CN109784499A - A kind of learning robot and control method - Google Patents

A kind of learning robot and control method Download PDF

Info

Publication number
CN109784499A
CN109784499A CN201811572554.3A CN201811572554A CN109784499A CN 109784499 A CN109784499 A CN 109784499A CN 201811572554 A CN201811572554 A CN 201811572554A CN 109784499 A CN109784499 A CN 109784499A
Authority
CN
China
Prior art keywords
robot
control
module
app
master controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811572554.3A
Other languages
Chinese (zh)
Other versions
CN109784499B (en
Inventor
缪文南
陈雪娇
陈金浩
黎子平
杨思捷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou College of South China University of Technology
Original Assignee
Guangzhou College of South China University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou College of South China University of Technology filed Critical Guangzhou College of South China University of Technology
Priority to CN201811572554.3A priority Critical patent/CN109784499B/en
Publication of CN109784499A publication Critical patent/CN109784499A/en
Application granted granted Critical
Publication of CN109784499B publication Critical patent/CN109784499B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a kind of learning robot and control methods, which comprises the following steps: step A: when the intelligent terminal and robot for being equipped with APP application interact, obtaining user by bluetooth module and is requested by the control that APP application is sent;Step B: the identification control request, and control the corresponding operating that robot completes the control request;The control request includes direction controlling, voice control, setting-out tracks, piano mode, graphic programming, music and intelligence are write.Learning robot of the invention is feature-rich, user the APP application operating on intelligent terminal can be realized the control to robot, direction controlling, music, piano mode, setting-out tracking, graphic programming, voice control and the function of intelligently writing can be achieved, multiple functions are integrated, solve the problems, such as that the function of existing learning robot is excessively single.

Description

A kind of learning robot and control method
Technical field
The present invention relates to intelligent robot technology field more particularly to a kind of learning robot and control methods.
Background technique
Learning robot exactly integrates the relevant knowledge of Robot Design and robot and knowledge, includes programming, machinery Structure, dynamic structure, power transmission, the application of sensor etc., through different teaching aids, course and match, allow child to borrow Robot is helped to learn, them is made to generate strong learning interest and has very big curiosity, cultivates their think independently And manipulative ability.
The function of learning robot excessively unicity at present, usually only graphic programming function, writing function or setting-out Track function, when learning robot execution setting-out tracks function, since driving chip is easy to happen zero degree drift, and, seek The precision of mark is lower.
Summary of the invention
It is an object of the invention to propose a kind of feature-rich learning robot.
To achieve this purpose, the present invention adopts the following technical scheme: the following steps are included:
Step A: it when the intelligent terminal and robot for being equipped with APP application interact, is obtained and is used by bluetooth module It is requested by the control that APP application is sent at family;
Step B: the identification control request, and control the corresponding operating that robot completes the control request;
The control request includes direction controlling, voice control, setting-out tracks, piano mode, graphic programming, music are broadcast It puts and intelligence is write.
Learning robot of the invention is feature-rich, and the APP application operating on intelligent terminal can be realized to machine in user The control of device people, it can be achieved that direction controlling, music, piano mode, setting-out tracking, graphic programming, voice control and The function of intelligently writing, multiple functions are integrated, and the function of solving existing learning robot excessively single is asked Topic.
Preferably, in the step B, if control request tracks for setting-out, comprising the following steps:
Step B1: any line footpath is sketched out in the APP application of mobile terminal, APP is applied with the data of limited coordinate It is sent to robot;
Step B2: the character data of coordinate information is converted into numerical value, and is stored in array;
Step B3: controlling the starting of driving chip U21 by triode U15, and setting delay starts for 2 seconds;
Step B4: judge whether data are empty: if data terminate this operation to be empty, if data are not sky, continue into Row following steps;
Step B5: then comparing the coordinate information of target and the current state of robot, and current angular is passed through Eulerian angles public affairs Course angle is carried out equivalent conversion by formula, and parameter that driving chip U21 is fed back is converted into using Euler's angle formula to the reality needed Angle;
Step B6: controller adjusts the direction of robot according to the position of target by the control to steering engine, and is tied Beam symbol judgement executes this operation of end, if processing terminate all coordinates, weighs if whole coordinates are disposed Step B4 is executed again.
If robot is currently in first quartile, target is then turned left in the second quadrant, if target is turned right in other quadrants; If robot is currently in the second quadrant, target is then turned right in first quartile, if target is turned left in other quadrants;If robot Currently in third quadrant, target is then turned right in the second quadrant, if target is turned left in other quadrants;If robot is currently Four-quadrant, target are then turned left in first quartile, if target is turned right in other quadrants.
Driving chip U21 restarting is controlled by triode U15, and is delayed 2 seconds, solving driving chip, there are zero degrees The problem of drift, controls the on-off of driving chip U21 every time before setting-out, eliminate zero degree drift, greatly reduce angular error, It can accurately realize that setting-out tracks.
Preferably, in the step B, if control request is direction controlling, master controller calls direction control function, The control in direction is carried out according to the corresponding direction in operation APP application in conjunction with pid algorithm.
APP by being mounted on mobile terminal changes direction using upper control robot, can make three in robot The respective direction that steering engine rotation changes, realizes the direction controlling function of robot.
Preferably, in the step B, if control request is voice control, the voice inputted in APP is applied is believed Breath uploads to Cloud Server processing, the identifier after conversion is sent to master controller, and then control described in robot completion Control request.
Cloud Server dissection process can be uploaded to by the voice messaging of the APP of mobile terminal application input, voice messaging, Voice messaging is converted into identifier, identifier is sent to master controller, and then controls robot and complete the control request, The voice control function for realizing learning robot keeps the operation of speech robot people more intelligent.
Preferably, in the step B, if control request is write for intelligence, upper pattern is applied according to APP, to machine The coordinate of coordinate and target position where device people is analyzed and algorithm process, it can be deduced that the changing value of XYZ axis, respectively Three steering engine rotations are controlled, robot is moved to target position.
Intelligent writing function is completed by three steering engines, and the first steering engine controls X-axis movement, and the second steering engine controls Y-axis movement, the Three steering engines control the movement of Z axis, carry out Arithmetic of inverse kinematics processing by the coordinate that writes applied in APP, calculate target position The angle set is output to the second steering engine, and then controls the movement of Y-axis;The rotation angle of the first steering engine is controlled according to the X value of coordinate Degree, Z axis mainly handle the company's pen to write and non-company situation, are realized, the path of each stroke is divided into countless by third steering engine A coordinate carries out analysis and algorithm process to coordinate, it can be deduced that the variation of XYZ axis to form a complete path Value, so that the font or pattern ideally drawing processing on APP are realized the function intelligently to write by three steering engine rotations of control Energy.
Preferably, in the step B, if control request is music, robot reads the song in RAM card And play, it is acted by APP application execution playback action and pause.
RAM card is equipped in robot, RAM card, by playing the song in RAM card, realizes music for storing song Playing function can complete the operation for playing and suspending by APP application, easy to operate.
Preferably, in the step B, if control request is piano mode, robot reads editing in RAM card Song, and play according to APP apply inputted note;
It is when control request is piano mode, bluetooth Configuration of baud rate is maximum, switch the fluency of song, can complete The perfect switching of each note, promotes result of broadcast.
Preferably, 8, in the step B, if control request is graphic programming, phase is inputted according in APP is applied The graphical programming block answered stores corresponding identifier in each graphical programming block, keeps robot complete by identification marking symbol At the control of the function of corresponding identifier.
Both of which is arranged in graphic programming function, the first mode is teaching pattern, is drawn according to the prompt of display screen It leads new hand to learn how to go to program using figure, second of mode is freely to program, and user can pass through according to their own needs Function block progress sequence arranges and then completes corresponding function, inputs corresponding graphical programming block, each figure according to user Corresponding identifier is stored in programming block, master controller is transferred to by identification marking symbol, control makes described in robot completion The control of the function of corresponding identifier.
A kind of learning robot, including a kind of control method of learning robot, which is characterized in that including main control Track module, graphic programming module and intelligence of device, direction controlling module, music playing module, speech control module, setting-out is write Word modules, the master controller respectively with the direction controlling module, the music playing module, the speech control module, Track module, the graphic programming module and the intelligence of the setting-out is write module electrical connection, and the master controller is STM32 controller;
The direction controlling module for changing robot the direction of motion;
The speech control module uploads to Cloud Server processing for receiving voice messaging, and voice messaging, receives Cloud Server treated identifier, treated, identifier is sent on master controller;
The setting-out tracks module for receiving the data in APP using the coordinate of upper input, and compares the coordinate of target Current angular is converted into the actual angle needed, and is sent to master controller by the current state of information and robot, to steering engine Direction adjustment;
Graphic programming module is used to receive the respective identifier of the tablet pattern programming block in APP application, by identifier It is sent to master controller, control robot completes the control that the graphical programming block corresponds to the function of robot;
Module of intelligently writing is obtained using the pattern of upper input by coordinate analysis and algorithm process for receiving APP The changing value of XYZ axis controls three steering engine rotations respectively, robot is made to be moved to target position;
When music playing module is used for music and piano mode, the music in RAM card is read.
Learning robot of the invention passes through master controller to direction control module, music playing module, voice control respectively Molding block, setting-out track module, graphic programming module and intelligence write module control, it can be achieved that direction controlling, music are broadcast It puts, piano mode, setting-out tracking, graphic programming, voice control and the function of intelligently writing, multiple functions is integrated in one It rises, solves the problems, such as that the function of existing learning robot is excessively single.
Preferably, the setting-out module that tracks includes driving chip U21, triode U15 and resistance R19, the driving core The port SDA and the port SCL of piece U21 is electrically connected with the port PB9 of the master controller and the port PB8 respectively, the triode The base stage of U15 is electrically connected with the port VCC of the driving chip, emitter and the master controller of the triode U15 The electrical connection of the port PA14, one end of the resistance R19 are electrically connected with the port GND of the driving chip U21, the resistance R19 The other end ground connection, the driving chip U21 be MPU6050 chip.
Driving chip U21 restarting is controlled by triode U15, and the setting-out of initialization in 2 seconds that is delayed tracks module, solution There is zero degree drift in driving chip, the on-off that control setting-out tracks before setting-out every time eliminates zero degree drift, significantly Reduce angular error, can accurately realize that setting-out tracks.It is logical to obtain control electric current for the resistance of series connection triode amplification factor Without amplifying electric current while disconnected.
The invention has the benefit that learning robot of the invention pass through respectively master controller to direction control module, Track module, graphic programming module and intelligence of music playing module, speech control module, setting-out is write the control of module, can Realize direction controlling, music, piano mode, setting-out tracking, graphic programming, voice control and the function intelligently to write Can, multiple functions are integrated, solve the problems, such as that the function of existing learning robot is excessively single.
Detailed description of the invention
The present invention will be further described for attached drawing, but the content in attached drawing does not constitute any limitation of the invention.
Fig. 1 is the structural schematic diagram of the one of embodiment of the present invention;
Fig. 2 is that the setting-out of the one of embodiment of the present invention tracks functional flow diagram;
Fig. 3 is that the setting-out of the one of embodiment of the present invention tracks the structural schematic diagram of module.
Wherein: master controller 1,2 speech control module 3 of direction controlling module, draw lines the module 4, graphic programming mould of tracking Block 5, music playing module 6, intelligent write module 7, driving chip U21, triode U15, resistance R19.
Specific embodiment
With reference to the accompanying drawing 1~3 and pass through specific embodiment to further illustrate the technical scheme of the present invention.
A kind of control method of the learning robot of the present embodiment, comprising the following steps:
Step A: it when the intelligent terminal and robot for being equipped with APP application interact, is obtained and is used by bluetooth module It is requested by the control that APP application is sent at family;
Step B: the identification control request, and control the corresponding operating that robot completes the control request;
The control request includes direction controlling, voice control, setting-out tracks, piano mode, graphic programming, music are broadcast It puts and intelligence is write.
Learning robot of the invention is feature-rich, and the APP application operating on intelligent terminal can be realized to machine in user The control of device people, it can be achieved that direction controlling, music, piano mode, setting-out tracking, graphic programming, voice control and The function of intelligently writing, multiple functions are integrated, and the function of solving existing learning robot excessively single is asked Topic.
In the step B, if control request tracks for setting-out, comprising the following steps:
Step B1: any line footpath is sketched out in the APP application of mobile terminal, APP is applied with the data of limited coordinate It is sent to robot;
Step B2: the character data of coordinate information is converted into numerical value, and is stored in array;
Step B3: controlling the starting of driving chip U21 by triode U15, and setting delay starts for 2 seconds;
Step B4: judge whether data are empty: if data terminate this operation to be empty, if data are not sky, continue into Row following steps;
Step B5: then comparing the coordinate information of target and the current state of robot, and current angular is passed through Eulerian angles public affairs Course angle is carried out equivalent conversion by formula, and parameter that driving chip U21 is fed back is converted into using Euler's angle formula to the reality needed Angle;
Step B6: controller adjusts the direction of robot according to the position of target by the control to steering engine, and is tied Beam symbol judgement executes this operation of end, if processing terminate all coordinates, weighs if whole coordinates are disposed Step B4 is executed again.
If robot is currently in first quartile, target is then turned left in the second quadrant, if target is turned right in other quadrants; If robot is currently in the second quadrant, target is then turned right in first quartile, if target is turned left in other quadrants;If robot Currently in third quadrant, target is then turned right in the second quadrant, if target is turned left in other quadrants;If robot is currently Four-quadrant, target are then turned left in first quartile, if target is turned right in other quadrants.
Driving chip U21 restarting is controlled by triode U15, and is delayed 2 seconds, solving driving chip, there are zero degrees The problem of drift, controls the on-off of driving chip U21 every time before setting-out, eliminate zero degree drift, greatly reduce angular error, It can accurately realize that setting-out tracks.
In the step B, if control request is direction controlling, master controller 1 calls direction control function, in conjunction with Pid algorithm carries out the control in direction according to the corresponding direction in operation APP application.
APP by being mounted on mobile terminal changes direction using upper control robot, can make three in robot The respective direction that steering engine rotation changes, realizes the direction controlling function of robot.
In the step B, if control request is voice control, the voice messaging inputted in APP is applied is uploaded To Cloud Server processing, the identifier after conversion is sent to master controller 1, and then controls the robot completion control and asks It asks.
Cloud Server dissection process can be uploaded to by the voice messaging of the APP of mobile terminal application input, voice messaging, Voice messaging is converted into identifier, identifier is sent to master controller 1, and then controls the robot completion control and ask It asks, realizes the voice control function of learning robot, keep the operation of speech robot people more intelligent.
In the step B, if control request is write for intelligence, upper pattern is applied according to APP, to where robot Coordinate and target position coordinate carry out analysis and algorithm process, it can be deduced that the changing value of XYZ axis, respectively control three Steering engine rotation, robot are moved to target position.
Intelligent writing function is completed by three steering engines, and the first steering engine controls X-axis movement, and the second steering engine controls Y-axis movement, the Three steering engines control the movement of Z axis, carry out Arithmetic of inverse kinematics processing by the coordinate that writes applied in APP, calculate target position The angle set is output to the second steering engine, and then controls the movement of Y-axis;The rotation angle of the first steering engine is controlled according to the X value of coordinate Degree, Z axis mainly handle the company's pen to write and non-company situation, are realized, the path of each stroke is divided into countless by third steering engine A coordinate carries out analysis and algorithm process to coordinate, it can be deduced that the variation of XYZ axis to form a complete path Value, so that the font or pattern ideally drawing processing on APP are realized the function intelligently to write by three steering engine rotations of control Energy.
In the step B, if control request is music, robot reads the song in RAM card and broadcasting, It is acted by APP application execution playback action and pause.
RAM card is equipped in robot, RAM card, by playing the song in RAM card, realizes music for storing song Playing function can complete the operation for playing and suspending by APP application, easy to operate.
In the step B, if control request is piano mode, robot reads the song of editing in RAM card, And it plays and inputted note is applied according to APP;
It is when control request is piano mode, bluetooth Configuration of baud rate is maximum, switch the fluency of song, can complete The perfect switching of each note, promotes result of broadcast.
In the step B, if control request is graphic programming, according to inputting corresponding figure in APP is applied Block is programmed, stores corresponding identifier in each graphical programming block, so that robot is completed the phase by identification marking symbol The control of the function for the identifier answered.
Both of which is arranged in graphic programming function, the first mode is teaching pattern, is drawn according to the prompt of display screen It leads new hand to learn how to go to program using figure, second of mode is freely to program, and user can pass through according to their own needs Function block progress sequence arranges and then completes corresponding function, inputs corresponding graphical programming block, each figure according to user Corresponding identifier is stored in programming block, master controller is transferred to by identification marking symbol, control makes described in robot completion The control of the function of corresponding identifier.
A kind of learning robot, including master controller 1, direction controlling module 2, music playing module 6, speech control module 3, track module 4, graphic programming module 5 and intelligence of setting-out is write module 7, and the master controller 1 is controlled with the direction respectively Molding block 2, the music playing module 6, the speech control module 3, the module 4, the graphic programming of tracking that draw lines Module 5 and the intelligence write module 7 electrical connection, the master controller 1 be STM32 controller;
The direction controlling module 2 for changing robot the direction of motion;
The speech control module 3 uploads to Cloud Server processing for receiving voice messaging, and voice messaging, receives Cloud Server treated identifier, treated, identifier is sent on master controller;
The setting-out tracks module 4 for receiving the data in APP using the coordinate of upper input, and compares the coordinate of target Current angular is converted into the actual angle needed, and is sent to master controller by the current state of information and robot, to steering engine Direction adjustment;
5 pieces of graphic programming mould are used to receive the respective identifier that the tablet pattern in APP application programs block, by identifier It is sent to master controller 1, control robot completes the control that the graphical programming block corresponds to the function of robot;
Module 7 of intelligently writing is obtained using the pattern of upper input by coordinate analysis and algorithm process for receiving APP The changing value of XYZ axis out controls three steering engine rotations respectively, robot is made to be moved to target position;
When music playing module 6 is used for music and piano mode, the music in RAM card is read.
Learning robot of the invention passes through master controller 1 to direction control module 2, music playing module 6, voice respectively Control module 3, setting-out track module 4, graphic programming module 5 and intelligence write module 7 control, it can be achieved that direction controlling, Music, piano mode, setting-out tracking, graphic programming, voice control and the function of intelligently writing, by multiple functions collection It is excessively single at the function of, solving the problems, such as existing learning robot together.
The setting-out module that tracks includes driving chip U21, triode U15 and resistance R19, the driving chip U21's The port SDA and the port SCL are electrically connected with the port PB9 of the master controller 1 and the port PB8 respectively, the base of the triode U15 Pole is electrically connected with the port VCC of the driving chip, the end PA14 of the emitter of the triode U15 and the master controller 1 Mouth electrical connection, one end of the resistance R19 are electrically connected with the port GND of the driving chip U21, and the resistance R19's is another End ground connection, the driving chip U21 are MPU6050 chip.
Driving chip U21 restarting is controlled by triode U15, and the setting-out of initialization in 2 seconds that is delayed tracks module, solution There is zero degree drift in driving chip, the on-off that control setting-out tracks before setting-out every time eliminates zero degree drift, significantly Reduce angular error, can accurately realize that setting-out tracks.It is logical to obtain control electric current for the resistance of series connection triode amplification factor Without amplifying electric current while disconnected.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within Within protection scope of the present invention.

Claims (10)

1. a kind of control method of learning robot, which comprises the following steps:
Step A: when the intelligent terminal and robot for being equipped with APP application interact, it is logical that user is obtained by bluetooth module Cross the control request that APP application is sent;
Step B: the identification control request, and control the corresponding operating that robot completes the control request;
Control request include direction controlling, voice control, setting-out track, piano mode, graphic programming, music and Intelligence is write.
2. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request tracks for setting-out, comprising the following steps:
Step B1: sketching out any line footpath in the APP application of mobile terminal, and APP is applied to be sent with the data of limited coordinate To robot;
Step B2: the character data of coordinate information is converted into numerical value, and is stored in array;
Step B3: controlling the starting of driving chip U21 by triode U15, and setting delay starts for 2 seconds;
Step B4: judge whether data are empty: if data terminate this operation to be empty, if data are not sky, continue with Lower step;
Step B5: then comparing the coordinate information of target and the current state of robot, and current angular is passed through Euler's angle formula handle Course angle carries out equivalent conversion, and parameter that driving chip U21 is fed back is converted into using Euler's angle formula to the actual angle needed;
Step B6: direction of the controller according to the position of target by the control adjustment robot to steering engine, end-of-line character of going forward side by side Judgement executes this operation of end, if processing terminate all coordinates, repeats to hold if whole coordinates are disposed Row step B4.
3. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is direction controlling, master controller calls direction control function, in conjunction with pid algorithm according in operation APP application The control in corresponding direction progress direction.
4. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is voice control, the voice messaging inputted in APP is applied is uploaded to Cloud Server processing, after conversion Identifier is sent to master controller, and then controls robot and complete the control request.
5. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is write for intelligence, upper pattern is applied according to APP, to the coordinate of coordinate and target position where robot into Row analysis and algorithm process, it can be deduced that the changing value of XYZ axis controls three steering engine rotations respectively, and robot is moved to mesh Cursor position.
6. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is music, robot reads the song in RAM card and broadcasting, by APP application execution playback action and Pause movement.
7. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is piano mode, robot reads the song of editing in RAM card, and plays and inputted according to APP application Note.
8. a kind of control method of learning robot according to claim 1, which is characterized in that in the step B, if When control request is graphic programming, according to inputting corresponding graphical programming block in APP is applied, in each graphical programming block Corresponding identifier is stored, the control for the function of making robot complete corresponding identifier is accorded with by identification marking.
9. a kind of learning robot, special including a kind of described in any item control methods of learning robot of claim 1-8 Sign is, including master controller, direction controlling module, music playing module, speech control module, setting-out track module, figure Change programming module and intelligence write module, the master controller respectively with the direction controlling module, the music playing module, The speech control module, it is described setting-out track module, the graphic programming module and the intelligence write module electrical connection, The master controller is STM32 controller;
The direction controlling module for changing robot the direction of motion;
The speech control module uploads to Cloud Server processing for receiving voice messaging, and voice messaging, receives cloud clothes It is engaged in device treated identifier, treated, identifier is sent on master controller;
The setting-out tracks module for receiving the data in APP using the coordinate of upper input, and compares the coordinate information of target With the current state of robot, current angular is converted into the actual angle needed, and is sent to master controller, to the side of steering engine To adjustment;
Graphic programming module is used to receive the respective identifier of the tablet pattern programming block in APP application, and identifier is sent To master controller, controls robot and complete the control that the graphical programming block corresponds to the function of robot;
Module of intelligently writing obtains XYZ by coordinate analysis and algorithm process using the pattern of upper input for receiving APP The changing value of axis controls three steering engine rotations respectively, robot is made to be moved to target position;
When music playing module is used for music and piano mode, the music in RAM card is read.
10. a kind of learning robot according to claim 9, which is characterized in that the setting-out tracks module including driving The port SDA and the port SCL of chip U21, triode U15 and resistance R19, the driving chip U21 respectively with the main control The port PB9 of device and the electrical connection of the port PB8, the base stage of the triode U15 are electrically connected with the port VCC of the driving chip, The emitter of the triode U15 is electrically connected with the port PA14 of the master controller, one end of the resistance R19 and the drive The port the GND electrical connection of dynamic chip U21, the other end ground connection of the resistance R19, the driving chip U21 is MPU6050 core Piece.
CN201811572554.3A 2018-12-21 2018-12-21 Learning robot and control method Active CN109784499B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811572554.3A CN109784499B (en) 2018-12-21 2018-12-21 Learning robot and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811572554.3A CN109784499B (en) 2018-12-21 2018-12-21 Learning robot and control method

Publications (2)

Publication Number Publication Date
CN109784499A true CN109784499A (en) 2019-05-21
CN109784499B CN109784499B (en) 2021-01-05

Family

ID=66497593

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811572554.3A Active CN109784499B (en) 2018-12-21 2018-12-21 Learning robot and control method

Country Status (1)

Country Link
CN (1) CN109784499B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469354A (en) * 2022-04-13 2022-05-13 深圳市爱博医疗机器人有限公司 Slave end initialization method and readable storage medium for interventional operation robot

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201878372U (en) * 2010-09-10 2011-06-22 埃泰克汽车电子(芜湖)有限公司 Circuit for inhibiting zero drift of backlight input
CN204123395U (en) * 2014-07-30 2015-01-28 桂林电子科技大学 The alternative device manually write
CN205984262U (en) * 2016-04-06 2017-02-22 张为明 Electronic organ
CN206505331U (en) * 2017-02-16 2017-09-19 广州艾若博机器人科技有限公司 A kind of micro-electro-mechanical gyroscope balanced null point shift
CN107398905A (en) * 2017-07-20 2017-11-28 深圳市火火兔儿童用品有限公司 Early education robot and its control method for movement
CN206937326U (en) * 2017-03-06 2018-01-30 北方工业大学 A kind of small-sized drawing robot that writes
CN207936028U (en) * 2018-03-14 2018-10-02 广东工业大学 A kind of multifunctional electric torch

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1205079A (en) * 1996-08-20 1999-01-13 摩托罗拉公司 Transistor-based apparatus and method for molecular detection and field enhancement
CN104669277B (en) * 2015-03-11 2016-05-11 宿州学院 A kind of Dual-arm Writing robot and control method thereof
CN107065862A (en) * 2017-03-08 2017-08-18 杭州电子科技大学 View-based access control model guides the warehouse logisticses robot group control system with RFID navigation
CN107703950B (en) * 2017-10-30 2020-09-11 燕山大学 Underwater robot controlled by somatosensory and control method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201878372U (en) * 2010-09-10 2011-06-22 埃泰克汽车电子(芜湖)有限公司 Circuit for inhibiting zero drift of backlight input
CN204123395U (en) * 2014-07-30 2015-01-28 桂林电子科技大学 The alternative device manually write
CN205984262U (en) * 2016-04-06 2017-02-22 张为明 Electronic organ
CN206505331U (en) * 2017-02-16 2017-09-19 广州艾若博机器人科技有限公司 A kind of micro-electro-mechanical gyroscope balanced null point shift
CN206937326U (en) * 2017-03-06 2018-01-30 北方工业大学 A kind of small-sized drawing robot that writes
CN107398905A (en) * 2017-07-20 2017-11-28 深圳市火火兔儿童用品有限公司 Early education robot and its control method for movement
CN207936028U (en) * 2018-03-14 2018-10-02 广东工业大学 A kind of multifunctional electric torch

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
沈国伟: "比例电压转换接口电路AM417的原理及应用", 《国外电子元器件》 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114469354A (en) * 2022-04-13 2022-05-13 深圳市爱博医疗机器人有限公司 Slave end initialization method and readable storage medium for interventional operation robot
CN114469354B (en) * 2022-04-13 2022-06-24 深圳市爱博医疗机器人有限公司 Slave-end initialization method of interventional operation robot and readable storage medium

Also Published As

Publication number Publication date
CN109784499B (en) 2021-01-05

Similar Documents

Publication Publication Date Title
CN105632310B (en) A kind of human anatomy teaching system
JP6508484B2 (en) Educational system using connected toy
Gallardo et al. TurTan: A tangible programming language for creative exploration
Pedersen et al. Tangible bots: interaction with active tangibles in tabletop interfaces
US6718231B2 (en) Authoring system and authoring method, and storage medium
CN109702744A (en) A method of the robot learning by imitation based on dynamic system model
CN105893060A (en) Graphical programming system and graphical programming method
CN203031609U (en) Robot capable of imitating writing of person
CN110262378A (en) A method of online programming is realized using APP control robot
CN105741356A (en) Human anatomy teaching system
CN109784499A (en) A kind of learning robot and control method
CN108230828A (en) A kind of material objectization programing system and programmed method
Chang et al. A kinect-based gesture command control method for human action imitations of humanoid robots
CN109830141A (en) A kind of entity command programmed method and entity command programing system
CN107886782A (en) A kind of character and voice system based on building-block jigsaw in kind programming
Markvicka et al. Low-cost wearable human-computer interface with conductive fabric for STEAM education
Choensawat et al. Description and reproduction of stylized traditional dance body motion by using labanotation
CN210836690U (en) Control device and programmable device
CN109366502B (en) Network interactive education method based on artificial intelligence and robot
CN212009936U (en) Chinese lute teaching system based on teaching manipulator
CN110859402A (en) Intelligent learning table based on motion sensing technology
CN205827717U (en) Control device and piano demo system
CN204498221U (en) A kind of redwood handicraft three-dimensional design system
CN103985288A (en) Multifunctional Braille voice device
US20200312177A1 (en) Interactive Educational Electronic Toy System

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant