CN1887536A - Wolter tortoise with primary intelligent behevior - Google Patents
Wolter tortoise with primary intelligent behevior Download PDFInfo
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- CN1887536A CN1887536A CN 200610088991 CN200610088991A CN1887536A CN 1887536 A CN1887536 A CN 1887536A CN 200610088991 CN200610088991 CN 200610088991 CN 200610088991 A CN200610088991 A CN 200610088991A CN 1887536 A CN1887536 A CN 1887536A
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- 241000270708 Testudinidae Species 0.000 title claims abstract description 34
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- 230000006870 function Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008395 negative phototaxis Effects 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 230000007717 exclusion Effects 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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Abstract
The present invention relates to one kind of Wolter tortoise with primary intelligent behavior, and belongs to the field of robot technology. The Wolter tortoise includes two driving feet, one steering foot, four infrared sensors, two photoresitors and one monolithic computer ATMEGA16L connected together. The infrared sensors detect obstacles, the photoresitors detect light strength, and the monolithic computer ATMEGA16L controls the motor and the driving feet based on the signals from the infrared sensors and the photoresitors. The present invention endows automatic machine with intelligent behavior, and may be used as the carrier for developing and studying artificial intelligence and as intelligent toy.
Description
Technical field
The present invention relates to a kind of Wolter tortoise, belong to the robot field with elementary intelligent behavior.
Background technology
The robot field is the focus that people pay close attention to and study always, especially aspect bio-robot.As far back as the forties in 19th century, Britain neurophysiologist William Grey Walter just thinks: simple machine can be expressed complicated life behavior, and according to this thought, he has made two machine life: Elmer and Elsie in succession, because their form clumsinesses are slow in action, also has crust, allow the people associate tortoise, people are referred to as the Walter tortoise.As machine life, Elmer and Elsie at first are a kind of machines, have the electromechanical structure of machine, yet they are not common machines again, but have the machine of life, have the body and the organ of similar biology.
And at present, bio-robot is mainly reflected in has similarity with natural life on structure and the profile, has the formalness of natural life, walking feature that can natural imitation life.Find by literature search, the utility model patent of Li Jiaqi---patent of invention of Mechanical tortoise (patent No. 200420058346.9) and the Sun An of Shanghai Communications University, Wu Bin, Gao Xueguan---Amphibious bionics Mechanical tortoise (patent No. 200310108109.9), it all is the bionical body of a kind of machinery, the action that they can only fix in particular environment, when external environment condition changes to some extent, can not make corresponding change according to environment.Strictly speaking, they are a kind of automaton that can walk, and do not possess the characteristic of natural life, the behavior that can not show natural life.So, the behavior of lack of wisdom, the defective that current just bio-robot field exists.
Summary of the invention
Be subjected to the inspiration of two machine life that William Grey Walter manufactures about the thought of machine life and it, in order to overcome the deficiency that existing bio-robot does not have natural life characteristic and behavior, the invention provides a kind of Wolter tortoise with elementary intelligent behavior, by life habit and the ecosystem characterization that electric system and computer come simulating nature life, make it have elementary intelligent behavior.Natural animal is liked mostly in dark, moist place life; they can avoid the place of light usually; creep in place a little less than light; tortoise also has this habit; just so-called " negative phototaxis "; what the present invention will realize is to make Wolter tortoise have negative phototaxis, has the function of keeping away barrier simultaneously.
The present invention has adopted following technical scheme: this device comprises that mainly driving 2, one on foot by two turns to 1, two on foot to drive the both sides that foot 2 links to each other with two motors respectively and is positioned at housing, turns to foot 1 to be positioned at the place ahead central authorities of housing.In addition, also include four infrared sensors 5, two photo resistance 3 and master controllers, infrared sensor 5 lays respectively at the front, rear, left and right of housing, and each infrared sensor 5 is made up of two LED, and one is infrared emission, and one is infrared reception.Two photo resistance 3 lay respectively at the anterior left and right sides of housing.Four infrared sensors 5, two photo resistance 3 are connected with master controller respectively, four infrared sensors 5 are used to detect barrier, photo resistance 3 is used to detect light intensity, and master controller is according to the signal control motor of infrared sensor 5, photo resistance 3 inputs, and then control drives foot 2.
The course of work of the present invention: turn on the power switch, Wolter tortoise will drive into into duty, and this moment, left and right wheel of Wolter tortoise just changeed simultaneously, walked forward along straight line.In the traveling process, the light intensity in photo resistance 3 beginning perception Wolter tortoise the place aheads of and arranged on left and right sides, pass to master controller with the form of digital signal value respectively, master controller compares two values then, if the left side light intensity value is greater than the right side light intensity value, revolver just changes, right wheel counter-rotating, deflecting roller turns right, and orders about Wolter tortoise and advances to the right; Otherwise, the revolver counter-rotating, right wheel just changes, and deflecting roller turns left, and orders about Wolter tortoise and advances to the left, to realize the negative phototaxis of Wolter tortoise.Wolter tortoise is in traveling process, four infrared sensor 5 perception simultaneously obstacle information all around, when the infrared sensor 5 of Wolter tortoise front portion perceives barrier, prepare to turn, photo resistance 3 this moment is the light intensity of and arranged on left and right sides at first relatively, so that Wolter tortoise is towards the more weak side turning of light, if the both sides light intensity is the same, then the infrared sensor 5 of and arranged on left and right sides compares the range information of both sides barrier, and towards the side turning far away with obstacle distance.
Beneficial effect of the present invention is given conventional life-giving characteristic and the behavior of automaton, makes them have the characteristic of intelligence, shows the behavior of intelligence, can be used for the carrier of artificial intelligence exploitation study, also can be used as a kind of novel intelligent toy.
Description of drawings
Fig. 1 overall system structure figure of the present invention
Fig. 2 main controller circuit schematic diagram of the present invention
Fig. 3 power converting circuit of the present invention
The schematic diagram of Fig. 4 phonation circuit of the present invention
The schematic diagram of Fig. 5 sound control circuit of the present invention
The front view of Fig. 6 external structure of the present invention
The vertical view of Fig. 7 external structure of the present invention
The left view of Fig. 8 external structure of the present invention
Among the figure: 1, turn to foot, 2, drive foot, 3, photo resistance, 4, light emitting diode, 5, infrared sensor, 6, power switch, 7, microphone, 8, loudspeaker, 9, download port.
The specific embodiment
Below in conjunction with Fig. 1～Fig. 8 embodiments of the invention are described.
Present embodiment is made up of housing and master controller, and there is the photo resistance 3 of a pair of detection light the front portion of housing, and the front, rear, left and right of housing are respectively arranged with an infrared sensor 5.Base has symmetry to be connected two driving foots 2 of the left and right sides, drives advancing of Wolter tortoise, and front central authorities also are equipped with one and turn to foot 1, control turning to of Wolter tortoise.Master controller mainly is made up of single chip computer AT MEGA16L and peripheral circuit thereof, four infrared sensors 5 link to each other with PA2, PC2, PA7, the PC7 pin of single chip computer AT MEGA16L respectively, and two photo resistance 3 link to each other with the PC1 pin with single chip computer AT MEGA16L PA1 respectively.
In addition, single chip computer AT MEGA16L also is connected with microphone 7, two light emitting diodes 4, loudspeaker 8, microphone 7 Mikes' holding wire links to each other with the PB2 pin of single chip computer AT MEGA16L, is used for realizing the function of acoustic control, and the holding wire of loudspeaker 8 links to each other with the PC0 pin of single chip computer AT MEGA16L.
Single chip computer AT MEGA16L is one 8 an AVR microprocessor, and 32 8 general purpose working registers are arranged, and the In-System Programmable Flash of 16K byte and the EEPROM of 512 bytes are arranged, and can realize repeatedly erasable function.Realize the function of each several part by the peripheral expansion circuit.Peripheral circuit includes: reset circuit, crystal oscillating circuit, ISP download circuit, power converting circuit and external expansion interface.
Electrification reset design that reset circuit: ATMEGA16L is built-in, and in fuse bit, can control the time rating when resetting, thus the AVR outside reset circuit when powering on, can design very simply: directly draw the resistance R 4 of a 4.7K to get final product to VCC.For reliably, the capacitor C 5 of adding a 10uF is disturbed to eliminate, clutter.S2 is a reset switch, when AVR in when work, when pressing the S2 switch, resetting pin becomes low level, triggers the AVR chip reset.
Crystal oscillating circuit: though the built-in RC oscillator circuit of ATMEGA16L can produce the frequency of oscillation of 1M, 2M, 4M, 8M.But, RC vibration that built-in is after all when obtaining more accurate baud rate, is used outside crystal oscillator circuit here.The crystal oscillator Y1 of a 8M is attempted by on XTAL1 and the XTAL2,,, improves frequency of oscillation to reduce the starting of oscillation time simultaneously at the crystal oscillator two ends and meet capacitor C 3, the C4 of two 22pf.
ISP download interface: adopt the parallel port to download here, without any need for peripheral component, use double 2 * 5 socket JP1, the pin 4,6,8,10 of JP1 is ground connection simultaneously, and pin two meets VCC, and pin one, 5,7,9 meets PB5, PB6, PB7 and resetting pin RESET respectively, 3 free time of pin, owing to there is not peripheral component,, be not subjected to the interference of ISP so PB5 (MOSI), PB6 (MISO), PB7 (SCK), resetting pin still can normally use.
Power converting circuit: the electric power system of Wolter tortoise is divided into two parts, the power supply of single-chip microcomputer needs+5V, and the voltage of direct current generator needs+9V drives.Employing+9V is battery-powered in the Wolter tortoise system, obtains+the 5V power supply by 78L05 voltage stabilizing chip, and light emitting diode D1 is used for the power supply status indication, and S1 is a power switch, the download of control program and the work of Wolter tortoise.
External expansion interface: main control chip ATMEGA16L has 32 programmable I/O mouths, is respectively PA0-PA7, PB0-PB7, and PC0-PC7, PD0-PD7, wherein, PA0-PA7 is 8 tunnel 10 A/D conversions simultaneously.Connect PA0-PA7, PB0-PB7, PC0-PC7, exclusion RP1, the RP2, RP3, the RP4 that are respectively four 8 rows of PD0-PD7, they are as pull-up resistor, and effect is to increase drive current, improves the reliability of signal.What connect exclusion is external expansion interface, is used for connecting the signal end of sensor and actuator.Motor, photo resistance, infrared sensor all are to be connected with master controller by three lines, and one is ground wire, and one is power line, and other one is holding wire.Their signal end with the connected mode of expansion interface is: the holding wire of left and right motor is connected PD0 and PD2 respectively.
Claims (1)
1, a kind of Wolter tortoise with elementary intelligent behavior, mainly including two drives foot (2), one and turns to foot (1), two drive the both sides that foot (2) links to each other with two motors respectively and is positioned at housing, turn to foot 1 to be positioned at the place ahead central authorities of housing, it is characterized in that: also include four infrared sensors (5), two photo resistance (3) and master controller, infrared sensor (5) lays respectively at the front, rear, left and right of housing, and two photo resistance (3) lay respectively at the anterior left and right sides of housing; Four infrared sensors (5), two photo resistance (3) are connected with master controller respectively, infrared sensor (5) is used to detect barrier, photo resistance (3) is used to detect light intensity, master controller is according to the signal control motor of infrared sensor (5), photo resistance (3) input, and then control drives foot (2).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610088991 CN1887536A (en) | 2006-07-28 | 2006-07-28 | Wolter tortoise with primary intelligent behevior |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610088991 CN1887536A (en) | 2006-07-28 | 2006-07-28 | Wolter tortoise with primary intelligent behevior |
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| CN1887536A true CN1887536A (en) | 2007-01-03 |
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| CN 200610088991 Pending CN1887536A (en) | 2006-07-28 | 2006-07-28 | Wolter tortoise with primary intelligent behevior |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103458555A (en) * | 2012-05-30 | 2013-12-18 | 江门市第一中学 | Zoned dimming system |
| CN103631267A (en) * | 2012-08-24 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | An intelligent robot and a method for moving the same to the brightest position |
| CN103955232A (en) * | 2014-04-30 | 2014-07-30 | 广州杰赛科技股份有限公司 | Detection device for automatic motion |
-
2006
- 2006-07-28 CN CN 200610088991 patent/CN1887536A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103458555A (en) * | 2012-05-30 | 2013-12-18 | 江门市第一中学 | Zoned dimming system |
| CN103631267A (en) * | 2012-08-24 | 2014-03-12 | 科沃斯机器人科技(苏州)有限公司 | An intelligent robot and a method for moving the same to the brightest position |
| CN103955232A (en) * | 2014-04-30 | 2014-07-30 | 广州杰赛科技股份有限公司 | Detection device for automatic motion |
| CN103955232B (en) * | 2014-04-30 | 2017-02-15 | 广州杰赛科技股份有限公司 | Detection device for automatic motion |
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