driver gear 424 is by going
Walk Motor drive, grating wheel and walking driver gear 424 are coaxially connected, and grating encoder sets near the inboard of grating wheel or outside
Put；Infrared inductor 426 is two, is respectively arranged at former and later two positions of the sole of intelligent toy robot 411.Foot
415 adopt the wheeled walking of Motor drive, attach grating encoder and infrared inductor 426, substantially increase walking precision, both may be used
To detect fixing walking path it is also possible to carry out run trace by calculating, can be applicable to play chess and walk labyrinth, greatly increases
Add its playfellow's performance.Coordinate the photographic head 427 being subsequently noted, the object in visual range can also be identified, or even
This kind of game of zillionaire can be played, the FQ operating capability of child can be cultivated.
Preferably, the steering wheel 418 being provided with driving hand 413 swing in vivo of intelligent toy robot 411.Make hand
413 with action, not only can coordinate the expression of display to make hand 413 action expression, also convenient expand other such as beat a drum, bullet
The functions such as qin.
Preferably, the face of intelligent toy robot 411 is provided with two photographic head 427, and one of photographic head 427 is putting down
Depending on angle setting, another photographic head 427 is the visual angle angle setting tilting.The virtual and real game interacting, by taking the photograph
As 427 carry out image recognition, interaction is carried out by card and intelligent toy robot 411, improves interactive convenience.Figure
As identification can identify figure, word, letter, numeral etc., one jigsaw puzzle shape of screen display can be passed through, user is with really
The a seven-piece puzzle risk shape in face of intelligent toy robot 411, and intelligent toy robot 411, after photographic head 427 identification, is made
Go out different reactions, such as praise, bonus point etc., similar game is also spelt, picture mosaic, spell building blocks, calculate arithmetic etc..Different
Dual camera 427 pattern of angle setting, increased angular field of view.The use of touch screen 417, increased the convenience of interaction,
Operation more intuitive and convenient.
Preferably, the limbs of intelligent toy robot 411 are removable modular construction；Or intelligent toy robot
411 limbs are provided with the expansion interface of extension limb action accessory.Work(is expanded by installation fitting or replacing hand 413
Can, such as beat a drum, play the musical instrument；Foot 415 can be swept the floor by extending cleaning attachment, also can be carried out no by extending charging base station
Line charges.
Preferably, the limbs of intelligent toy robot 411, head 412, abdominal part are provided with button 428, and button 428 can be tactile
Touch switch, touch-switch or touch sensor, the back of intelligent toy robot 411 is provided with knob 419, and this knob 419 has concurrently
There is press-button structure；Wherein, it is provided with led display lamp at the button 428 of head 412, this led display lamp is forehead lamp breath light 420；
It is provided with led display lamp, this led display lamp is in abdominal part rgb breath light 421 intelligent toy robot 411 at the button 428 of abdominal part
Portion is provided with gravity sensor 16, speaker, mike, rechargeable battery.Soft-touch control, touch-switch or touch sensor make intelligence
Toy robot 411 can perceive the situation in the external world and the behavior of people, such as touch, pat etc., gravity sensing is intelligent object for appreciation
Tool robot 411 can detect gravity center shift, and cooperation step grating sensing can control walking center of gravity so as to keep balance.Gravity
Sensing can also be the change that intelligent toy robot 411 perceives its attitude, such as hang upside down, lie low, fall, by its motor control
System, the action such as intelligent toy robot 411 can be made to carry out standing from falling to.In addition, dc supply hub 422 and rechargeable battery set
It is placed in inside head 412.Main control unit circuit 1, head 412 control unit circuit and bottom control unit circuit 3 make respectively
Become corresponding circuit board, be installed in the head 412 of intelligent toy robot 411 and/or in body 414.
It should be noted that the typical case that physical circuit used in the present embodiment is all corresponding function components and parts answers electricity consumption
Road, Related product description has corresponding explanation, for saving space, corresponding physical circuit, explanation is not still further provided.
Book and specific embodiment do not constitute any restriction to the present invention according to the above description, the invention is not limited in
The specific embodiment that face is disclosed and described, some modifications to the present invention and deformation are it should also the right falling into the present invention will
In the protection domain asked.
Claims (10)
1. a kind of control system of intelligent toy robot, including circuit control system and software control system；It is characterized in that:
Circuit control system includes the main control unit circuit of load software control system kernel software, controls the head of head movement to control
Element circuit, and control the bottom control unit circuit of body part and trick piecemeal activity, main control unit circuit, head control
Element circuit processed and bottom control unit circuit are connected with each other by system bus to each other.
2. the control system of intelligent toy robot as claimed in claim 1, is characterized in that: described main control unit circuit includes
Circuits below module: master control cpu and the master control being connected with master control cpu run circuit；Master control runs circuit and includes bluetooth wifi
Module, microphone circuit, power amplifier, touch screen module and gravity sensor；Wherein, power amplifier with located at intelligent toy machine
Speaker electrical within device people connects；Microphone circuit with located at intelligent toy robot within microphone electric be connected.
3. the control system of intelligent toy robot as claimed in claim 2, is characterized in that: described head control unit circuit
Including circuits below module: head controls cpu and controls the head that cpu is connected to run circuit with head；Head runs circuit
Including head boot-strap circuit, electric power management circuit, lamp and touch circuit, head servo driving circuit.
4. the control system of intelligent toy robot as claimed in claim 3, is characterized in that: described bottom control unit circuit
Including circuits below module: bottom controls cpu and controls the bottom that cpu is connected to run circuit with bottom；Circuit is run in bottom
Including infrared circuit, led drive circuit, motor-drive circuit, bottom servo driving circuit, bottom boot-strap circuit, knob
The touch circuit of testing circuit and hand foot.
5. the control system of intelligent toy robot as claimed in claim 4, is characterized in that: described system bus is that iic is total
Line.
6. the control system of intelligent toy robot as claimed in claim 5, is characterized in that: described head runs the head of circuit
Portion's servo driving circuit is electrically connected with the head steering wheel of the headwork controlling intelligent toy robot；Lamp and touch circuit control
Set up outside the forehead lamp breath light of the head of intelligent toy robot, also control the head all located at intelligent toy robot
Button and dc supply hub；Electric power management circuit and the internal charging battery electrical connection located at intelligent toy robot.
7. the control system of intelligent toy robot as claimed in claim 6, is characterized in that: the described bottom rudder running circuit
Drive circuit and the hand steering wheel electrical connection controlling intelligent toy robot hand motion；Knob testing circuit with located at intelligence
The knob electrical connection at the back of energy toy robot；Hand foot touches circuit and located at the back of intelligent toy robot
Hand foot button electrical connection；Led drive circuit and the abdominal part rgb breath light of the abdominal part located at intelligent toy robot
Connect；Infrared circuit is connected with the infrared sensor of the sole located at intelligent toy robot；Motor-drive circuit and control
The motor electrical connection of intelligent toy robot foot action processed.
8. the control system of intelligent toy robot as claimed in claim 7, is characterized in that: described software control system includes
All it is loaded into the Android operation system core in master control cpu and ARIXTRA application software, be loaded into head and control the head control in cpu
Processing procedure sequence, and it is loaded into the bottom control program in bottom control cpu；Wherein, Android operation system core is mounted with bluetooth
Wifi driver, mike driver, power amplifier driver, touch screen driver and gravity sensor driver；Its
In, master control cpu and Android operation system core are defined as host computer.
9. the control system of intelligent toy robot as claimed in claim 8, is characterized in that: described head control program includes
Following steps:
Each module initialization: after system electrification, each circuit module in head control unit circuit is initialized；
During steering wheel is returned, head controls cpu to send reset instruction it is ensured that intelligent toy machine to the head steering wheel controlling headwork
The head of people returns normal position；
Pull-up pkey makes host computer start shooting: head controls cpu to send instruction, is that master control element circuit switches on power；
Host computer ends machine: receives host computer start by iic bus and completes signal；
Forehead lamp breath light effect: if head controls cpu not receive host computer and send start completes signal, open forehead lamp
Breath light, waits host computer start to complete；
Enter normal operating conditions: if head controls cpu to receive host computer and send start completes signal, initially enter normal
Working condition；
Whether grow by back: after entering normal operating conditions, head controls whether the button that cpu scans back is in the length of regulation
Time down state；
Enter shutdown process: notify host computer shutdown: if scanning result is back button be in regulation press shape for a long time
State, head controls cpu then to send off signal to host computer, notifies host computer to carry out shutdown action；And after continuing to scan downwards
Whether back of the body button is pressed；
Whether pat back: if scanning result is back button being not in the long-time down state that specifies, be in short-term
Between the beating state pressed；
Notify host computer: if scanning result is back button being in the beating state that the short time presses, head controls cpu then
Send to host computer and pat signal, notify the ARIXTRA application software running in host computer to implement specific function；And continue to sweep downwards
Retouch whether head button is pressed；
Whether touch head: if the button that scanning result is not back is in the beating state that the short time presses, continue to sweep downwards
Whether the button retouching head is pressed；
Notify host computer: if the button that scanning result is head is in the touch condition pressed, head controls cpu then to upper
Machine sends and touches head signal, notifies the ARIXTRA application software running in host computer to implement specific function；
Whether dc inserts: if scanning result is not head button being in the touch condition pressed, whether detection dc power supply inserts；
Notify host computer: if detection dc power supply is insertion, notify host computer to call power management subprogram；And detect dc again
Whether power supply inserts；
Whether dc inserts: no matter has and the insertion of dc power supply is not detected, be stabilization, whether detection dc power supply inserts again；
Notify host computer: if detection dc power supply is insertion, notify host computer to call power management routines；
Detection battery electric quantity: and then, head controls cpu detection battery electric quantity；
Notify host computer: head controls cpu that detection battery electric quantity is sent to host computer；
Whether iic disconnects: head controls cpu then to detect whether iic bus disconnects；
Super automatic shutdown after a period of time, if head controls cpu, detection iic bus disconnects, and surpasses automatic after a period of time
Shutdown；
Whether host computer has new command, if head controls cpu detection, iic bus is in normal condition, receives host computer and sends
Signal, host computer whether have new instruction need process；
Execute instruction: if host computer has new instruction to need to process, execute new instruction；After having executed instruction, circulate again
Enter normal operating conditions step；
Enter normal operating conditions: if host computer is not have new instruction to need to process, be recycled into normal work shape again
State step and normal operating conditions step step below.
10. the control system of intelligent toy robot as claimed in claim 8 or 9, is characterized in that: described bottom control program
Comprise the following steps:
Each module initialization: after system electrification, each circuit module in the control unit circuit of bottom is initialized；
During master clock switching steering wheel is returned: bottom controls cpu to send reset instruction to the steering wheel controlling hand motion, and to master clock
Switch over identical with host computer, and guarantee the hand position normal position of recurrence of intelligent toy robot；
Host computer ends machine？Host computer start is received by iic bus and completes signal；
Abdominal part rgb breath light: if bottom controls cpu not receive host computer and send start completes signal, open abdominal part rgb and exhale
Inhale lamp, wait host computer start to complete；
Enter normal operating conditions: if bottom controls cpu to receive host computer and send start completes signal, initially enter normal
Working condition；
Whether back knob rotates？After entering normal operating conditions, it is contorted whether bottom controls cpu detection back knob to be in
State；
Rotation amount is notified host computer: if bottom controls cpu detection back knob to be in rotation status, bottom control cpu will
The rotation amount signal of back knob is sent to host computer, notifies the ARIXTRA application software running in host computer to implement specific metering
Function；And continue to scan downwards whether the button of body and hands foot position is pressed；
Whether each position button is pressed？If bottom controls cpu, detection back knob is not in rotation status, continues to sweep downwards
Whether the button retouching body and hands foot position is pressed；
Notify host computer: if bottom controls the button that cpu scans body and hands foot position to have wherein one or more to press, notify
Host computer implements corresponding function；And continue to detect downwards whether sole infrared facility is in vacant state；
Sole is infrared hanging？If bottom controls the button that cpu scans body and hands foot position not press, continue to detect downwards
Whether sole infrared facility is in vacant state；
Motor reversion notifies host computer: if bottom controls cpu sole infrared facility is detected is in vacant state, to foot
Motor sends toggling command, and sends correlation behavior signal to host computer, notifies host computer to carry out relevant treatment；And continue downwards
Whether detection iic disconnects；
Whether iic disconnects: if bottom controls cpu sole infrared facility is detected is not in vacant state, bottom controls cpu to connect
Whether detection iic bus disconnects；
Chest when red: if bottom controls cpu then to detect that iic bus disconnects, bottom control cpu sends and lights chest red light
Instruction；And continue to detect downwards whether infrared induction module opens；
Infrared whether open: if bottom controls cpu then to detect that iic bus is in normal condition, continue detection downwards infrared
Whether induction module is opened；
Infrared unlatching: if bottom controls cpu then to detect that infrared induction module is opened, open infrared induction module；And continue
Whether detection infrared induction module opens downwards；And detect whether host computer has new instruction to need to process；
Whether host computer has new command: if bottom controls cpu then to detect that infrared induction module is not opened, detection host computer is
No have new instruction to need to process；
Execute instruction: if host computer has new instruction to need to process, execute new instruction；After having executed instruction, time delay 25ms；
Time delay 25ms: if host computer does not have new instruction to need to process, time delay 25ms；Then it is recycled into normal work again
State step；
Enter normal operating conditions: after time delay 25ms, be recycled into normal operating conditions step and normal operating conditions step again
Rapid step below.
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