CN111354243A - Desktop level programming intelligent trolley and control method thereof - Google Patents

Abstract

The invention relates to a desktop level programming intelligent trolley and a control method thereof, and the desktop level programming intelligent trolley comprises a mainboard and a processor connected with the mainboard; the Micro USB interface is connected with the processor; a control switch connected with the processor; the auxiliary board is connected with the main board; a left drive motor and a right drive motor connected to the sub-plate; a left wheel and a right wheel coaxially arranged with the left driving motor and the right driving motor; the distance measuring sensor group is connected with the auxiliary plate; a light intensity sensor group connected with the sub-plate; a color sensor group connected to the sub-board; programmable color lamps connected with the sub-plate; and the universal wheels are arranged in an isosceles triangle with the left wheel and the right wheel. The invention solves the problem that the traditional teaching experiment needs a larger field and space through the precise integrated design, and the teaching experiment can be completed only by the space of the size of a book; simultaneously, small, light in weight are convenient for mr and student and accomodate and carry.

Description

Desktop level programming intelligent trolley and control method thereof

Technical Field

The invention relates to the technical field of teaching aids, in particular to a desktop-level programming intelligent trolley and a control method thereof.

Background

The traditional teaching needs a large field and a large space, has higher requirements on the teaching environment, and influences the adaptability of the teaching. Meanwhile, the existing teaching aid is not miniaturized, light in weight, inconvenient to store and difficult to carry about, and the convenience of teaching is influenced. In addition, the existing teaching aid only focuses on functions, lacks the application of light and sound, does not relate to the change of actions, is relatively boring, and enables learners to lose interest quickly.

In view of the above problems, the present inventors have proposed a multi-sensor microcomputer for children in the early stage, which highly integrates electronic components on a main board, simplifies the structure, does not require assembly or disassembly, has the advantages of miniaturization and light weight compared to the prior art, and has the characteristics of low teaching environment requirements and strong adaptability.

However, the above scheme only provides a static scheme, only changes in color, sound and the like, and no action change, and the stimulation to learners is still limited.

Therefore, there is still a need for improvement of the existing teaching aid, on one hand, the action change needs to be increased to improve the stimulation to the learner and further enhance the learning interest, and on the other hand, the action needs to be effectively controlled to further narrow the motion range and the teaching environment, so as to reduce the requirement on the teaching environment and provide help for promoting the teaching efficiency and quality.

Disclosure of Invention

In view of the above, the present invention aims to provide a desktop-level programming intelligent vehicle and a control method thereof, the vehicle is a micro programmable intelligent vehicle designed for teenager programming education and experiments, the vehicle has compact design, small volume, light weight and high integration level, and by adopting a large number of internet of things sensor technologies, the vehicle can realize various abundant behaviors of the programmable automatic control intelligent vehicle, can complete teaching on a desktop, and solves the problem that dynamic teaching in the prior art needs a large field and static teaching does not affect teaching quality to learners due to insufficient stimulation.

One of the invention is realized by the following technical scheme:

a desktop-level programming smart cart, comprising:

a main board, a plurality of first and second connection terminals,

a processor connected with the main board and a control circuit,

a Micro USB interface connected with the processor for data exchange between the processor and an external PC terminal,

a control switch connected with the processor and used for controlling the switch of the trolley,

the auxiliary plate is provided with a plurality of auxiliary plates,

is connected with the main board;

a left driving motor and a right driving motor connected with the sub-plate,

a left wheel coaxially disposed with the left drive motor and a right wheel coaxially disposed with the right drive motor,

a rechargeable battery connected to the left and right driving motors,

a distance measuring sensor group connected with the sub-plate,

a light intensity sensor group connected with the sub-plate,

a color sensor group connected with the sub-plate,

a programmable color lamp connected with the sub-plate,

a universal wheel which is arranged in an isosceles triangle with the left wheel and the right wheel,

the main board and the auxiliary board are both PCB boards with certain areas, the electronic elements are arranged on the front surface or/and the back surface of the PCB boards,

the light intensity sensor group comprises a plurality of light intensity sensors arranged on the periphery of the auxiliary plate,

and a USB interface for charging the rechargeable battery is arranged on the auxiliary plate.

Further, the subplate sets up one or polylith, all connect fixedly, carry out data interchange through expansion interface between the subplate and between mainboard and the subplate through detachable construction.

Further, the range finding sensor group includes ultrasonic ranging sensor and infrared sensor, ultrasonic ranging sensor includes ultrasonic ranging transmitting terminal and ultrasonic ranging receiving terminal that the syntropy set up, infrared sensor sets up threely between ultrasonic ranging transmitting terminal and ultrasonic ranging receiving terminal and both sides altogether.

Furthermore, the mainboard is provided with a lamp array, a buzzer, a programmable colored lamp array, a microphone, a programmable button, a 3D gyroscope, an RTC clock chip, a micro motor and a Bluetooth antenna, and the auxiliary board is provided with an expansion interface matched with an expansion interface socket

Furthermore, the color sensor group comprises a color sensor and a plurality of light supplement lamps arranged around the color sensor.

Further, a programmable headlamp is arranged between the ultrasonic ranging transmitting terminal and the ultrasonic ranging receiving terminal.

Further, still be provided with flame sensor, gesture sensor and temperature and humidity sensor on the mainboard.

The second invention is realized by the following technical scheme:

a control method for the desktop-level programming intelligent trolley comprises the steps of compiling a control program, guiding the program into a processor integrated with the programming intelligent trolley, sensing an external signal by a sensor integrated with the programming intelligent trolley and feeding the external signal back to the processor, processing the external signal by the processor to send an instruction, and finishing the instruction by an execution part integrated with the programming intelligent trolley, wherein the control method specifically comprises the following steps:

1) the double direct current motors and the universal wheels are controlled to form an isosceles triangle driving system through independent programming and 64-level speed regulation to control the travelling, steering and forward and reverse rotation of the trolley;

2) carrying out automatic driving and automatic obstacle avoidance experiments by integrating an ultrasonic ranging sensor;

3) the movement forms of the trolleys with different colors are controlled by integrating the color sensors;

4) the light is digitized through a light sensor to realize light guide driving of the trolley;

5) accurate data of direction, acceleration and angle are provided for the trolley through navigation control of the 3D gyroscope;

6) the height of the edge of the trolley from the ground is detected in real time through an infrared distance detector, and when the edge of the trolley is positioned at the edge of a desktop, stopping or steering is realized through programming, so that intelligent anti-falling project learning is realized;

7) the function that the trolley automatically cruises along the black strip track is realized through the combined use of the infrared sensors and the characteristic that the reflectivity of infrared rays on the dark color surface is lower than the emissivity of the light color surface.

The invention has the beneficial effects that:

1) according to the invention, a large number of electronic components are integrated on the main board and the auxiliary board, so that the trolley has the advantages of compact structure, small volume, light weight, convenience for storage and carrying, and improved adaptability.

2) According to the invention, a large number of sensors of the Internet of things are used for carrying out various intelligent and accurate control behaviors, so that desktop-level operation is realized, and teaching can be completed on a desktop.

3) The invention can lead students to know the knowledge of the internet of things sensor and promote the students to exert creativity through the combined use of the multiple sensors, realize diversified intelligent control experiments and contribute to improving the learning interest and rapidly mastering the programming skills.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a front view of the main panel;

FIG. 3 is a rear view of the main board;

FIG. 4 is a front view of the first sub-panel;

FIG. 5 is a rear view of the first sub-panel;

FIG. 6 is a front view of the second sub-panel;

FIG. 7 is a front view of the second sub-panel;

FIG. 8 is a schematic circuit diagram of the present invention;

FIG. 9 is a schematic diagram of the control method of the present invention.

In the figure: 1-a main board; 2-a processor; 3-Micro USB interface; 4-control switch; 5-auxiliary board; 6-left drive motor; 7-right drive motor; 8-left wheel; 9-right wheel; 10-a rechargeable battery; 11-ultrasonic ranging sensor; 12-an infrared sensor; 13-a light intensity sensor; 14-a color sensor; 15-a light supplement lamp; 16-programmable colored lights; 17-a universal wheel; 18-an extension socket; 19-an expansion jack; 20-a USB interface; 21-a flame sensor; 22-a gesture sensor; 23-a temperature and humidity sensor; 24-an array of lamps; 25-a buzzer; 26-programmable color lamp array; 27-a microphone; 28-programmable buttons; 29-3D gyroscopes; 30-RTC clock chip; 31-a micro motor; 32-a bluetooth antenna; 33-programmable headlights; 34-a detachable structure; 35-reset button; 36-a power interface; 37-a digital-to-analog converter; 51-a first subplate; 52-second subplate.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the above description of the present invention, it should be noted that the terms "one side", "the other side" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or the element to which the present invention is directed must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Further, the term "identical" and the like do not mean that the components are absolutely required to be identical, but may have slight differences. The term "perpendicular" merely means that the positional relationship between the components is more perpendicular than "parallel", and does not mean that the structure must be perfectly perpendicular, but may be slightly inclined.

Referring to fig. 1 to 9, the present invention provides a technical solution:

a desktop-level programming smart cart, comprising:

the main board 1 is a PCB board with a certain area, the size of the main board is not limited, only electronic elements can be arranged, the shape is not limited, the main board can be round, square or other shapes,

the processor 2 connected to the motherboard is not limited in type, as long as it has certain processing capability, and this embodiment is preferably nRF51822, and can receive bluetooth signals,

a Micro USB interface 3 connected with the processor for data exchange between the processor and an external PC terminal,

a control switch 4 connected with the processor and used for controlling the switch of the trolley,

the sub-board 5 is also a PCB board with a certain area, the size is not limited, only the electronic components can be arranged, the shape is not limited, the sub-board can be round, square or other shapes, of course, the sub-board preferably has the same shape with the main board,

meanwhile, the auxiliary board is connected with the main board through the expansion interface to exchange data,

a left driving motor 6 and a right driving motor 7 connected to the sub-plate,

a left wheel 8 disposed coaxially with the left drive motor and a right wheel 9 disposed coaxially with the right drive motor,

the left driving motor and the right driving motor are direct current motors and are respectively controlled by the processor to realize the control of the movement form and the speed,

a rechargeable battery 10 connected to the left and right driving motors, the rechargeable battery supplying driving power to the motors,

the range finding sensor group is connected with the subplate, and the range finding sensor group includes ultrasonic ranging sensor 11 and infrared sensor 12, and ultrasonic ranging sensor includes ultrasonic ranging transmitting terminal and the ultrasonic ranging receiving terminal that the syntropy set up, and infrared sensor sets up one between ultrasonic ranging transmitting terminal and ultrasonic ranging receiving terminal, respectively sets up one in the left and right sides between ultrasonic ranging transmitting terminal and ultrasonic ranging receiving terminal. The ultrasonic ranging sensor is arranged at the vehicle head and used for detecting the distance of a front obstacle in the process of traveling and preventing collision, and the infrared sensor is arranged at the vehicle head and two sides of the vehicle body and used for detecting the height between the vehicle body and the ground and preventing sliding.

The light intensity sensor group is connected with the subplate, and the light intensity sensor group comprises a plurality of light intensity sensors 13, the number of the light intensity sensors is not limited, and the number of the light intensity sensors is totally 6, and the light intensity sensors are respectively arranged on the periphery of the subplate, so that the surrounding environment of the trolley is detected, and digital signals are formed through a digital-to-analog converter 37.

The color sensor group connected with the auxiliary plate comprises a color sensor 14 and a plurality of light supplement lamps 15 arranged around the color sensor, the color sensor is arranged on the back of the auxiliary plate and can sense the color of the ground, and programmers can use cards with different colors to control the motion mode of the trolley; the light filling lamp is an led lamp and is used for filling light for the color sensor so as to enhance the identification capability of the color sensor.

The programmable color lamps 16 connected with the sub-board can display different time periods and different colors,

the universal wheel 17 which is arranged in an isosceles triangle with the left wheel and the right wheel forms a stable triangular driving system, has the characteristic of indefinite direction, is arranged between the left wheel and the right wheel, and can be randomly adjusted along with the driving forms of the left wheel and the right wheel so as to match any advancing speed, any turning angle and any braking action.

The electronic components and the actuators are disposed on the front side or/and the back side of the main board or the sub-board, and a specific circuit connection diagram is shown in fig. 8.

In this embodiment, the number of the sub-boards is not limited, and may be any number, and alternatively, two sub-boards are provided in this embodiment, which are a first sub-board 51 and a second sub-board 52, and the first sub-board and the second sub-board are stacked and fixed by a detachable structure 34, wherein the first sub-board is provided on the upper side, the second sub-board is provided on the lower side, a wheel and a driving motor are provided on the second sub-board, and the first sub-board and the main board are also stacked and fixed by a detachable structure, and at the same time, data exchange is performed between the three through the expansion interface.

The detachable structure can be a magnet and a magnetic attraction structure of magnetic attraction metal, or a fixed structure of welding the copper column and the copper column hole, which is a conventional technology in the field and is not described in detail.

The expansion interface comprises an expansion socket 18 and an expansion jack 19, and the expansion socket and the expansion jack are specifically fixed on the main board or the auxiliary board and are not limited, and only need to be arranged in pairs. In this embodiment, two pairs of expansion sockets and expansion jacks are provided, the first pair of expansion sockets is provided on the main board, and the expansion jacks are provided on the corresponding first sub-board; the second pair of expansion sockets are arranged on the second auxiliary board, and the expansion jacks are arranged on the first auxiliary board, so that data exchange can be rapidly realized through the expansion interfaces.

As a modification of this embodiment, a reset button 35 for resetting the computer and a power interface 36 for outputting power are provided on the main board.

As a modification of the present embodiment, a USB interface 20 is provided on the sub-board, and the USB interface is used for charging the rechargeable battery.

As a modification of this embodiment, the main board is further provided with a flame sensor 21, a gesture sensor 22, a temperature and humidity sensor 23, a lamp array 24, a buzzer 25, a programmable color lamp array 26, a microphone 27, a programmable button 28, a 3D gyroscope 29, an RTC clock chip 30, a micro motor 31, and a bluetooth antenna 32. The sensor receives signals to control the executive component to emit light and sound and to control the trolley accurately. Particularly, the 3D gyroscope of the present embodiment can provide accurate data such as direction, acceleration, angle, etc. in real time, and a programmed learner can use the digitized data of the 3D body posture to control the movement of the trolley more accurately and intelligently, thereby knowing the knowledge and the use skill of the 3D gyroscope, which is a common sensor. For example: the directional cruise can automatically correct deviation and sense ascending and descending slopes.

As a modification of the present embodiment, a programmable headlight 33 is provided between the ultrasonic ranging transmission terminal and the ultrasonic ranging reception terminal. The programmable headlights can enhance the visual effect on one hand and enhance the visibility of the travelling path on the other hand, so that the trolley can navigate and travel automatically in the dark.

As shown in fig. 9, the control method of this embodiment, as an automatic control program is compiled for the programmable intelligent vehicle through building block programming software or python language, and the intelligent vehicle is controlled to complete complex motion control through feedback of digitized data operated on the vehicle body diversity sensor and learning programming skills, specifically including the following steps:

1) advancing and driving: forming an isosceles triangle driving system by the double direct current motors and the universal wheels; each direct current motor is independently programmed to control the steering and the speed; using a digital driving mode to accurately control each direct current motor in 64 levels; the command control of forward and reverse rotation and braking is realized through digital commands.

The isosceles triangle driving system has simple and efficient driving structure, realizes forward and reverse control and brake command control through digital commands, greatly reduces the programming difficulty of teenagers, and improves the control precision.

2) Automatic obstacle avoidance: the safety distance is preset, the distance between the trolley and the obstacle is detected through the ultrasonic sensor during travelling, and when the safety distance is set, an instruction is sent out to control the trolley to turn to avoid the obstacle.

Through automatic obstacle avoidance control, automatic driving and automatic obstacle avoidance can be achieved, so that relevant experiments are carried out, and understanding of signal receiving and feedback is deepened.

3) Color navigation: the motion modes of different colors are preset, the colors are sensed through the color sensors, and the matched motion forms are executed through the sensed colors. The specific application of this embodiment is:

install the color sensor in the intelligent vehicle chassis, can discern and the digital color value through the color sensor after, form a set of no code color programming's learning mode: cards with different colors are placed under the trolley, and the trolley executes the running command represented by the corresponding card in a mode of automatically identifying the colors to drive the trolley.

For example: green cards for forward, yellow cards for left turn, brown cards for right turn, red cards for stop, etc. The mode of using the combination of various color cards to control the operation logic of the intelligent trolley can enable the teaching aid to be suitable for lower-age children to carry out programming logic training, and program compiling on a computer is not needed, so that the logic thinking capability of the lower-age children can be inspired, and the intelligent trolley has rich interestingness and interactive fun.

Another application mode of color programming: the child uses the color paintbrush to draw a color block or line with different colors on the white paper, and the trolley can do different actions according to preset color commands.

4) Light navigation: presetting the motion mode of different light, ascertaining external light through a plurality of light sensors to carry out light processing, the light that will detect is digital, carries out the dolly guide of marcing according to the setting value, for example: the trolley is guided to move by the flashlight.

Through light navigation, programmers can realize light-guided driving of the vehicle according to sampled ambient light values, such as: the trolley is guided to move forward by the flashlight, so that the operation is simple and interesting.

5)3D gyroscope navigation: accurate data such as direction, acceleration, angle and the like are provided in real time through the 3D gyroscope, and a programmed learner uses 3D vehicle body posture digital data to perform more accurate and intelligent control on the movement of the trolley.

Through 3D gyro navigation, the programmed learner can perform the corresponding experiment, for example: directional cruising, automatic deviation correction and up-slope and down-slope sensing, thereby knowing the relevant knowledge and using skill of the common sensor of the 3D gyroscope.

6) And (3) fall prevention control: the intelligent anti-falling control system has the advantages that the height of the edge of the trolley from the ground is detected in real time through the infrared distance detectors, and when the edge of the trolley is located at the edge of a desktop, the trolley stops or turns in real time through programming, so that intelligent anti-falling control is realized.

7) Self-fixing tracking: the automatic cruise function of the trolley along the black strip track is realized through the combination of 3 groups of infrared sensors and the characteristic that the reflectivity of infrared rays on a dark non-standard surface is lower than the emissivity of a light-color surface through an algorithm. The student can effectively exercise programming skills and motor drive control skills by realizing the experimental project.

The embodiment solves the problem that the traditional teaching experiment needs a large field and space through a precise integrated design, and the teaching experiment can be completed only by the space of the size of a book; the product is small in size and light in weight, is convenient for teachers and students to store and carry, and improves adaptability. By using the trolley learning programming of the embodiment, students can know the principle and the using mode of a large number of things-linked sensors at any time; through the combined use of various sensors, creativity is exerted, and diversified intelligent control experiments are realized.

The invention relates to an intelligent auxiliary hardware for programming learning of teenagers, wherein students use general building block programming software or python language to compile an automatic control program for a programmable intelligent trolley, learn programming skills through feedback of digital data of a vehicle body diversification sensor, and control the intelligent trolley to complete complex motion control, so that the intelligent auxiliary hardware is realized by the following steps: the intelligent vehicle training system comprises intelligent vehicles, such as automatic driving, automatic obstacle avoidance, automatic navigation, falling prevention, color programming driving, 3D gyroscope inertial navigation, photoinduction navigation and the like. The invention can be used by learners to learn the knowledge of the sensor and quickly master the programming skills in the interaction process.

The programmable intelligent trolley allows a learner to compile programs through a computer, and the programs are downloaded to a main control CPU of the intelligent trolley through a USB cable, so that the intelligent trolley autonomously realizes the programmer program design intention; and the car can also be controlled by directly using the off-line programming of the color programming card without computer programming, so that the children of low ages can enlighten and exercise logical thinking ability in entertainment.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (8)

1. Desktop level programming intelligent vehicle, its characterized in that includes:

a main board, a plurality of first and second connection terminals,

a processor connected with the main board and a control circuit,

a Micro USB interface connected with the processor for data exchange between the processor and an external PC terminal,

a control switch connected with the processor and used for controlling the switch of the trolley,

the auxiliary plate is provided with a plurality of auxiliary plates,

is connected with the main board;

a left driving motor and a right driving motor connected with the sub-plate,

a left wheel coaxially disposed with the left drive motor and a right wheel coaxially disposed with the right drive motor,

a rechargeable battery connected to the left and right driving motors,

a distance measuring sensor group connected with the sub-plate,

a light intensity sensor group connected with the sub-plate,

a color sensor group connected with the sub-plate,

a programmable color lamp connected with the sub-plate,

a universal wheel which is arranged in an isosceles triangle with the left wheel and the right wheel,

the main board and the auxiliary board are both PCB boards with certain areas, the electronic elements are arranged on the front surface or/and the back surface of the PCB boards,

the light intensity sensor group comprises a plurality of light intensity sensors arranged on the periphery of the auxiliary plate,

and a USB interface for charging the rechargeable battery is arranged on the auxiliary plate.

2. The desktop-level programming intelligent cart of claim 1, wherein: the auxiliary board is provided with one or more blocks, and the auxiliary boards and the main board and the auxiliary boards are fixedly connected through detachable structures and exchange data through the expansion interfaces.

3. The desktop-level programming intelligent cart of claim 1, wherein: the range finding sensor group includes ultrasonic ranging sensor and infrared ray sensor, ultrasonic ranging sensor includes ultrasonic ranging transmitting terminal and the ultrasonic ranging receiving terminal that the syntropy set up, infrared ray sensor sets up threely between ultrasonic ranging transmitting terminal and ultrasonic ranging receiving terminal and both sides altogether.

4. The desktop-level programming intelligent cart of claim 1, wherein: the mainboard is still provided with lamp array, bee calling organ, programmable color lamp array, microphone, button able to programme, 3D gyroscope, RTC clock chip, micro motor and bluetooth antenna, the subplate is provided with the extension interface with extension interface socket complex.

5. The desktop-level programming intelligent cart of claim 1, wherein: the color sensor group comprises a color sensor and a plurality of light supplementing lamps arranged around the color sensor.

6. The desktop-level programming intelligent cart of claim 3, wherein: and a programmable headlamp is arranged between the ultrasonic ranging transmitting terminal and the ultrasonic ranging receiving terminal.

7. The desktop-level programming intelligent cart according to claim 1, characterized in that: the main board is also provided with a flame sensor, a gesture sensor and a temperature and humidity sensor.

8. The control method of the desktop-level programming intelligent vehicle as claimed in any one of claims 1 to 7, characterized in that: writing a control program, importing the program into a processor integrated with the programming intelligent trolley, sensing an external signal by a sensor integrated with the programming intelligent trolley and feeding the external signal back to the processor, processing the external signal by the processor to send an instruction, and programming an execution part integrated with the programming intelligent trolley to complete the instruction, wherein the control program specifically comprises the following contents:

1) the double direct current motors and the universal wheels are controlled to form an isosceles triangle driving system through independent programming and 64-level speed regulation to control the travelling, steering and forward and reverse rotation of the trolley;

2) carrying out automatic driving and automatic obstacle avoidance experiments by integrating an ultrasonic ranging sensor;

3) the movement forms of the trolleys with different colors are controlled by integrating the color sensors;

4) the light is digitized through a light sensor to realize light guide driving of the trolley;

5) accurate data of direction, acceleration and angle are provided for the trolley through navigation control of the 3D gyroscope;

6) the height of the edge of the trolley from the ground is detected in real time through an infrared distance detector, and when the edge of the trolley is positioned at the edge of a desktop, stopping or steering is realized through programming, so that intelligent anti-falling project learning is realized;

7) the function that the trolley automatically cruises along the black strip track is realized through the combined use of the infrared sensors and the characteristic that the reflectivity of infrared rays on the dark color surface is lower than the emissivity of the light color surface.

Images