CN202096722U

CN202096722U - Programmable learning robot

Info

Publication number: CN202096722U
Application number: CN2011201842687U
Authority: CN
Inventors: 朱鼎新; 朱文祥
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-06-02
Filing date: 2011-06-02
Publication date: 2012-01-04
Anticipated expiration: 2021-06-02

Abstract

The utility model relates to a programmable learning robot, which comprises a mechanical device, a card reading module, a mainboard module, a remote controller, a power source, an infrared sensing module, a touch module, a sound sensing module and a motor. The mechanical device is formed by combining more than one plastic component; a mainboard component comprises a mainboard shell and the mainboard module with a mainboard chip; the surfaces of the plastic components and the mainboard shell are provided with circular grooves or projections matched with the circular grooves; the motor is arranged on the plastic components and connected with the mainboard module; the card reading module is connected onto the mainboard module; and the remote controller is capable of transmitting control signals to a mainboard through infrared rays. The programmable learning robot has the advantages that different external structures can be formed by means of combination, the robot can be programmed by a user in a card input mode, the robot is capable of correspondingly acting according to sensing of external signals, and simultaneously movement modes of the robot can be controlled remotely.

Description

A kind of learning-oriented robot able to programme

One, technical field

The utility model relates to a kind of robot, particularly a kind of learning-oriented robot able to programme.

Two, background technology

Since the mankind in 1964 had invented first computer, human development just set up their relationship with him.People's clothing, food, lodging and transportion--basic necessities of life have the contribution of computer invariably.Computer comprises like the lower part, input equipments such as keyboard, mouse, outputs such as display screen, storage area, s operation control part etc.Development along with technology; People are all be integrated into a chip the inside with top such as input, output, storage and calculation function; He has the function of our computer, but he has not been again our computer truly, and we are referred to as micro computer to his image.This micro computer in our daily life more and more widely, such as electromagnetic oven, electric cooker, electric heater etc.Owing to be widely used special technology, i.e. an embedded technology after having formed.The intelligent development of toy is imitated in the evolution of toy from simple external form.The effect of toy is leisure, especially is embodied in recreation and intelligence development, and key is can realize teaching through lively activities.The classification aspect of toy can be based on profile, content, complex class or suitable people's heap sort.The development trend of toy will realize that immediately following cartoon and popular characteristics photoelectric technology combines, and embodies environmental protection and healthy quality requirements.

Chinese invention patent application CN200710002962.0 discloses a kind of USB interface-based programmable robot toy and control method thereof.Mechanical control technology, speech recognition technology and USB interface technology have been adopted in this invention application, and the robot toy has been realized according to preset instruction set, and the function of beat password is play on the gymnastics limit of taking exercises, limit.China utility model CN201020140255.5 discloses a kind of modular electronic mechanical device, especially for the robot of home education or amusement.This utility model is through peripheral circuit, frame for movement and remote-control handle, realizes advancing, retreats, functions such as turning, original place rotation, flashing light.China utility model CN200920110844.6 discloses a kind of intelligent toy.This utility model is disclosed to be a kind of intelligent vehicle with automatic identification path function, can the divorced from computer field programming.

The common feature of the technical scheme that above-mentioned patent or patent application are related is; On frame for movement, all can only adopt single robot architecture to use; Be confined to the vehicle robot especially; Can not let the user freely through simply splicing and combining into the robot of multiple structure and shape; Can't write easily according to user's needs to the robot of difformity and structure and import computer program targetedly, and realize ROBOT CONTROL through remote control simultaneously, and the realization robot is to the identification and the response function of surrounding environment to robot.Therefore; Robotics in the middle of the prior art for the user planform selectivity, computer program write the flexibility of use and to environment identification feedback on bigger limitation is all arranged; Can not give the user the bigger space of freely bringing into play; Do not realize teaching through lively activities, limited effective exploitation its intelligence.

Three, utility model content

The technical problem that the utility model will solve provides and a kind ofly can be combined as multiple structure and can the robot of free development and programing function can be provided for the user through Card Reader input computer program.

In order to solve the problems of the technologies described above; The technical scheme of the utility model is a kind of learning-oriented robot able to programme; Comprise mechanical device, card reading module, mainboard assembly, remote controller, power supply, it is characterized in that: also comprise infrared sensing module, touching module, sound sensor module and motor; Said mechanical device is constituted by more than one plastic assembly; Said mainboard assembly comprises mainboard module and the mainboard shell that contains the mainboard chip; The protuberance that said plastic assembly and mainboard case surface have circular groove or be complementary with said circular groove; Said motor places on the plastic assembly, and is connected with said mainboard module through circuit, and said mainboard module can be controlled motor and carry out positive and negative rotation, moves thereby can control said mechanical device; Said card reading module is connected on the mainboard module, can read two-dimentional black and white card image and be transferred to mainboard; Said infrared sensing module is connected with said mainboard, and can measure obstacle distance and be transferred to mainboard, and said touching module is installed in can be measured the mechanical device collision obstacle and be connected with mainboard module, can transmit signal by mainboard module; Said sound sensor module is connected with mainboard, can sound is converted into the signal that mainboard can receive and send mainboard to; Said remote controller can transmit control signal to mainboard through infrared ray.

Above-mentioned learning-oriented robot able to programme can also comprise display module, voice output module, and said mainboard can be controlled the sound output module and sound, and said display module can show the data-signal that mainboard sends.

Above-mentioned mechanical device can also comprise wheel, but that said mechanical device and mainboard assembly are combined into the machine of toy vehicle biped walking is human-like.

Above-mentioned motor can be two or more.

Tut sensing module and display module can be integrated on the mainboard module.

Above-mentioned display module can comprise more than one LED lamp.The function that the with good grounds mainboard module output of this LED light fixture signal shows.

Can also be connected with power-saving module between above-mentioned mainboard module and the power supply.Said power-saving module is not received continuously in system and can be made mainboard be in park mode when instruction reaches more than 1 minute, and said park mode can return to "on" position through pressing the button that is connected in the mainboard chip.

Above-mentioned remote controller comprises all right chip of remote controller, supply unit, infrared launcher and EEPROM device; Said infrared launcher can be launched the signal that said remote controller chip sends, and said EEPROM device can be stored the code of infrared emission and read.

Above-mentioned card reading module can also comprise photoelectric receiving tube and single-chip microcomputer, and said photoelectric receiving tube is connected with single-chip microcomputer, and said single-chip microcomputer is connected with said mainboard module.Said single-chip microcomputer can convert the signal that photoelectric receiving tube is received to the data that the mainboard chip can read.

Above-mentioned mechanical device can also be made up of an above metal assembly or other material member that is fit to the making robot.

The beneficial effect that the technical scheme that the utility model provided can produce comprises; A kind of learning-oriented robot able to programme can be provided; Can satisfy different user's demands; Be combined into different contour structures; And can programme through the mode of card input by the user according to various structure, robot can be flexibly according to the induction of signals such as sound, infrared ray and collision and make the corresponding action reaction and the output of sound, demonstration signal, can realize the motion mode of Remote robot simultaneously.Make user's intelligence obtain exploitation and growth through the manipulation robot.

Four, description of drawings

Fig. 1 is the utility model product structure figure

Fig. 2 is the utility model card reader chip figure

Fig. 3 is the utility model card reader sound control circuit figure

Fig. 4 is that two of the utility model card reader show the charactron circuit diagram

Fig. 5 is the utility model card reader filter circuit figure

Fig. 6 is the utility model card reader photoelectric receiving tube circuit diagram

Fig. 7 is the utility model mainboard chip circuit figure

Fig. 8 is the utility model mainboard button partial circuit figure

Fig. 9 is the utility model mainboard LED lamp control principle figure

Figure 10 is the utility model mainboard LED lamp principle control chart

Figure 11 is the utility model mainboard voice controller circuit diagram

Figure 12 is the utility model mainboard infrared sensor circuit diagram

Figure 13 is the utility model circuit controller filter circuit figure

Figure 14 is the utility model infrared waves conformal analysis figure

Figure 15 touches circuit diagram for the utility model mainboard

Figure 16 is the utility model mainboard sound control module circuit diagram

Figure 17 is the utility model power-supply circuit figure

Figure 18 is the utility model four road motor-drive circuits and interface section circuit diagram

Figure 19 is the utility model mainboard input interface part and interface signal treatment circuit figure

Figure 20 is the utility model communication interface and program download interface circuit diagram

Figure 21 is the utility model Electric Machine Control schematic diagram

Figure 22 is the utility model DC MOTOR CONTROL IC circuit diagram

Figure 23 is the utility model remote controller chip circuit figure

Figure 24 is the utility model remote controller signal emission figure

Figure 25 is the power supply processing circuit figure of the utility model remote controller

Figure 26 is the utility model remote control circuitry CPU program download circuit figure

Figure 27 is the utility model remote controller key circuit diagram

Figure 28 is the utility model remote controller key LED lamp indicating circuit figure

R representes that resistance, C represent that electric capacity, Q represent triode in each accompanying drawing, and LED representes diode, and VCC representes dc source, and BAT representes the energy-conservation feeder ear of battery, and GND representes earth terminal.

Five, the specific embodiment

The able to programme learning-oriented robot of the utility model comprises mechanical device, mainboard assembly, card reading module and remote controller.Wherein mechanical device and mainboard assembly constitute the profile of robot, and the mainboard module in the mainboard assembly can be realized parts execution such as the acceptance of voice signal, infrared signal, collision alarm and control motor, buzzer and LED.Card reading module can be imported the program that realization is finished to the mainboard input port through data wire, and remote controller can be controlled the concrete action of robot.

Aspect the mechanical realization of robot, owing to adopt a plurality of plastic assemblies to make up, the robot that therefore can be combined into multiple shape supplies learning recreation to use.As shown in Figure 1, mainboard assembly 2 mutually combines with vehicle wheel component 1, and mainboard assembly 2 interconnects through circuit and card reading module 3.The plastic assembly surface of mainboard assembly shell all have circular protrusions 4 and with this circular protrusions mating recess 5, therefore can with agreeing with each other of convexity different plastic assemblies be made up through groove.Difform a plurality of plastic assembly can be combined into the robot of various ways each other.This robot both can adopt the biped walking mode; Also can adopt wheel to advance pattern; And can have multiple moulding to arrange in pairs or groups in above-mentioned two kinds of patterns; Therefore the limitation that robot in the past can only use fixing contour structures to use be can overcome, the unlimited imagination space of user and the mode of independent assortment given.Because mainboard module also places within the mainboard shell; And the mainboard case surface is also fluted and protruding; Therefore mainboard assembly also can be used as the integrally-built part of robot and is used, and participates in the middle of the robot architecture makes up, and has increased the kind of robot combination and variation.

The robot mainboard is the core of entire machine robot system, also is the connection control section of all modules, and he has four input ports and four delivery outlets; Promptly can accept outside information; Like infrared signal, voice signal also can be controlled little module action; Like the rotating of motor, outside loudspeaker buzzing etc.The brain that is equivalent to robot, the main instruction that receives from the Card Reader plate, and control corresponding module by the content of instruction and carry out corresponding action.Mainboard itself also can be realized certain little trick.It at first is the music buzzer; Next is the alternating flashing light effect, and along with the rhythm of music, flash lamp realizes getting brighter gradually bright effect.Mainboard both can use as a little system board separately, also can form a big robot system with other peripheral module.Whole system hardware is accomplished corresponding action under the control of master controller CPU, CPU adopts the new generation of AVR microprocessor ATMEGA64 of American ATMEL, controls the operation of whole system through the program of CPU.

As shown in Figure 8, the selection aspect of keypress function, integrated five buttons on the mainboard; Function is switch switch SW-PB (POWER) respectively, function selecting S1 (FUNCTION), beginning key S2 (START); Left button S3 (LEFT), right button S4 (RIGHT), the switch switch is through conducting and the shutoff of control power supply pipe BAT; Realize the switching on and shutting down of system, button S1-S4 also directly links to each other with the feeler INT6 of cpu controller on hardware, and links to each other with ground through resistance PA1-PA4.When button is pressed, corresponding ports and the high level that has correspondence, program just can have been known by concrete key value through judging high level.

As shown in Figure 7, the realization aspect of mainboard module outside port importation, mainboard has four outer input interfaces, can receive from IR remote controller card reader, impact switch, the input signal of sound transducer.Shown in figure 19, this circuit is mainboard input interface part and interface signal treatment circuit, and wherein C206-C208 is an electric capacity, and R221-R222 is a resistance, and PE3-PE5, INT2-INT3, ADC0-ADC3 link to each other for the CPU respective pins.The interrupt pin of a CPU is received in the signal unifications of all outside inputs, and when having signal, produce accordingly and interrupt when whenever, thus can fast processing and the incident of response external.When corresponding ports had input signal, the LED of corresponding port can luminous the indication.

Shown in figure 13, this part major function is the filter circuit that the stable voltage of circuit controller control designs, and is connected with power supply after capacitor C 321, C322, the C234 parallel connection, and C234 connects dc source VCC.Shown in figure 12, during the input of infrared ray sensor, infrared ray sensor function major function is to be used for keeping away barrier, the disturbance in judgement thing.Through the carrier wave of a branch of 38KHZ of an infrared transmitting tube 2898 elder generations emission, when there was barrier the front, receiving tube 2899 also received corresponding carrier wave, thereby made program can control other module, as controlling motor steering etc.Infrared obstacle avoidance Fundamentals of Sensors, infrared ray sensor are utilized the subelement to launch and are accepted IR and move and design.The mode of infrared and reception has two kinds, first direct-injection type, and it two is reflective.Direct-injection type refers to that luminous tube and receiving tube are placed in the two ends of emission and controlled substance relatively, and is middle at a distance of certain distance; Reflective finger luminous tube with receiving tube side by side, the unglazed all the time photograph of receiving tube at ordinary times, when the IR that only sends at luminous tube ran into reverberation, receiving tube received that the IR that reflects just works.In this module, emitting diode and infrared receiving diode are installed side by side, formed reflective reception, control infrarede emitting diode earlier, the IR of emission 940NM utilizes infrared reception photoelectric tube then, receives the signal that reflects.And the signal that reflects handled, send with processor and handle.

The input of IR remote controller mainly is the instruction of accepting from remote controller, and input port need connect an incorporate infrared receiving terminal.Shown in figure 14, when pressing remote controller, launch one group of control signal, a complete control signal comprises lead code 4001,

identification code

4002,4004, command code 4003,4005.Lead code all is that a high level adds a low level usually, is the low level that the high level of 9ms adds a 4.5ms such as this.Next be CUSTOMER ID, the coding that the present embodiment remote controller is adopted is 8 a CUSTOMER ID.The purpose of identification code can discard after letting controlled equipment (TV, air-conditioning etc.) receive the signal of other controllers exactly as early as possible, and identification code is different just need not to be continued to have received this signal in case detect.Next also can send the radix-minus-one complement of identification code, the data content that why sends all can be with its radix-minus-one complement to mainly contain effect, is equivalent to send data content twice, increases data redundancy, can be used for detecting error code.The key of program decoding is how to discern 0 and 1,0 and 1 all to begin with the low level of 0.56MS, and different is the width difference of high level, and 0 is 0.56MS; 1 is 1.68MS, thus must be according to the width of

high level difference

0 and 1, if after the 0.56MS low level, trigger; 0.56MS after, if the level of reading is low, explains that this position is 0, otherwise be 1; For the purpose of reliable, time-delay must be longer than 0.56MS, but can not surpass 1.12MS, and this position is 0 else if; Therefore what read is exactly the high level of next bit, gets value half the of high-low level, and 0.84MS.

Shown in figure 15, in fact the input aspect of impact switch, impact switch inside are exactly a switch, and when stressed, switch ends is connected.When not stressing, switch is because a termination power of switch, the input port of a termination CPU are broken off in the effect of spring again.When connecting, high level appears in the input port of CPU, thereby can discern the disconnection and the connection of impact switch.Touching sensor working is: after touching switch and being pressed, the inner spring leaf of switch is linked together, and when switch is released after, spring leaf separates.We pick out connecting line at the spring leaf two ends, and a connecting line is connect low level, i.e. ground connection, and another root is received the input port of controller, and after switch was pressed, the input level of controller was drawn as low level, thereby carried out certain action.

Shown in figure 16, the input aspect of sound transducer, sound transducer is similar to clapping hands with regard to the device of bright lamp in the corridor.On the circuit; Because volume restrictions has adopted the amplification and the judgement of integrated circuit (IC) the realization sound of ultra-small volume, after sound pick-up MIC inputs to IC with the voice signal amplification of receiving; When the signal of sensing surpasses the decibel of setting, can export a level to CPU.The sound transducer module utilizes amplifying circuit that voice signal is amplified, and when the loudness of sound reaches certain decibel value, exports a high-low level, thereby lets the module of mainboard perception outside sound information.The composition of sound transducer comprises part of sound collection part, acoustic processing part harmony signal to noise ratio.(1) sound collection part, i.e. MIC head.Adopt electret MIC head, he is made up of two metallic films; When sound wave caused its vibrations, the difference of metallic film spacing had caused the difference of electric capacity, and produced electric current.(2) acoustic processing part adopts rail-to-rail single supply operational amplifier to form, and electric current or voltage signal with input are amplified to certain multiple.Because the electric current of being brought by the MIC head is very little, the voltage that converts to is also very little, is not enough to distinguish the form of high-low level, therefore, adopts operational amplifier to amplify signal is changed between 0-5V.(3) sound rating unit carries out voltage ratio with the signal of operational amplifier, when the signal of gathering is smaller; The voltage of output is also smaller, and when not greater than setting value, thinking does not have voice signal to come in; Rating unit will be in lead-in wire 2900 output high level; When greater than setting value, thinking has voice signal to come in, the rating unit output low level.

Shown in figure 20, this figure circuit is mainly communication interface and program download interface, and C299 is an electric capacity, and RXD, TXD link to each other with mainboard chip respective pins respectively, can realize for the transmission of communication signal with for the download of being programme.

The mainboard module output comprises Electric Machine Control, voice output and demonstration output.Shown in figure 21, the control of motor realizes through driver IC circuits.Integrated two motor-driven IC on the mainboard, each drive IC can be controlled the action of No. 2 motors, and the controller A of drive IC, B pin are received the controller of CPU respectively; A, B pin have four kinds of states, and when A, B pin all were high level and low level, motor stopped; When the A pin is high, the B pin is when low, and motor is just changeing; The A pin is low, when the B pin is high, and the motor counter-rotating.As long as the high ordinary telegram of control pin is flat, makes up the just commentaries on classics that just can control motor, reverse and stop on the program.Pin C, D also adopt similar operation principle.Shown in figure 18; Circuit function is four road motor-drive circuits and interface section among the figure; OUTAA-OUTDD, OUTA-OUTD link to each other respectively at motor-driven IC respective pins, and PB0, PB2-PB5, TCK, TMS, TDO, TDI link to each other with mainboard CPU respective pins respectively.Shown in figure 22, direct current generator can drive through control IC.

Shown in figure 11, the control realization aspect of voice output is integrated with a buzzer SPEAKER201 on the mainboard, when carrying out the different operating action, sends the sound of different frequency, reminds the operator.Triode Q202 is connected with the PB4 pin of mainboard CPU through resistance R 213.Buzzer SPEAKER201 controls through triode Q202; Provide different frequencies by CPU; Through the switch of control triode, thereby the control loudspeaker send different audio by not existing frequency, and relevant software is please with reference to corresponding source generation and the flow chart of working out in advance.Buzzer is different through the voltage that is applied to two ends, thereby produces sound.He is a kind of electro-acoustic transducing device.

As shown in Figure 9; Aspect the realization of LED lamp demonstration, varicolored lamp is arranged on the mainboard, the importation is green indicator lamp; Output is red indicator lamp; Each LED lamp is connected with cpu port PG0-3, PD4-6 through a resistance respectively, and the LED lamp can be gradually bright with getting brighter of realization LED according to the frequency of music, and flicker.Get brighter and bright realization gradually realizes through the pulse modulation technology of the PWM of CPU,, thereby let people's eyes feel the technology of the brightness of LED promptly through changing conducting and the shut-in time of LED in 1 second.Led module is different through the voltage that is applied to two ends, thereby sends different light, and he is a kind of electro-optical conversioning device.

Shown in figure 17, mainboard module can be realized energy-saving mode through software.The realization aspect of energy-saving mode; Consider the volume problem of robot, optimum system choosing adopts No. 5 battery BT1-BT4 power supplies of 4 joints, and through the power supply of energy-saving electric power section BAT end; Therefore the economize on electricity to power supply has proposed certain requirement; System wants to turn-off the power supply of whole system the free time, make system be in energy-saving mode.When wanting the entering of energy-saving mode; When the button of mainboard is surpassing certain hour (about a minute) and does not have key to press in addition; At first loudspeaker have a prompting, and when also not having key to press after continuous three promptings, loudspeaker get into energy-saving mode after sending certain sound; The triode Q203 of control power supply, Q204 close, and CPU is in the power-down mode operation.Realize waking up of energy-saving mode, when having any key to press, the input signal in the INTO place all can be with system wake-up, and in running order again.

In the remote control circuitry part, remote controller and common remote controller that the utility model robot uses have certain difference, in the address code part of remote controller, are added with an address code in the program.Shown in figure 27, select through one of them button, whenever, select an address by once, by once, select another address again, by getting back to first address after four times, button simultaneously can luminous the indication to LED should be arranged.At most four group address can be arranged, that is to say, a remote controller can send four different group codes with a key after setting.Thereby can realize to realize interesting recreation such as robot soccer game with a remote controller control quadruplet robot.

Remote controller hardware mainly is made up of four parts, comprises CPU control section, power control part branch, infrared emission part, EEPROM (EEPROM) emission code storage part.(1) shown in figure 23, the CPU control section adopts STC89LE52_QFP type integrated circuit; Because whole remote controller is supplied power by two batteries; Power unit is provided by No. 7 batteries of two joints, in order to guarantee the service life of battery, has adopted the V series CPU of low-power consumption to come realization program and control section.R308, R319, R310-R314 are preferably 10K.(2) power control part branch: power control part parallel circuit shown in figure 25, capacitor C 301 are preferably 10 μ F, and resistance R 313 is preferably 10K.Battery when not working, is in resting state at ordinary times, makes other part reduce the consumption of electric energy, when needs use, with the key of appointment CPU is waken up from the leisure state, reworks.(3) infrared emission part.Shown in figure 24, infrared emission adopts two infrared transmitting tube LED307, LED308 series connection, mainly is the area that enlarges infrared reception.The 38KHZ carrier wave of radiating portion is produced by single-chip microcomputer fully, and through the input of IR_SEND end.On hardware, realize the amplification of electric current through three grades of triode Q305, Q306 and Q303 amplifying circuit.Resistance R 301, R302 are preferably 1K.(4) EEPROM emission code storage part mainly is used for storing the code of infrared emission, and an emission code comprises initial code; End code, numeric data code, compositions such as address code; All codes are all deposited among the inner EEPROM of single-chip microcomputer, directly call when needing to get final product.Shown in figure 26, circuit CPU program is downloaded part and is linked to each other with remote controller chip respective pins by related circuit control RXD, TXD.

The remote controller software section course of work mainly is divided into four-stage.(1) after the start, system is in detected state, and main the detection has or not button to press.(2) whether if there is button to press, detecting is the button that has arousal function, if then start remote controller CPU work.(3) under the default situations, the address code of remote controller CPU (being ID) is ID0, the corresponding infrared sign indicating number of his institute of corresponding emission.Like Figure 28 is remote controller key LED lamp indicating circuit.Y1 is a quartz oscillator.Capacitor C 303, C304 are preferably 20pF (4) if any revising corresponding address code, then change corresponding infrared sign indicating number.(5) do not have button to press as surpassing in half a minute, get into resting state.

Card reading module is the principle according to two-dimension code, utilizes photoelectric conversion technique to realize the content recognition to card.The card reading module chip adopts ATMEGA8_TQFP32 type integrated circuit.The principle of institute's Card Reader sheet is: card is divided into up and down two row codings, by chequered with black and white bar code by certain regularly arranged forming; The top coding of card is a reference number, is formed by chequered with black and white; The lower part of card is a data coding, and the mode that reads is when last reference number becomes black by leucismus, reads down the value of scheduling sign indicating number, when read be black the time, think that the data of reading are 1, when reading white, think that data are 0; Photoelectricity transformation principle: the mode that opto-electronic conversion adopts is to be arranged above and below by two photoelectric receiving tubes to form; The two rows of spacing and card are arranged side by side; Photoelectric receiving tube is when the light of adularescent, and the pipe conducting is when being black; Not conducting of pipe, single-chip microcomputer can read corresponding 0 and 1 value according to the conducting state of pipe.

Card reading module hardware is realized.(1) data of card read: as shown in Figure 6; The data that card utilizes two photoelectric receiving tube U102, U103 to transmit make up, obtain a string data after; Compare with the card data of depositing inside; When the card data of correspondence conformed to, loudspeaker rang one, and on charactron, demonstrated the internal number of card.(2) transfer of data of card: the data that single-chip microcomputer becomes mainboard to read to lead to the data transaction that obtains, send mainboard to through serial ports ADC6, ADC7, load mode is for through by the DOWM button on the plate of swiping the card (D key); (3) data of card show and prompting.As shown in Figure 4, DS1, two elements of DS2 are 7 sections positive altogether charactrons.Data show on the positive charactron at two altogether, are found if any correct card, and charactron dodges twice, show corresponding card coding simultaneously.As shown in Figure 3, triode Q103 is connected with Card Reader plate SPEAKER02 pin through resistance R 107.When data were correct, loudspeaker SPEAKER102 sent clear and melodious sound.When digital mistake, loudspeaker utter a bass voice.

The software of card reading module is realized relating generally to data communication format and charactron display mode: (1) data communication format is the serial communication form of The data standard, and baud rate is 9600,8 bit data positions, 1 bit check position, 1 position of rest.(2) the charactron display mode is two sun altogether, and program constantly scans realization.

Claims

1. learning-oriented robot able to programme; Comprise mechanical device, card reading module, mainboard module, remote controller, power supply; It is characterized in that: also comprise infrared sensing module, touching module, sound sensor module and motor, said mechanical device is constituted by more than one plastic assembly, and said mainboard assembly comprises mainboard module and the mainboard shell that contains the mainboard chip; The protuberance that said plastic assembly and mainboard case surface have circular groove or be complementary with said circular groove; Said motor places on the said plastic assembly, and is connected with said mainboard module, and said card reading module is connected on the mainboard module; Said infrared sensing module is connected with said mainboard; Said touching module is installed in the mechanical device front portion and is connected with mainboard module, and said sound sensor module is connected with mainboard, and said remote controller can transmit control signal to mainboard through infrared ray.

2. learning-oriented robot able to programme according to claim 1 is characterized in that: also comprise display module, voice output module, said mainboard can be controlled the sound output module and sound, and said display module can show the data-signal that mainboard sends.

3. learning-oriented robot able to programme according to claim 2, it is characterized in that: said mechanical device also comprises wheel, but that said mechanical device and mainboard assembly are combined into the machine of toy vehicle or biped walking is human-like.

4. learning-oriented robot able to programme according to claim 3 is characterized in that: said motor is two or more.

5. learning-oriented robot able to programme according to claim 4 is characterized in that: said sound sensor module and display module are integrated on the mainboard module.

6. learning-oriented robot able to programme according to claim 5 is characterized in that: said display module comprises more than one LED lamp.

7. according to claim 1 or 6 described learning-oriented robots able to programme; It is characterized in that: also be connected with power-saving module between mainboard module and the power supply; Said power-saving module is not received continuously in system and can be made mainboard be in park mode when instruction reaches more than 1 minute, and said park mode can return to "on" position through pressing the button that is connected in the mainboard chip.

8. learning-oriented robot able to programme according to claim 7; It is characterized in that: remote controller comprises remote controller chip, supply unit, infrared launcher and EEPROM device; Said infrared launcher can be launched the signal that said remote controller chip sends, and said EEPROM device can be stored the code of infrared emission and read.

9. learning-oriented robot able to programme according to claim 8, it is characterized in that: said card reading module comprises photoelectric receiving tube and single-chip microcomputer, and said photoelectric receiving tube is connected with single-chip microcomputer, and said single-chip microcomputer is connected with said mainboard module.

10. according to claim 1 or 9 described learning-oriented robots able to programme, it is characterized in that: said mechanical device can also be made up of an above metal assembly or other material member that is fit to the making robot.