CN104759103A - Multi-drive remote control boxing model robot system and control method of the robot system - Google Patents

Abstract

A multi-drive remote control boxing model robot system and a control method of the robot system relate to the control technology of boxing model robots. The robot aims to solve the problems that an existing boxing model robot is complex in structure, inflexible in action and difficult to control left and right arms respectively. The robot comprises two punching mechanisms, a front walking mechanism, a rear walking mechanism and a middle lifting cam, and can finish punching, walking, lifting, lowering and other actions under the control of the remote controller. The action is visual and flexible, the parts are simple, and the left arm and the right arm can be respectively controlled without mutual interference. And can realize the control of the left and right arms respectively. The invention is suitable for simulating boxing action.

Description

Multi-drive remote control boxing model robot system and control method of the robot system

technical field

The invention relates to the control technology of a boxing model robot.

Background technique

Boxing is such a thrilling sport that it is often used as the subject of new installations. These devices can be divided into several categories. The first category is devices related to boxing functions, such as devices that simulate boxing actions for people to use as hitting objects. Devices that use similar principles also use electronic systems to virtually display boxing actions; The second category is a device that can assist boxing actions; the third category uses boxing as an entertainment toy, and there are also mechanical boxing devices that can be operated by people. There are small imitation boxing mechanisms that two people can operate separately, or single Small mechanisms imitating boxing actions are used for viewing, but at present, such products have complex structures, inflexible movements, and it is difficult to control the left and right arms separately.

Contents of the invention

The object of the present invention is to provide a multi-drive remote control boxing model robot system and a control method for the robot system in order to solve the problems of the existing boxing model robot with complex structure, inflexible movements, and difficulty in separately controlling the left and right arms.

The multi-drive remote control boxing model robot system of the present invention includes a robot, a wireless controller and an acousto-optic display device, and the wireless controller is used to control the action of the robot and receive information from the robot;

The robot includes a head 1, a neck 2, a body 3, a left punching mechanism 4, a right punching mechanism 5, a front traveling mechanism 6, a rear traveling mechanism 7, and a middle raising cam 8;

The body 3 is provided with motors for driving the head 1, the neck 2, the left punching mechanism 4, the right punching mechanism 5, the front traveling mechanism 6, the rear traveling mechanism 7 and the middle raising cam 8 to drive The motor drive circuit of each motor, the body 3 is also provided with a wireless communication module, an acousto-optic drive circuit and a microprocessor, and the chest of the body is provided with a hit area 9, and the hit area 9 is formed by a pressure that can feel pressure. sensor or pressure sensor array;

The middle lifting cam 8 is located in the middle of the bottom of the body 3;

The wireless controller includes a single-chip microcomputer, a wireless communication module, a key module and a display module, the signal output end of the key module is connected to the control signal input end of the single-chip microcomputer, and the display signal output end of the single-chip microcomputer is connected to the signal input end of the display module. The communication module communicates with the robot for signal transmission;

The wireless controller is connected to the network, and forms a networked system with wireless controllers of other multi-drive remote control boxing model robot systems;

A wireless control module implemented by software is embedded in the single-chip microcomputer, and the wireless control module includes the following units:

Key input judging unit: judging whether there is a key input, and starting the parameter key input judging unit when the judging result is yes, and returning to start the key input judging unit when the judging result is no;

Start the parameter key input judgment unit: judge whether there is parameter key input, and start the speed value storage unit when the judgment result is yes, and start the action key input judgment unit when the judgment result is no;

Speed value storage unit: record the speed value and put the speed value into the parameter register;

Action key input judgment unit: judge whether there is an action key input, and start the action flag register setting unit when the judgment result is yes, and start the display key input judgment unit when the judgment result is no;

Action flag register setting unit: set the flag position of the action flag register;

Display key input judging unit: judging whether there is display key input, and starting the display flag register setting unit when the judgment result is yes, and starting the action and speed data sending unit when the judgment result is no;

Display flag register setting unit: set the flag position of the display flag register;

Action and speed data sending unit: send the corresponding action request and the speed value stored in the parameter register to the data register according to the action register flag;

Display data sending unit: send the corresponding display data register content to the display buffer area according to the display register flag;

Data register wireless sending unit: send the data stored in the transmitting data register through the wireless communication module;

Robot data receiving unit: receive the data sent by the robot and store the data in the display data register;

Display buffer area data sending unit: send the data stored in the display buffer area to the acousto-optic display device;

Stop signal judging unit: judging whether there is a stop signal input, and ending the control module when the judging result is yes, and starting the key input judging unit when the judging result is no;

The speed value includes action speed, hitting speed and raising speed;

The action keys include a forward key, a backward key, a front left turn/left traverse key, a front right turn/right traverse key, a rear left turn key, a rear right turn key, a raise key and a hit key;

The flag bits of the action flag register include a forward flag, a backward flag, a front left turn/left traverse flag, a front right turn/right traverse flag, a rear left turn flag, a rear right turn flag, Raise the flag or hit the flag;

The display keys include a key for displaying the total score, a key for displaying status and a key for displaying the current score;

The flag bit of the display flag register includes a flag bit for displaying the total score, a flag bit for display status and a flag bit for showing the current score;

A robot control module implemented by software is embedded in the microprocessor, and the robot control module includes the following units:

Information receiving unit: continuously receive information sent by the wireless communication module;

Action and speed control unit: drive the corresponding motor according to the data of the data register sent by the wireless communication module;

Striking status acquisition unit: collect the information sent by the stricken area 9, judge whether the robot is slapped, and start the sound and light alarm control signal sending step when the judging result is yes, and restart hitting when the judging result is no Status collection unit;

Sound and light alarm control signal sending unit: send control signals to the sound and light display device.

The control method of the multi-drive remote control boxing model robot system according to the present invention, the control method includes a wireless control method and a robot control method;

The wireless control method includes the following steps:

Key input judging step: judging whether there is a key input, and executing the parameter key input judging step when the judging result is yes, and returning to executing the key input judging step when the judging result is no;

Parameter key input judging step: judging whether there is parameter key input, and executing the speed value storage step when the judging result is yes, and executing the action key input judging step when the judging result is no;

Speed value storage step: record the speed value and put the speed value into the parameter register, and execute the action key input judgment step after this step ends;

Action key input judging step: judging whether there is an action key input, and executing the action flag register setting step when the judgment result is yes, and executing the display key input judgment step when the judgment result is no;

Action flag register setting step: set the flag position of the action flag register, and execute the display key input judgment step after this step ends;

Display key input judging step: judging whether there is a display key input, and performing the step of setting the display flag register when the judgment result is yes, and executing the action and speed data sending step when the judgment result is no;

Display flag register setting step: set the flag position of the display flag register, and execute the action and speed data sending step after the step ends;

Action and speed data sending step: send the corresponding action request and the speed value stored in the parameter register to the data register according to the action register flag, and execute the display data sending step after the step ends;

Display data sending step: send the corresponding display data register content to the display buffer area according to the display register flag, and perform the data register wireless sending step after the step ends;

Data register wireless sending step: send the data stored in the transmitting data register through the wireless communication module, and execute the robot data receiving step after the step ends;

Robot data receiving step: receive the data sent by the robot and store the data in the display data register, and execute the display buffer data sending step after this step;

The step of sending data in the display buffer area: sending the data stored in the display buffer area to the acousto-optic display device, and executing the stop signal judging step after the step;

Stop signal judging step: judging whether there is a stop signal input, and ending the control method when the judging result is yes, and executing the key input judging step when the judging result is no;

The robot control method includes the following steps:

Information receiving step: continuously receive the information sent by the wireless communication module, and execute the action and speed control steps after the step ends;

Action and speed control steps: drive the corresponding motor according to the data of the data register sent by the wireless communication module;

Beating status collection step: collect the information sent from the hit area 9, judge whether the robot has been hit, and execute the sound and light alarm control signal sending step when the judgment result is yes, and return to execute the hit when the judgment result is no Status collection steps;

The step of sending the sound and light alarm control signal: sending the control signal to the sound and light display device, and returning to the step of collecting the striking situation after the step is completed.

Advantages of the present invention: 1. The main action is intuitive, the parts are simple, and the action is flexible; 2. The left and right arms are controlled separately without interfering with each other.

Description of drawings

Fig. 1 is the front view of the structural schematic diagram of the multi-drive remote control boxing model robot system described in Embodiment 1;

Fig. 2 is the right view of Fig. 1;

Fig. 3 is the functional block diagram of the multi-drive remote control boxing model robot system described in Embodiment 1;

Fig. 4 is a schematic diagram of the principle of the left punching mechanism 4 and the right punching mechanism 5 in Embodiment 1;

5 is a structural diagram of a motor drive circuit in Embodiment 3;

FIG. 6 is a specific circuit structure of the motor drive circuit in Embodiment 3;

Fig. 7 is a schematic diagram of the connection relationship between the pressure sensor and the microprocessor in Embodiment 6;

Fig. 8 is a schematic structural diagram of the robot in Embodiment 8;

Fig. 9 is a schematic diagram of the principle of the robot punching in the eighth embodiment;

Fig. 10 is a flow chart of the control method of the multi-drive remote control boxing model robot system described in the ninth embodiment.

Detailed ways

Specific Embodiment 1: This embodiment is described in conjunction with Fig. 1 to Fig. 4 and Fig. 10. The multi-drive remote control boxing model robot system described in this embodiment includes a robot, a wireless controller and an acousto-optic display device, and the wireless controller is used to control the robot. actions and receiving messages from the robot;

The robot includes a head 1, a neck 2, a body 3, a left punching mechanism 4, a right punching mechanism 5, a front traveling mechanism 6, a rear traveling mechanism 7, and a middle raising cam 8;

The body 3 is provided with motors for driving the head 1, the neck 2, the left punching mechanism 4, the right punching mechanism 5, the front traveling mechanism 6, the rear traveling mechanism 7 and the middle raising cam 8 to drive The motor drive circuit of each motor, the body 3 is also provided with a wireless communication module, an acousto-optic drive circuit and a microprocessor, and the chest of the body is provided with a hit area 9, and the hit area 9 is formed by a pressure that can feel pressure. sensor or pressure sensor array;

The middle lifting cam 8 is located in the middle of the bottom of the body 3;

The wireless controller includes a single-chip microcomputer, a wireless communication module, a key module and a display module, the signal output end of the key module is connected to the control signal input end of the single-chip microcomputer, and the display signal output end of the single-chip microcomputer is connected to the signal input end of the display module. The communication module communicates with the robot for signal transmission;

The wireless controller is connected to the network, and forms a networked system with wireless controllers of other multi-drive remote control boxing model robot systems;

A wireless control module implemented by software is embedded in the single-chip microcomputer, and the wireless control module includes the following units:

Key input judging unit: judging whether there is a key input, and starting the parameter key input judging unit when the judging result is yes, and returning to start the key input judging unit when the judging result is no;

Start the parameter key input judgment unit: judge whether there is parameter key input, and start the speed value storage unit when the judgment result is yes, and start the action key input judgment unit when the judgment result is no;

Speed value storage unit: record the speed value and put the speed value into the parameter register;

Action key input judgment unit: judge whether there is an action key input, and start the action flag register setting unit when the judgment result is yes, and start the display key input judgment unit when the judgment result is no;

Action flag register setting unit: set the flag position of the action flag register;

Display key input judging unit: judging whether there is display key input, and starting the display flag register setting unit when the judgment result is yes, and starting the action and speed data sending unit when the judgment result is no;

Display flag register setting unit: set the flag position of the display flag register;

Action and speed data sending unit: send the corresponding action request and the speed value stored in the parameter register to the data register according to the action register flag;

Display data sending unit: send the corresponding display data register content to the display buffer area according to the display register flag;

Data register wireless sending unit: send the data stored in the transmitting data register through the wireless communication module;

Robot data receiving unit: receive the data sent by the robot and store the data in the display data register;

Display buffer area data sending unit: send the data stored in the display buffer area to the acousto-optic display device;

Stop signal judging unit: judging whether there is a stop signal input, and ending the control module when the judging result is yes, and starting the key input judging unit when the judging result is no;

The speed value includes action speed, hitting speed and raising speed;

The action keys include a forward key, a backward key, a front left turn/left traverse key, a front right turn/right traverse key, a rear left turn key, a rear right turn key, a raise key and a hit key;

The flag bits of the action flag register include a forward flag, a backward flag, a front left turn/left traverse flag, a front right turn/right traverse flag, a rear left turn flag, a rear right turn flag, Raise the flag or hit the flag;

The display keys include a key for displaying the total score, a key for displaying status and a key for displaying the current score;

The flag bit of the display flag register includes a flag bit for displaying the total score, a flag bit for display status and a flag bit for showing the current score;

A robot control module implemented by software is embedded in the microprocessor, and the robot control module includes the following units:

Information receiving unit: continuously receive information sent by the wireless communication module;

Action and speed control unit: drive the corresponding motor according to the data of the data register sent by the wireless communication module;

Striking status acquisition unit: collect the information sent by the stricken area 9, judge whether the robot is slapped, and start the sound and light alarm control signal sending step when the judging result is yes, and restart hitting when the judging result is no Status collection unit;

Sound and light alarm control signal sending unit: send control signals to the sound and light display device.

In this embodiment, the left punching mechanism 4 and the right punching mechanism 5 are equivalent to the left arm and the right arm of the robot, and the structures of the left punching mechanism 4 and the right punching mechanism 5 are the same. Front traveling mechanism 6 and rear traveling mechanism 7 are equivalent to the legs of robot, and middle raising cam 8 is used to drive the body of robot to rise or fall. The left boxing motor and the right boxing motor in Fig. 3 are respectively used to control the left punching mechanism 4 and the right punching mechanism 5, and the middle raising cam 8 includes a left raising cam and a right raising cam, a left raising motor and a right raising cam. High motor is used to control described left raising cam and right raising cam respectively, and front traveling mechanism 6 uses the rolling wheel that does not add driving control to realize, and left traveling motor and right traveling motor are used for controlling rear traveling mechanism 7.

The left punching mechanism 4 and the right punching mechanism 5 have the same structure, and both include a forearm 4-1, a rear arm 4-2, a front connecting rod 4-3, a crank 4-4 and a rear connecting rod 4-8, as shown in Fig. 4 , where G represents a fixed axis and F represents a floating axis.

When the motor rotates in the calibrated direction (or forward rotation and reverse rotation are alternately selected), the crank 4-4 drives the rear connecting rod 4-8 to make the front end of the rear arm 4-2 swing up and down, so that the "fist" of the forearm 4-1 Make a punching motion. In Fig. 4, A is the position of the "fist" when not attacking, and B is the position of the "fist" when attacking.

Use the wireless controller to control the robot's forward, backward, elevation, left turn, right turn, boxing and other actions, and receive the information sent by the robot. After the designated area of the robot is hit, it will be prompted through the sound and light display device, and Send information to the wireless controller. The wireless communication module of the wireless controller is the same as that of the robot controller, both of which can transmit information in both directions.

When using the wireless controller to set the speed, the internal single-chip microcomputer judges whether it is the action speed, hitting speed or rising speed, and stores the corresponding speed value after the judgment is completed; when setting the action, the single-chip microcomputer judges whether it is backward, Turn left (or move left), turn right (or move right), turn left, turn right, raise or hit, after the judgment is completed, set the corresponding flag in the action marker; When setting the display, the MCU judges whether it is the total score display, the status display or the current score display. After the judgment is completed, the corresponding flag in the display register is set; finally, the action set by the user and the action corresponding to the action are set. The speed value is sent to the launch data register, and then the information stored in the launch data register is sent to the robot through the wireless communication module; the information corresponding to each flag in the display register is sent to the acousto-optic display device for display through the display buffer. During the control process, if there is a stop signal input, the control process will stop at any time.

The microcontroller in the robot body receives the control information sent by the wireless controller through the wireless communication module, and then controls the corresponding motor drive circuit according to the information to control the operation of each motor and realize the control of various actions of the robot; and collect The information of the sensor or sensor array placed in the hit area 9 determines whether it is hit, and sends out an audible and visual alarm control signal when being hit, and uploads it to the wireless controller; communicates with the wireless controller for other necessary information interactive communication.

The wireless controller can also be connected to the network to form a networked system with other wireless controllers. The data of each wireless controller can be uploaded through the network. The networked system has many functions, such as member management, and the performance ratings, etc.

Embodiment 2: This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the motor is a brushed DC motor or a permanent magnet synchronous motor.

Specific Embodiment Three: This embodiment is described in conjunction with Fig. 5 and Fig. 6. This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 2. In this embodiment, the motor drive circuit includes The microprocessor and the motion controller, the pre-driver of the three-phase bridge circuit and the three-phase bridge circuit, the control signal output terminals of the microprocessor and the motion controller are connected to the control signal input terminals of the pre-driver of the three-phase bridge circuit, The drive signal output terminal of the pre-driver of the three-phase bridge circuit is connected to the drive signal input terminal of the three-phase bridge circuit, and the drive signal output terminal of the three-phase bridge circuit is used to connect the drive signal input terminal of the motor, the microprocessor and the motion The feedback signal input terminal of the controller is used to connect the feedback signal output terminal of the motor.

Figure 6 shows the structure of a specific motor drive circuit.

Embodiment 4: This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the wireless communication module uses WiFi communication.

Embodiment 5: This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 4. In this embodiment, the wireless communication module adopts a USR-WIFI232-T communication module or a LSD5WF-3017 communication module. module.

USR-WIFI232-T is a compact module that integrates all Wi-Fi functions, with a size of only 22mm x 13.5mm x6mm. For applications such as lighting and sockets, a 1x10-pin 2mm pin connector is used, which is easy to solder and install on the hardware single-board circuit of the customer's product. The modules are equipped with special pads or external antenna connectors for various external antenna applications.

The ultra-low power embedded Wi-Fi module provides a solution to connect the user's physical equipment to the Wi-Fi wireless network and provide interfaces such as UART serial ports to transmit data. The module hardware integrates MAC, baseband chip, RF transceiver unit, and power amplifier; the embedded firmware supports Wi-Fi protocol and configuration, as well as the TCP/IP protocol stack for networking. USR-WIFI232-T is an integrated 802.11b/g/n Wi-Fi low-power solution. Through the USR-WIFI232-T module, traditional low-end serial devices or MCU-controlled devices can be easily Convenient access to Wi-Fi wireless network, so as to realize the control and management of the Internet of Things network.

LSD5WF-3017 is a high-performance, low-cost IEEE 802.11b/g/n USB interface wireless module specially designed for wireless LAN communication applications in embedded systems. The interface efficiently and quickly expands the wireless LAN communication function. The core of the module is a highly integrated MIMO (multiple input, multiple output), MAC, 2T2R baseband and 2.4G radio frequency chip, supporting PHY rate up to 300Mbps, fully compliant with IEEE 802.11b/g/n standard specifications, optimized radio frequency architecture and baseband algorithm provides excellent performance and low power consumption. The LSD5WF-3017 module design is based on a safe standard feature range, and will provide customers with a simple, low-cost, and reliable design solution for products with wireless network functions that meet international standards.

NRF905 single-chip wireless transceiver is a single-chip radio frequency transmitter chip launched by Nordic company in Norway. The working voltage is 1.9-3.6V and it is packaged in 32-pin QFN. Its characteristics are as follows:

(1) 433Mhz open ISM frequency band for license-free use.

(2) The maximum working frequency is 50kbps, high-efficiency GFSK modulation, strong anti-interference ability, especially suitable for industrial control occasions.

(3) 125 channels to meet the needs of multipoint communication and frequency hopping communication.

(4) Built-in hardware CRC error detection and point-to-multipoint communication address control.

(5) Low power consumption 1.9V-3.6V work, only 2.5uA in standby mode

(6) Transceiver mode switching time <650us

(7) The address of the module can be set by software, and the data will be output only when the address of the local machine is received. It can be directly connected to various single-chip microcomputers, and the software programming is very convenient.

(8) TX Mode: In the case of +10dBm, the current is 30mA; RX Mode: 12.2mA.

(9) Standard DIP spacing interface, convenient for embedded applications.

(10) RFModule-Quick-DEV rapid development system, including development board.

The pin functions of the NRF905 wireless communication module are shown in Table 1 below:

Table 1 Pin functions of NRF905 wireless communication module

The sending and receiving process is as follows.

ShockBurst TX sending process: When the microcontroller has data to send, through the SPI interface, the address of the receiver and the data to be sent are sent to the module according to the timing. The SPI interface rate is determined during the communication protocol and device configuration. The microcontroller sets TRX_CE and TX_EN high to stimulate the ShockBurstTM transmission mode of the module. The module automatically sends, and the process includes: (1) The radio frequency register is automatically turned on; (2) Data packaging; (3) Sending data packets; (4) When the data transmission is completed, the data ready pin is set high. If AUTO_RETRAN is set high, the module will keep retransmitting until TRX_CE is set low. When TRX_CE is set low, the module transmission process is completed and automatically enters idle mode.

ShockBurst RX receiving process: When TRX_CE is high and TX_EN is low, the module enters ShockBurst TM receiving mode. After 650us, the module continues to detect, waiting to receive data. When the module detects the carrier of the same frequency band, the carrier detection pin is set high. When a matching address is received, the AM pin is asserted high. When a correct data packet is received, the module automatically removes the header, address and CRC check bit, and then sets the DR pin high. The microcontroller sets TRX_CE low and the module enters idle mode. The microcontroller moves data into the microcontroller at a certain rate through the PSI port. When all the data has been received, the module sets the DR pin and AM pin low. The module enters receive mode, transmit mode or shutdown mode at this time.

Embodiment 6: This embodiment is described in conjunction with FIG. 7. This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the pressure sensor array is composed of a plurality of FB09 A miniature single pressure sensor constitutes.

In this embodiment, each FB09 miniature single pressure sensor is connected to the A/D converter in the microprocessor, as shown in FIG. 7 , the circles in the figure represent pressure sensors. Strikes are monitored using pressure sensors arranged in a matrix in the stricken area. Once being hit, the pressure sensor outputs a corresponding electrical signal, which is sent to the signal processing circuit for processing, and then performs acousto-optic display and sends information to the remote control.

FB09 miniature single pressure sensor is made of stainless steel, with small size and large output signal, it is widely used in small space fields, such as switch pressure detection and other electronic industry force measuring devices. The parameters of the FB09 miniature single pressure sensor are shown in Table 2, and the range is shown in Table 3.

Table 2 FB09 miniature single pressure sensor parameters

Table 3 Range of FB09 miniature single pressure sensor

Embodiment 7: This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the pressure sensor is composed of a pressure micro switch.

When the struck area 9 is composed of a pressure sensor capable of feeling pressure, the pressure sensor is realized by a pressure micro switch.

Embodiment 8: This embodiment is a further limitation of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the acousto-optic display device includes an acousto-optic display device and a light-emitting diode.

The pulse is generated by the timer of the microprocessor and output through the output port, and can be added to the buzzer after being amplified to generate a sound alarm. The high and low level of the digital output port can be used to control the switch circuit, so that the switch circuit controls the light-emitting diode to realize the light alarm.

Ninth specific embodiment: This embodiment is described in conjunction with Fig. 8 and Fig. 9. This embodiment is a specific structure of the multi-drive remote control boxing model robot system described in Embodiment 1. In this embodiment, the robot includes a forearm 4-1, trailing arm 4-2, front connecting rod 4-3, crank 4-4, forward wheel 4-6, DC reduction motor 4-7, rear connecting rod 4-8 and hit indicator light 4-9. See Figure 9 and Figure 10. In this embodiment, the forefoot uses point contact, and the front wheel is not required.

Embodiment 10: This embodiment is described in conjunction with FIG. 10 . This embodiment is a control method for the multi-drive remote control boxing model robot system described in Embodiment 1. The control method includes a wireless control method and a robot control method;

The wireless control method includes the following steps:

Key input judging step: judging whether there is a key input, and executing the parameter key input judging step when the judging result is yes, and returning to executing the key input judging step when the judging result is no;

Parameter key input judging step: judging whether there is parameter key input, and executing the speed value storage step when the judging result is yes, and executing the action key input judging step when the judging result is no;

Speed value storage step: record the speed value and put the speed value into the parameter register, and execute the action key input judgment step after this step ends;

Action key input judging step: judging whether there is an action key input, and executing the action flag register setting step when the judgment result is yes, and executing the display key input judgment step when the judgment result is no;

Action flag register setting step: set the flag position of the action flag register, and execute the display key input judgment step after this step ends;

Display key input judging step: judging whether there is a display key input, and performing the step of setting the display flag register when the judgment result is yes, and executing the action and speed data sending step when the judgment result is no;

Display flag register setting step: set the flag position of the display flag register, and execute the action and speed data sending step after the step ends;

Action and speed data sending step: send the corresponding action request and the speed value stored in the parameter register to the data register according to the action register flag, and execute the display data sending step after the step ends;

Display data sending step: send the corresponding display data register content to the display buffer area according to the display register flag, and perform the data register wireless sending step after the step ends;

Data register wireless sending step: send the data stored in the transmitting data register through the wireless communication module, and execute the robot data receiving step after the step ends;

Robot data receiving step: receive the data sent by the robot and store the data in the display data register, and execute the display buffer data sending step after this step;

The step of sending data in the display buffer area: sending the data stored in the display buffer area to the acousto-optic display device, and executing the stop signal judging step after the step;

Stop signal judging step: judging whether there is a stop signal input, and ending the control method when the judging result is yes, and executing the key input judging step when the judging result is no;

The robot control method includes the following steps:

Information receiving step: continuously receive the information sent by the wireless communication module, and execute the action and speed control steps after the step ends;

Action and speed control steps: drive the corresponding motor according to the data of the data register sent by the wireless communication module;

Beating status collection step: collect the information sent from the hit area 9, judge whether the robot has been hit, and execute the sound and light alarm control signal sending step when the judgment result is yes, and return to execute the hit when the judgment result is no Status collection steps;

The step of sending the sound and light alarm control signal: sending the control signal to the sound and light display device, and returning to the step of collecting the striking situation after the step is completed.

In the step of sending the sound and light alarm control signal, while sending the control signal to the sound and light display device, other necessary information of the hitting signal can also be uploaded to the wireless controller.

Specific Embodiment Eleven: In this embodiment, the front traveling mechanism 6 and the rear traveling mechanism 7 are realized by using omnidirectional wheels. When omni-directional wheels are used, the number of driving paths of the traveling motor and drive in Figure 3 needs to be increased, and the software should be modified accordingly to achieve more flexible movement.

Embodiment 12: In this embodiment, the wireless controller can access the network and form a system with other wireless controllers.

Claims (10)

1. drive remote control boxing dummies robot system more, it is characterized in that: it comprises robot, wireless controller and acousto-optic display device, wireless controller is used for control machine human action and accepts the information that machine human hair goes out;

Described robot comprises head (1), neck (2), health (3), left punch mechanism (4), right punch mechanism (5), pre-walking mechanism (6), rear walking mechanism (7), middle rising cam (8);

Be provided with in described health (3) and be respectively used to drive head (1), neck (2), left punch mechanism (4), right punch mechanism (5), pre-walking mechanism (6), the motor of rear walking mechanism (7) and middle rising cam (8) is to drive the motor drive circuit of each motor, health is also provided with wireless communication module in (3), acousto-optic drive circuit and microprocessor, the chest of health is provided with by hitting region (9), describedly to be made up of the pressure sensor or array of pressure sensors can experiencing pressure by hitting region (9),

The centre that cam (8) is positioned at health (3) bottom is raised in the middle of described;

Described wireless controller comprises single-chip microcomputer, wireless communication module, key-press module and display module, the signal output part of key-press module connects the control signal input of single-chip microcomputer, the display output of single-chip microcomputer connects the signal input part of display module, and single-chip microcomputer carries out Signal transmissions by wireless communication module and robot;

Described wireless controller accesses network, with other wireless controller network consisting systems driving remote control boxing dummies robot system more;

Described single-chip microcomputer is embedded in the wireless control module of software simulating, and this wireless control module comprises with lower unit:

Key input judging unit: judged whether that key inputs, and start-up parameter key inputs judging unit when judged result is for being, returns start key input judging unit when judged result is no;

Start-up parameter key input judging unit: judged whether that parameter key input, and when judged result is for being toggle speed value memory cell, when judged result is no starting operation key input judging unit;

Velocity amplitude memory cell: this velocity amplitude is also put into parameter register by recording velocity values;

Action key input judging unit: judged whether that action key input, and when judged result is for being starting operation flag register set unit, when judged result is no start display key input judging unit;

Action flag register set unit: by the flag bit set of action flag register;

Display key input judging unit: judged whether that display key inputs, and start show label register set unit when judged result is for being, starting operation and speed data transmitting element when judged result is no;

Show label register set unit: by the flag bit set of show label register;

Action and speed data transmitting element: the velocity amplitude stored in corresponding action request and parameter register is sent to data register according to action register flag;

Display data transmission unit: the display data register content of this correspondence is sent to display buffer district according to display register mark;

Data register wireless transmission unit: the data being sent the storage of transmitting data register memory by wireless communication module;

Robot data's receiving element: receive data that machine human hair comes and by these data stored in display data register;

Display buffer district data transmission unit: the data that display buffer district stores are sent to acousto-optic display device;

Stop signal judging unit: judged whether that stop signal inputs, and when judged result is for being finishing control module, when judged result is no start key input judging unit;

Described velocity amplitude comprises responsiveness, striking speed and ramp-up rate;

Described action key comprises advance key, back spacer, front left-hand rotation/left traversing key, front right-hand rotation/right traversing key, rear left turn key, rear right turn key, raises key and impact key;

The flag bit of described action flag register comprises advance flag bit, retrogressing flag bit, front left-hand rotation/left traversing flag bit, front right-hand rotation/right traversing flag bit, rear left-hand rotation flag bit, rear right-hand rotation flag bit, raises flag bit or impact flag bit;

Described display key comprises display total score key, shows status key and show present score key;

The flag bit of described show label register comprises display total score flag bit, shows state flag bit and show present score flag bit;

Described microprocessor is embedded in the robot control module of software simulating, and this robot control module comprises with lower unit:

Information receiving unit: constantly receive the information sent by wireless communication module;

Action and speed control unit: according to the data of the data register that wireless communication module is sent, drive corresponding motor;

Impact situation collecting unit: gather the information sent by hitting region (9), judge whether robot is impacted, and sound and light alarm control signal forwarding step is started when judged result is for being, impact situation collecting unit is restarted when judged result is no;

Sound and light alarm control signal transmitting element: transmit control signal to acousto-optic display device.

2. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: described motor is brush dc motor or permasyn morot.

3. many driving remote control boxing dummies robot systems according to claim 2, it is characterized in that: described motor drive circuit comprises microprocessor and motion controller, three-phase bridge circuit pre-driver and three-phase bridge circuit, the control signal output of microprocessor and motion controller connects the control signal input of three-phase bridge circuit pre-driver, the drive singal output of three-phase bridge circuit pre-driver connects the driving signal input of three-phase bridge circuit, the drive singal output of three-phase bridge circuit is for connecting the driving signal input of motor, the feedback signal input terminal of microprocessor and motion controller is for connecting the feedback signal output of motor.

4. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: wireless communication module adopts WiFi communication.

5. many driving remote control boxing dummies robot systems according to claim 4, is characterized in that: wireless communication module adopts USR-WIFI232-T type communication module or LSD5WF-3017 type communication module.

6. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: described array of pressure sensors is made up of the miniature single pressure sensor of multiple FB09.

7. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: described pressure sensor is made up of pressure microswitch.

8. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: described acousto-optic display device comprises acousto-optic display device and light emitting diode.

9. many driving remote control boxing dummies robot systems according to claim 1, is characterized in that: pre-walking mechanism (6) and rear walking mechanism (7) adopt omni-directional wheel to realize.

10. the control method driving remote control boxing dummies robot system according to claim 1, is characterized in that: this control method comprises wireless control method and robot control method more;

Described wireless control method comprises the following steps:

Key input determining step: judged whether that key inputs, and execution parameter key inputs determining step when judged result is for being, returns execute key input determining step when judged result is no;

Parameter key input determining step: judged whether that parameter key input, and when judged result is for being execution speed value storing step, the key that performs an action when judged result is no input determining step;

Velocity amplitude storing step: this velocity amplitude is also put into parameter register by recording velocity values, and the key input determining step that performs an action after this step terminates;

Action key input determining step: judged whether that action key inputs, and the flag register placing step that performs an action when judged result is for being, perform display key input determining step when judged result is no;

Action flag register placing step: by the flag bit set of action flag register, and after this step terminates, perform display key input determining step;

Display key input determining step: judged whether that display key inputs, and show label register placing step is performed when judged result is for being, perform an action and speed data forwarding step when judged result is no;

Show label register placing step: by the flag bit set of show label register, and perform an action after this step terminates and speed data forwarding step;

Action and speed data forwarding step: the velocity amplitude stored in corresponding action request and parameter register is sent to data register according to action register flag, and after this step terminates, perform display data sending step;

Display data sending step: the display data register content of this correspondence is sent to display buffer district according to display register mark, and after this step terminates, perform data register wireless transmission step;

Data register wireless transmission step: the data being sent the storage of transmitting data register memory by wireless communication module, and robot data's receiving step is performed after this step terminates;

Robot data's receiving step: receive data that machine human hair comes and by these data stored in display data register, and after this step terminates, perform display buffer district data sending step;

Display buffer district data sending step: the data that display buffer district stores are sent to acousto-optic display device, and perform stop signal determining step after this step terminates;

Stop signal determining step: judged whether that stop signal inputs, and when judged result is for being ending control method, when judged result is no execute key input determining step;

Described robot control method comprises the following steps:

Receive information step: constantly receive the information sent by wireless communication module, and perform an action and rate controlling step after this step terminates;

Action and rate controlling step: according to the data of the data register that wireless communication module is sent, drive corresponding motor;

Impact situation acquisition step: gather the information sent by hitting region (9), judge whether robot is impacted, and sound and light alarm control signal forwarding step is performed when judged result is for being, return when judged result is no and perform impact situation acquisition step;

Sound and light alarm control signal forwarding step: transmit control signal to acousto-optic display device, and after this step terminates, return execution impact situation acquisition step.