CN203483854U

CN203483854U - Following-type intelligent toy trolley

Info

Publication number: CN203483854U
Application number: CN201320565926.6U
Authority: CN
Inventors: 毛晓波; 冯寒雨; 张志强; 陈敬德; 欧阳丹
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2013-09-13
Filing date: 2013-09-13
Publication date: 2014-03-19
Anticipated expiration: 2023-09-13

Abstract

The utility model discloses a following-type intelligent toy trolley which comprises a main unit module and an auxiliary unit module. The main unit module and the auxiliary unit module respectively use an STC single chip microcomputer with a 51 compatible inner core as a controller. The auxiliary unit module comprises an acceleration sensor module connected with an auxiliary unit controller and a Bluetooth wireless communication module connected with the auxiliary unit controller. The main unit module comprises a Bluetooth receiving module, a main unit controller, a motor drive module, a four-wheel motor and a speed measurement module, wherein the speed measurement module is connected with the main unit controller and the four-wheel motor, the four-wheel motor is connected with the motor drive module and the motor drive module is connected with the main unit controller. The following-type intelligent toy trolley can serve as an intelligent toy trolley oriented to children, simulate motion conditions of the children and follow motions of the children, and accordingly the children can feel happy in games, build the bodies and improve body quality.

Description

A kind of trailing type Intelligent toy car

Technical field

The utility model relates to a kind of trailing type Intelligent toy car, adopting the micro-acceleration sensor of embedded microprocessor and micromachining technology is core devices, there is the features such as low in energy consumption, intelligence is small and exquisite, interest is strong, and this design and following principle also can be applicable to the fields such as automatic tracing, communication navigation, have broad application prospects.

Background technology

Fast development along with China's economy, the consumer group of toy market grows stronger day by day, be accompanied by the continuous expansion of embedded microprocessor, novel sensor and Robotics application surface, toy product is also focused on science and technology and novelty more, the intelligent toy of many novelties occurs in succession, and the amusing products market demand of high-tech content increases.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of trailing type Intelligent toy car for the deficiencies in the prior art, and the utility model adopts following technical scheme:

A trailing type Intelligent toy car, comprises host module and slave module, and host module and slave module all adopt the STC single-chip microcomputer of 51 compatible kernels as controller; Slave module comprises the acceleration sensor module and the Bluetooth wireless communication module being connected from machine controller connecting from machine controller; Host module comprises bluetooth receiver module, console controller, motor drive module, four-wheel motor and speed measuring module, and speed measuring module connects console controller and four-wheel motor, and four-wheel motor connects motor drive module, and motor drive module connects console controller.

Described trailing type Intelligent toy car, described acceleration sensor module is ADXL345.

Described trailing type Intelligent toy car, described motor drive module is L298N.

The motion state of the tracked object of Real-Time Monitoring, controls dolly automatic tracing Moving Objects by intelligent algorithm and wireless communication technique.System comprises main frame and slave two large divisions, adopts wireless telecommunications between slave.Slave partly adopts micro-mechanical accelerometer as core sensor, the motion state of Real-Time Monitoring human body or object, by embedded microprocessor degree of will speed up signal, after the numerical operations such as integration are converted to speed, displacement signal, by bluetooth module, be sent to main frame.Main frame is processed gained signal, controls moving of car, realizes the tracking to movement human or object.

The trailing type intelligent carriage the utility model proposes can be used as the Intelligent toy car of children-oriented, imitates children's moving situation, and the motion of following children can be taken exercises thereby allow children experience in happy in game, builds up health.In addition, according to design philosophy of the present utility model, can research and develop intelligentized moving target automatic tracking device, have broad application prospects.

Accompanying drawing explanation

Fig. 1 is main machine structure block diagram;

Fig. 2 is slave structured flowchart;

Fig. 3 is slave circuit theory diagrams;

Fig. 4 is host computer control circuit;

Fig. 5 is slave system flow chart;

Fig. 6 is host computer system flow chart;

The specific embodiment

Below in conjunction with specific embodiment, the utility model is elaborated.

Trailing type Intelligent toy car, this system adopts micro-machine acceleration transducer as master reference, uses bluetooth as telecommunication media, realizes the tracking to moving target.Due to popularizing on a large scale of current Android system mobile phone, in order more easily to promote, the slave module of system can be substituted by the smart mobile phone of built-in Integrated Accelerometer.

As depicted in figs. 1 and 2, trailing type Intelligent toy car, comprises main frame and slave two parts to system global structure, and main frame and slave all adopt the STC single-chip microcomputer of 51 compatible kernels as controller.The monitoring to vehicle wheel rotation by speed measuring module in host computer system, FEEDBACK CONTROL car body displacement, realizes the accurate control that car body moves.Slave module comprises controller, acceleration sensor module and Bluetooth wireless communication module.When target object moves, two of acceleration transducer Real-Time Monitoring X-axis and the Y-axis acceleration on axially, and degree of will speed up value passes to controller, through numerical algorithms such as integration, filtering, compensation, calculate two displacements on axially, then by Bluetooth wireless communication module, data are spread out of.Main frame bluetooth receiver module receives after two axial displacements, by the movement on axially at two of Single-chip Controlling dolly, thereby produces the movement locus identical with tracking target.

The Hardware Design

As shown in Figure 3, functions is as follows for slave circuit:

(1) acceleration transducer: ADXL345 is a little and thin super low-power consumption 3 axis accelerometers, resolution ratio high (13), reach ± 16g of measurement category.Digital output data is 16 complement of two's two's complement forms, can pass through SPI (3 lines or 4 lines) or I ²the access of C digital interface.It can measure static weight acceleration in tilt detection application, and can also measure motion or impact the dynamic acceleration causing, resolution 3.9mg/LSB, and power consumption is extremely low, under measurement pattern, is low to moderate 23uA.During use, need degree of will speed up sensor horizontal positioned to obtain data accurately and reliably.

(2) communication module: bluetooth communication ZK-07 can any size of transparent transmission data, there is the features such as small size, wide voltage simultaneously.Module-external interface adopts transparent data transmission means, and energy adaptation standard or off-gauge User Agreement, easily with various MCU communications.Bluetooth module is also divided into main frame and slave two parts, and main frame can be searched for, match with slave on one's own initiative, from machine equipment, can be easily with Bluetooth adapter, PDA and with the mobile phone of bluetooth, carries out serial communication.

As shown in Figure 4, each functions of modules is as follows for host computer control circuit:

(1) motor control module: L298N motor drive module adopts SMT technique, stability is high, can directly drive two-way 3-16V direct current generator, and provide 5V output interface, to SCM system power supply (low-ripple coefficient), can control easily DC generator speed and direction, also can control 2 phase step motors, 5 line 4 phase step motors.

(2) speed measuring module: adopt grooved correlation photoconductive structure, as long as can trigger by grooved at nontransparent object, output Transistor-Transistor Logic level.Use integrated correlation infrared emission receiving tube WYC H206, and use 74HCl4 (band Schmidt trigger reverser), prevent that critical output jitter is as control circuit in core devices formation.

(3) power module: adopting 7.2V1300MA rechargeable battery set is system power supply.

Design of System Software

Systems soft ware is taked modularized program method for designing, and slave system is by main program, I ²c bus communication, integrated acceleration algorithm and bluetooth serial ports send supervisor module and form, and use C language compilation, and translation and compiling environment is Keil uVision4, use component environment built-in function, and its workflow as shown in Figure 5.For making scheme there is stronger adaptability, write android platform mobile phone program simultaneously, can directly use Android system with the mobile phone of acceleration transducer as slave, with the communication of main frame bluetooth module, realize and following the tracks of.Host computer system is comprised of modules such as main program, bluetooth serial ports reception program, motor PWM controls.Its program circuit as shown in Figure 6.

After main frame and slave power on, slave automatic search main frame bluetooth module, and match.After connecting, main frame is consistent with the direction calibration of slave, and slave moves a segment distance, and main frame just can be followed main frame and be moved a segment distance in same direction.

During experimental debugging, can write Android program with band acceleration transducer smart mobile phone as slave, the acceleration that user is current passes to single-chip microcomputer by Bluetooth of mobile phone, and MCU driving dolly is followed.During test, mobile phone Android program is opened, be placed on it user, make dolly in running order, just can realize dolly and follow in real time human motion.

Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of the utility model claims.

Claims

1. a trailing type Intelligent toy car, is characterized in that, comprises host module and slave module, and host module and slave module all adopt the STC single-chip microcomputer of 51 compatible kernels as controller; Slave module comprises the acceleration sensor module and the Bluetooth wireless communication module being connected from machine controller connecting from machine controller; Host module comprises bluetooth receiver module, console controller, motor drive module, four-wheel motor and speed measuring module, and speed measuring module connects console controller and four-wheel motor, and four-wheel motor connects motor drive module, and motor drive module connects console controller.

2. trailing type Intelligent toy car according to claim 1, is characterized in that, described acceleration sensor module is ADXL345.

3. trailing type Intelligent toy car according to claim 1, is characterized in that, described motor drive module is L298N.