CN102397703A

CN102397703A - Novel routing vehicle system based on electroencephalogram control

Info

Publication number: CN102397703A
Application number: CN201110375765XA
Authority: CN
Inventors: 徐健鸣; 周洪杰; 杜锐; 童小飞; 方烨; 林芬; 黄琦
Original assignee: HANGZHOU SHANGXIANG TECHNOLOGY Co Ltd
Current assignee: Hangzhou Wopushi Science & Technology Co ltd
Priority date: 2011-11-23
Filing date: 2011-11-23
Publication date: 2012-04-04
Anticipated expiration: 2031-11-23
Also published as: CN102397703B

Abstract

The invention relates to a novel brain-electrically controlled path-finding trolley system. The invention collects the EEG signal when the user focuses on doing something, and transmits it to the toy car through wireless transmission technology. The single-chip microcomputer of the car processes the EEG signal, extracts the characteristic signal, and matches it with the corresponding specific speed value. , so as to realize the control of the speed of the trolley. The infrared photoelectric sensor transmitter on the car body emits infrared light to the map, and when it encounters a black line on a white background or a white line on a black background, it reflects the signal to the receiver, and the signal receiver then transmits the signal to the single-chip microcomputer, which controls the car after processing The left and right motor speed realizes the left and right turning of the car. The invention trains the user's concentration through the game process, improves the concentration of attention while playing the game, and makes it easier for the user to achieve an ideal state when performing other tasks.

Description

A kind of novel directly cart system of seeking based on the brain electric control

Technical field

The invention belongs to the automatic control technology field, relate to a kind of novel directly cart system of seeking based on the brain electric control.

Background technology

Along with progress of science and technology and development; Novel toy emerges in an endless stream; The remote-control toy of acousto-optic electricity one becomes the main flow in market already; People are also actively expanding new toy industry in development traditional toy industry, therefore intelligent toy becomes each new developing goal of big toy manufacturer.Compared to the traditional intelligence toy, brain electric control intelligent toy possesses inborn huge advantage.The traditional intelligence toy needs the player to possess certain manipulative ability and theoretical foundation, and this just defines the exclusive product that the traditional intelligence toy can only be adult or young scientific and technological fan.Brain electric control toy does not then possess above restriction, and brain electric control toy has obtained liking of children with its unique novel control mode.Brain electric control toy is not only that toy is in a form and a technical innovation; Just expression of children education expert is arranged; It controls the form of expression of toy through brain wave; To a certain degree to cultivating the coordination of child's brain and hand, thereby and induce child to focus one's attention on and to play certain curative effect aspect ' ADD ' treating.At present, the domestic head of a family is increasingly high requiring aspect ' intelligence development ' to toy, and the appearance of brain electronic game tool will be the trend that has led toy product of new generation undoubtedly.

Based on the toy dolly control mode of brain electricity, be a kind of more direct people and toy interactive mode, user's notice degree is embodied a concentrated reflection of through toy dolly velocity magnitude, more intuitively, more meet user's mental model.The brain electricity is the current potential of about tens microvolts of producing in the cerebral nerve electrical activity process; Tradition brain electricity equipment is applied to scientific research, Medical Devices mostly; Present stage is domestic also not to have manufacturer that the brain electrical control equipment is applied to the consumer level product for civilian use, and mostly has following problem: (1) need wear electrode cap and smear conductive paste, and inconvenient user uses; Each use is all very complicated loaded down with trivial details, and the user experiences bad; (2) price is very expensive, and a whole set of brain electricity equipment does not wait to up to a million at hundreds of thousands, and ordinary consumer can not be born this price; (3) EEG signals that collect need special software and hardware to understand; And output is the data and the oscillogram of specialty mostly; This just defines scientific research personnel or medical worker that the user can only be a professional domain, and general public can't well make the electric equipment of requiring mental skill.

The human at present use for biology sensor also rests on the primary stage, and human body make-up is very complicated, but present stage can be by the bio signal of the fine use of people but seldom.Science and technology is maked rapid progress, along with signal processing technology, and production technology, the development of brain algorithm and other art, popularizing of brain power technology is rapid day by day.And a mode provided by the present invention important development direction popularizing of brain power technology just.

Summary of the invention

The present invention is directed to the deficiency of prior art, a kind of novel directly cart system of seeking based on the brain electric control is provided.

Basic design of the present invention: the present invention is absorbed in the EEG signals when doing something through gathering the user; Pass to the toy dolly through Radio Transmission Technology; The dolly single-chip microcomputer is handled EEG signals; Extract characteristic signal wherein, and mate, thereby realize control little vehicle speed with corresponding specific speed value.Infrared photoelectric sensor transmitter emission infrared light on the dolly car body is to map; Run into white background black line (or black matrix white line) then reflected signal give receiver; Signal receiver sends signal to single-chip microcomputer again; Single-chip microcomputer is handled the control dolly left and right sides, back motor speed, turns about the realization dolly.Said equipment comprises the wear-type eeg collection system, signal processing apparatus, radio transmitting device and toy dolly.

The technical scheme that technical solution problem of the present invention is taked is:

A kind of novel directly cart system of seeking based on the brain electric control comprises headphone, seeks footpath dolly and scene map.Headphone collection and process user EEG signals; To seeking the footpath dolly, control little vehicle speed through wireless network transmissions; Dolly goes along the path in the scene map automatically.

The present invention is absorbed in the EEG signals when doing something through gathering the user; Pass to the toy dolly through Radio Transmission Technology; The dolly single-chip microcomputer is handled EEG signals; Extract characteristic signal wherein, and mate, thereby realize control little vehicle speed with corresponding specific speed value.Infrared photoelectric sensor transmitter emission infrared light on the dolly car body is to map; Run into white background black line (or black matrix white line) then reflected signal give receiver; Signal receiver sends signal to single-chip microcomputer again; Single-chip microcomputer is handled the control dolly left and right sides, back motor speed, turns about the realization dolly.Said equipment comprises the wear-type eeg collection system, signal processing apparatus, radio transmitting device and toy dolly.

Described wear-type eeg collection system is to gather user's EEG signals through the dried electrode of collection that is placed on human body head brain forehead; Gather in the process of signal; Amplify through corresponding signal, signal denoising, wait a series of Filtering Processing after; Convert data signal in the input brain electricity microprocessor chip, and send in the moving of car control appliance on the dolly through wireless transmitter module.

Described headphone comprises: brain wave acquisition treating apparatus, headphone mainboard, first wireless launcher.

The brain wave acquisition device comprises gathers dried electrode, the dried electrode of benchmark, Think Gear brain electric treatment chip.Think Gear brain electric treatment chip P1 interface 1 pin, 2 pin and the dried electrode of collection link to each other; 3 pin link to each other with GND; 4 pin, 5 pin link to each other with the dried electrode of benchmark.Think Gear brain electric treatment chip P3 interface 1 pin links to each other with GND; 2 pin link to each other with VCC; 3 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 4 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin.Think Gear brain electric treatment chip P4 interface 1 pin links to each other with the 3.3V positive source; 2 pin link to each other with the 3.3V power cathode.

The headphone mainboard comprises peripheral components such as USB charging circuit, STM8S103F3 single-chip microcomputer, indication LED.STM8S103F3 single-chip microcomputer 2 pin link to each other with Think Gear brain electric treatment chip 3 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with Think Gear brain electric treatment chip 4 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and the C2 electric capacity other end links to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 1 one ends with VCC, and capacitor C 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with the positive pole of LED1, and the negative pole of LED1 links to each other with an end of resistance R 1, and the other end of resistance R 1 links to each other with GND.SWIM debugging interface 1 pin links to each other with VCC; SWIM debugging interface 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; SWIM debugging interface 3 pin link to each other with GND; SWIM debugging interface 4 pin link to each other with STM8S103F3 single-chip microcomputer 4 pin.MiniUSB interface 1 pin links to each other with charged lithium cells interface 4 pin; MiniUSB interface 5 pin, 6 pin, 7 pin link to each other with GND.

LTC4054 lithium cell charging chip 1 pin links to each other with resistance R 2 one ends, and resistance R 2 other ends link to each other with the LED1 negative pole; LTC4054 lithium cell charging chip 2 pin link to each other with GND; LTC4054 lithium cell charging chip 3 pin link to each other with Li interface 1 pin, and Li interface 2 pin link to each other with GND; LTC4054 lithium cell charging chip 4 pin link to each other with LED1 positive pole, miniUSB interface 1 pin, capacitor C 3 one ends, and capacitor C 3 other ends link to each other with GND; LTC4054 lithium cell charging chip 5 pin link to each other with resistance R 3 one ends, and resistance R 3 other ends link to each other with GND.

SWITCH switch 1 pin links to each other with charged lithium cells interface 3 pin; SWITCH switch 2 pin link to each other with TPS78233 voltage stabilizing chip 1 pin, 3 pin.TPS78233 voltage stabilizing chip 1 pin, 3 pin link to each other with capacitor C 4 one ends, and capacitor C 4 other ends link to each other with GND; TPS78233 voltage stabilizing chip 2 pin link to each other with GND; TPS78233 voltage stabilizing chip 4 pin link to each other with filter capacitor C6 negative pole, and filter capacitor C6 positive pole links to each other with VCC; TPS78233 voltage stabilizing chip 5 pin link to each other with VCC.

First wireless launcher comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.

Described moving of car control appliance is the general name of a series of soft hardware equipment on the dolly car body.Mainly comprise several sections:

(1) vehicle motor drive circuit.Receive control signal, and itself and specific dolly velocity amplitude are mated, control the size of little vehicle speed.

(2) reset circuit is used in the dolly debugging.Be used for the replacement of dolly state and reset.

(3) dolly power supply booster circuit.

(4) dolly is sought the footpath circuit.Be used for the moving of car path planning, control moving of car direction.

(5) dolly control circuit driver.

Described vehicle motor drive circuit comprises the STM8S103F3 single-chip microcomputer; The CC2500RF wireless receiving module; Realize communicating by letter through serial port with signal handling equipment; After obtaining control command itself and specific dolly velocity amplitude are mated, carry out the control of dolly left and right sides motor movement state, control the size of little vehicle speed through pwm signal.And can receive the moving of car path planning signal that dolly is sought footpath circuit answer, and carry out the control of dolly left and right sides motor movement state through pwm signal, turn or keep straight on about the control dolly.

The described footpath dolly of seeking comprises: seek footpath circuit, dolly mainboard, second radio receiver.

Seek the footpath circuit and comprise left side probe, right probe, 7414 multivibrators.Left side probe comprises emission and accepts infrared tube and peripheral circuit thereof.Left side probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Left side probe infrared emission LED1 negative pole links to each other with GND; The a left side infrared Photo of acceptance Sen of probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The a left side infrared Photo of acceptance Sen negative pole of probe links to each other with resistance VCC.Right probe comprises emission and accepts infrared tube and peripheral circuit thereof.Right probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Right probe infrared emission LED1 negative pole links to each other with GND; The infrared Photo of acceptance Sen of right probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The infrared Photo of acceptance Sen negative pole of right probe links to each other with resistance VCC.7414 multivibrators, 1 pin and anodal linking to each other of a left side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 2 pin link to each other with 7414 multivibrators, 3 pin; 7414 multivibrators, 4 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 7414 multivibrators, 7 pin link to each other with GND; 7414 multivibrators, 10 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin; 7414 multivibrators, 11 pin link to each other with 7414 multivibrators, 12 pin; 7414 multivibrators, 13 pin and anodal linking to each other of the right side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 14 pin link to each other with VCC.

The dolly mainboard is made up of STM8S103F3 single-chip microcomputer and peripheral circuit, and peripheral circuit comprises: phonation circuit, booster circuit, motor-drive circuit and indication LED circuit.

Phonation circuit comprises language IC and loudspeaker: voice IC2 pin links to each other with loudspeaker one end, and the loudspeaker other end links to each other with voice IC3 pin; Voice IC4 pin links to each other with VCC; Voice IC5 pin links to each other with GND; Voice IC6 pin links to each other with STM8S103F3 single-chip microcomputer 6 pin; Voice IC7 pin links to each other with STM8S103F3 single-chip microcomputer 5 pin.

Booster circuit comprises battery, MH7011D3.3 voltage stabilizing chip and other peripheral components composition: MH7011D3.3 voltage stabilizing chip 1 pin links to each other with GND; MH7011D3.3 voltage stabilizing chip 2 pin link to each other with inductance L 1 one ends, and the L1 other end links to each other with anode, and GND links to each other with GND; MH7011D3.3 voltage stabilizing chip 3 pin link to each other with VCC with diode 1N5819 negative pole, and diode 1N5819 positive pole links to each other with MH7011D3.3 voltage stabilizing chip 2 pin; Capacitor C 6 positive poles link to each other with VCC, and negative pole links to each other with GND; Capacitor C 3 one ends link to each other with VCC, and the other end links to each other with GND.

Motor-drive circuit comprises left motor-drive circuit and right motor-drive circuit: left motor one end links to each other with capacitor C 4 one ends, resistance R 2 one ends; Drain electrode links to each other resistance R 2 other ends with FET Q3; The Q3 earth terminal links to each other with resistance R 11 1 ends; The R11 other end links to each other with STM8S103F3 single-chip microcomputer 14 pin, and the Q3 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 4 other ends.Right motor one end links to each other with capacitor C 5 one ends, resistance R 3 one ends; Drain electrode links to each other resistance R 3 other ends with FET Q4; The Q4 earth terminal links to each other with resistance R 12 1 ends; The R12 other end links to each other with STM8S103F3 single-chip microcomputer 13 pin, and the Q4 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 5 other ends.

The indication LED circuit comprises LED and other peripheral components: indication LED D4 positive pole links to each other with VCC with indication LED D3 is anodal; The D4 negative pole links to each other with resistance R 6 one ends with the D3 negative pole; The R6 other end extremely links to each other with NPN triode Q16C; The Q16E utmost point links to each other with GND, and the Q16B utmost point links to each other with resistance R 5 one ends, and resistance R 5 other ends link to each other with STM8S103F3 single-chip microcomputer 20 pin.

STM8S103F3 single-chip microcomputer 1 pin links to each other with indication LED is anodal, and the LED negative pole links to each other with resistance R 1 one ends, and resistance R 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 2 pin link to each other with 7414 multivibrators, 4 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with 7414 multivibrators, 10 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin, and SWIM debugging interface 1 pin links to each other with VCC, and 2 pin link to each other with STM8S103F3 single-chip microcomputer 18 pin, and 3 pin link to each other with GND; STM8S103F3 single-chip microcomputer 5 pin link to each other with voice IC7 pin; STM8S103F3 single-chip microcomputer 6 pin link to each other with voice IC6 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and capacitor C 2 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 9 one ends with VCC, and capacitor C 9 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 13 pin link to each other with right motor R12 one end; STM8S103F3 single-chip microcomputer 14 pin link to each other with left motor R11 one end; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with indication LED circuit R5 one end.

Second radio receiver comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.

Described scene map comprises: dolly path, background decorative.Coherent, the uniform lines that draw on white background for black pen in the dolly path.Background decorative is a series of decorative picture.

The present invention has following beneficial effect with respect to prior art:

1. game form of the present invention is abundant, and the various games form can be set, and game form flexibly, conveniently can satisfy the demand of different age people.

2. the present invention can temper user's focus through game process, improves notice in the time of recreation and concentrates, and makes the user reach desirable state more easily carrying out other work.

3. the present invention can improve user's allowance through game process, and unique entertainment form makes the user when carrying out Entertainment and loosening, and improves the overwrought mood of user, and favourable user psychology is healthy.

Description of drawings

Fig. 1 is a system architecture The general frame of the present invention.

Fig. 2 is a brain electronic game tool remote operated vehicle entire system block diagram.

Fig. 3 seeks the footpath circuit block diagram for brain electronic game tool remote operated vehicle.

Fig. 4 is brain electronic game tool remote operated vehicle eeg signal acquisition and treatment circuit circuit diagram.

Fig. 5 is brain electronic game tool remote operated vehicle headphone miniUSB circuit figure.

Fig. 6 is brain electronic game tool remote operated vehicle headphone lithium cell charging circuit figure.

Fig. 7 is a brain electronic game tool remote operated vehicle headphone RF radio transmitter circuit diagram.

Fig. 8 is a brain electronic game tool remote operated vehicle headphone SWIM debug circuit circuit diagram.

Fig. 9 is a brain electronic game tool remote operated vehicle dolly control circuit circuit diagram.

Figure 10 is brain electronic game tool remote operated vehicle indication LED circuit figure.

Figure 11 seeks the footpath module for brain electronic game tool remote operated vehicle and seeks diameter probe circuit figure.

Figure 12 seeks footpath module multi-resonant oscillating circuit circuit diagram for brain electronic game tool remote operated vehicle.

Figure 13 is a brain electronic game tool remote operated vehicle phonation circuit circuit diagram.

Figure 14 is a brain electronic game tool remote operated vehicle motor-drive circuit circuit diagram.

Figure 15 is a brain electronic game tool remote operated vehicle booster circuit circuit diagram.

Figure 16 is a brain electronic game tool remote operated vehicle TGAM brain electrical chip connecting circuit circuit diagram.

The specific embodiment

Below in conjunction with accompanying drawing the present invention is described further.

As shown in Figure 1, control of the present invention system possesses signals collecting, and signal is handled, four functional modules of wireless telecommunications and toy driving, thus obtain experience and training effect preferably through the co-ordination between each module.The directly cart system of seeking based on the brain electric control described in the invention is because its control characteristic is particularly suitable for children and white collar active, the neophilia things and uses.The developer can not only be used for control and seek the footpath dolly according to the concrete equipment and the different concrete application of method exploitation of this invention, can also be used for other man-machine interactive application, for example is used for the game control platform.Below the control that just combines to seek the footpath dolly native system is done detailed explanation.

As shown in Figure 2; Basic principle of the present invention is will control advancing with the velocity magnitude time of toy dolly as the user, need not carry out the action of any limbs and language, as long as focus one's attention on or loosen as far as possible; Alpha wave will produce corresponding variation in the EEG signals that corresponding sensory area electrode writes down on the scalp of brain forehead; After the EEG Processing control circuit receives EEG signals,, can identify the size of user's notice concentration degree through analyzing the variation of alpha wave numerical value in the EEG signals; And be converted into " focus " and " allowance " two specially numerical value and export to the dolly control circuit; The dolly control circuit matees the velocity amplitude size of itself and characteristics, and combines the routing information that arrives in the trolley path planning circuit, thus the velocity magnitude and the direct of travel of control dolly.

This control system comprises following several sections:

1) wear-type eeg collection system: by the collection of EEG signals, signal is handled, analog-to-digital conversion, and transmit four parts composition.The wear-type eeg collection system has been given prominence to easily worn property from designing with regard to designing to brain electrical remote control dolly characteristics, use simple to operate, integrated level is high, low in energy consumption, be easy to characteristics such as children carry.The embedded high-performance lithium battery of system, with the TGAM of U.S. neurosky company series brain electric treatment chip as the system core, the EEG signals that processing collected arrives; Utilize its plate to carry integrated digital to analog converter (ADC; Analog-to-Digital Converter), realizes the digital collection of signal, and utilized CC2500 series RF module to accomplish wireless transmission of signal; Improve the integrated level and the transfer function of system greatly, broken through brain wave acquisition restriction spatially.In the wear-type eeg collection system, for the portability of real realization system, CC2500 series 2.4GHz RF transceiver has been adopted in system's design.It is integrated configurable demodulator that transfers to of height that data transmission rate can reach 500kbps.Receiver selectivity that volume little, highly sensitive (under the 10kbps-98dBm, 1% data packet error rate), control data transmission rate able to programme, current drain are low, outstanding and modular capability, low price.

2) little truck control device: be meant the dolly control appliance that is positioned at the dolly body interior.Dolly in the present embodiment is reequiped by voltage-controlled toy dolly, is driven by Brush-Less DC motor, adopts the moving full drive form of bi-motor.The dolly control circuit links to each other with vehicle motor through circuit, through the advancing of control vehicle motor rotating speed size realization dolly, rapid change, function such as turn to.

3) dolly path map: the dolly path map is made up of several sections such as dolly path, background decoratives.Coherent, the uniform lines that draw on white background for black pen in the dolly path are used to plan moving of car direction and path.Background decorative then is an a series of decorative picture etc.

As shown in Figure 3; Through the infrared signal of seeking the diameter probe emission and receiving; Dolly can identify the even black line on the map path, and through dolly Single-chip Controlling dolly left and right sides rotating speed of motor with turn to different, thereby realize the advancing of dolly, speed change, acceleration and turning.Make dolly move ahead along the good path of planning always.

Like Fig. 4, shown in 16; Brain electronic game tool remote operated vehicle eeg signal acquisition and treatment circuit are made up of brain wave acquisition process chip and earphone single-chip microcomputer; The brain wave acquisition process chip is responsible for the EEG signals that obtain are gathered and handled, and the earphone single-chip microcomputer then matees the processing signals that obtains and changes.Think Gear brain electric treatment chip P1 interface 1 pin, 2 pin and the dried electrode of collection link to each other; 3 pin link to each other with GND; 4 pin, 5 pin link to each other with the dried electrode of benchmark.Think Gear brain electric treatment chip P3 interface 1 pin links to each other with GND; 2 pin link to each other with VCC; 3 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 4 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin.Think Gear brain electric treatment chip P4 interface 1 pin links to each other with the 3.3V positive source; 2 pin link to each other with the 3.3V power cathode.STM8S103F3 single-chip microcomputer 2 pin link to each other with Think Gear brain electric treatment chip 3 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with Think Gear brain electric treatment chip 4 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and the C2 electric capacity other end links to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 1 one ends with VCC, and capacitor C 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with the positive pole of LED1, and the negative pole of LED1 links to each other with an end of resistance R 1, and the other end of resistance R 1 links to each other with GND.

As shown in Figure 5, brain electronic game tool remote operated vehicle headphone miniUSB circuit is the interface circuit that is used for the earphone charging.MiniUSB interface 1 pin links to each other with charged lithium cells interface 4 pin; MiniUSB interface 5 pin, 6 pin, 7 pin link to each other with GND.

As shown in Figure 6, brain electronic game tool remote operated vehicle headphone lithium cell charging circuit is the main energy supply module that the brain dateline is worn earphone, is made up of charged lithium cells and corresponding charging circuit.LTC4054 lithium cell charging chip 1 pin links to each other with resistance R 2 one ends, and resistance R 2 other ends link to each other with the LED1 negative pole; LTC4054 lithium cell charging chip 2 pin link to each other with GND; LTC4054 lithium cell charging chip 3 pin link to each other with Li interface 1 pin, and Li interface 2 pin link to each other with GND; LTC4054 lithium cell charging chip 4 pin link to each other with LED1 positive pole, miniUSB interface 1 pin, capacitor C 3 one ends, and capacitor C 3 other ends link to each other with GND; LTC4054 lithium cell charging chip 5 pin link to each other with resistance R 3 one ends, and resistance R 3 other ends link to each other with GND.

As shown in Figure 7; Brain electronic game tool remote operated vehicle headphone RF radio transmitter is one of chief component of headphone and the communication of dolly subject radio; The control signal that the conversion that wireless module will obtain is good sends to little vehicle control through RF wireless transmission chip, and little vehicle control carries out moving of car control through the signal that obtains.Wireless launcher comprises CC2500 radio frequency transmission chip and peripheral circuit thereof.CC2500 wireless telecommunications chip 1 pin links to each other with VCC; CC2500 wireless telecommunications chip 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; CC2500 wireless telecommunications chip 3 pin link to each other with STM8S103F3 single-chip microcomputer 15 pin; CC2500 wireless telecommunications chip 4 pin link to each other with STM8S103F3 single-chip microcomputer 17 pin; CC2500 wireless telecommunications chip 5 pin link to each other with STM8S103F3 single-chip microcomputer 12 pin; CC2500 wireless telecommunications chip 6 pin link to each other with GND; CC2500 wireless telecommunications chip 7 pin link to each other with STM8S103F3 single-chip microcomputer 11 pin; CC2500 wireless telecommunications chip 8 pin link to each other with STM8S103F3 single-chip microcomputer 10 pin.

As shown in Figure 8, brain electronic game tool remote operated vehicle headphone SWIM debug circuit is the main interface of headphone debugging.SWIM debugging interface 1 pin links to each other with VCC; SWIM debugging interface 2 pin link to each other with STM8S103F3 single-chip microcomputer 16 pin; SWIM debugging interface 3 pin link to each other with GND; SWIM debugging interface 4 pin link to each other with STM8S103F3 single-chip microcomputer 4 pin.

As shown in Figure 9, brain electronic game tool remote operated vehicle dolly control circuit is a moving of car major control device.Being made up of dolly control single chip computer and corresponding peripheral component, is the core of moving of car control.STM8S103F3 single-chip microcomputer 1 pin links to each other with indication LED is anodal, and the LED negative pole links to each other with resistance R 1 one ends, and resistance R 1 other end links to each other with GND; STM8S103F3 single-chip microcomputer 2 pin link to each other with 7414 multivibrators, 4 pin; STM8S103F3 single-chip microcomputer 3 pin link to each other with 7414 multivibrators, 10 pin; STM8S103F3 single-chip microcomputer 4 pin link to each other with SWIM debugging interface 4 pin, and SWIM debugging interface 1 pin links to each other with VCC, and 2 pin link to each other with STM8S103F3 single-chip microcomputer 18 pin, and 3 pin link to each other with GND; STM8S103F3 single-chip microcomputer 5 pin link to each other with voice IC7 pin; STM8S103F3 single-chip microcomputer 6 pin link to each other with voice IC6 pin; STM8S103F3 single-chip microcomputer 7 pin link to each other with GND; STM8S103F3 single-chip microcomputer 8 pin link to each other with capacitor C 2 one ends, and capacitor C 2 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 9 pin link to each other with capacitor C 9 one ends with VCC, and capacitor C 9 other ends link to each other with GND; STM8S103F3 single-chip microcomputer 10 pin link to each other with CC2500 wireless telecommunications chip 8 pin; STM8S103F3 single-chip microcomputer 11 pin link to each other with CC2500 wireless telecommunications chip 7 pin; STM8S103F3 single-chip microcomputer 12 pin link to each other with CC2500 wireless telecommunications chip 5 pin; STM8S103F3 single-chip microcomputer 13 pin link to each other with right motor R12 one end; STM8S103F3 single-chip microcomputer 14 pin link to each other with left motor R11 one end; STM8S103F3 single-chip microcomputer 15 pin link to each other with CC2500 wireless telecommunications chip 3 pin; STM8S103F3 single-chip microcomputer 16 pin link to each other with CC2500 wireless telecommunications chip 2 pin; STM8S103F3 single-chip microcomputer 17 pin link to each other with CC2500 wireless telecommunications chip 4 pin; STM8S103F3 single-chip microcomputer 18 pin link to each other with SWIM debugging interface 2 pin; STM8S103F3 single-chip microcomputer 20 pin link to each other with indication LED circuit R5 one end.

Shown in figure 10, brain electronic game tool remote operated vehicle indication LED circuit is mainly used in the prompting of dolly state, and through the LED indicating circuit, we can well learn whether dolly has received the brain electric control signal, and the size of brain electric control signal intensity.The indication LED circuit comprises LED and other peripheral components: indication LED D4 positive pole links to each other with VCC with indication LED D3 is anodal; The D4 negative pole links to each other with resistance R 6 one ends with the D3 negative pole; The R6 other end extremely links to each other with NPN triode Q16C; The Q16E utmost point links to each other with GND, and the Q16B utmost point links to each other with resistance R 5 one ends, and resistance R 5 other ends link to each other with STM8S103F3 single-chip microcomputer 20 pin.

Shown in figure 11, brain electronic game tool remote operated vehicle is sought the footpath module and is sought the main sensors that the diameter probe circuit is a dolly, we can say to be exactly the eyes of dolly, does not have it, and dolly just can not move according to the good path of planning.About probe divides two, co-ordination each other makes dolly correctly discern path direction.Left side probe comprises emission and accepts infrared tube and peripheral circuit thereof.Left side probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Left side probe infrared emission LED1 negative pole links to each other with GND; The a left side infrared Photo of acceptance Sen of probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The a left side infrared Photo of acceptance Sen negative pole of probe links to each other with resistance VCC.Right probe comprises emission and accepts infrared tube and peripheral circuit thereof.Right probe infrared emission LED1 is anodal to link to each other with resistance R 7 one ends, and resistance R 7 other ends link to each other with VCC; Right probe infrared emission LED1 negative pole links to each other with GND; The infrared Photo of acceptance Sen of right probe is anodal to link to each other with resistance R 8 one ends, and resistance R 8 other ends link to each other with GND; The infrared Photo of acceptance Sen negative pole of right probe links to each other with resistance VCC.

Shown in figure 12, brain electronic game tool remote operated vehicle is sought the important component part in the control circuit of module multi-resonant oscillating circuit dolly path, footpath, and the signal that probe is collected converts the pulse signal that single-chip microcomputer can be discerned into.7414 multivibrators, 1 pin and anodal linking to each other of a left side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 2 pin link to each other with 7414 multivibrators, 3 pin; 7414 multivibrators, 4 pin link to each other with STM8S103F3 single-chip microcomputer 2 pin; 7414 multivibrators, 7 pin link to each other with GND; 7414 multivibrators, 10 pin link to each other with STM8S103F3 single-chip microcomputer 3 pin; 7414 multivibrators, 11 pin link to each other with 7414 multivibrators, 12 pin; 7414 multivibrators, 13 pin and anodal linking to each other of the right side infrared Photo of acceptance Sen of probe; 7414 multivibrators, 14 pin link to each other with VCC.

Shown in figure 13, be used to the to play broadcast of background music of brain electronic game tool remote operated vehicle phonation circuit makes recreation that the substitution sense more arranged, and more is rich in enjoyment.Phonation circuit comprises language IC and loudspeaker: voice IC2 pin links to each other with loudspeaker one end, and the loudspeaker other end links to each other with voice IC3 pin; Voice IC4 pin links to each other with VCC; Voice IC5 pin links to each other with GND; Voice IC6 pin links to each other with STM8S103F3 single-chip microcomputer 6 pin; Voice IC7 pin links to each other with STM8S103F3 single-chip microcomputer 5 pin.

Shown in figure 14, brain electronic game tool remote operated vehicle motor-drive circuit is the major control device of moving of car.Motor-drive circuit comprises left motor-drive circuit and right motor-drive circuit: left motor one end links to each other with capacitor C 4 one ends, resistance R 2 one ends; Drain electrode links to each other resistance R 2 other ends with FET Q3; The Q3 earth terminal links to each other with resistance R 11 1 ends; The R11 other end links to each other with STM8S103F3 single-chip microcomputer 14 pin, and the Q3 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 4 other ends.Right motor one end links to each other with capacitor C 5 one ends, resistance R 3 one ends; Drain electrode links to each other resistance R 3 other ends with FET Q4; The Q4 earth terminal links to each other with resistance R 12 1 ends; The R12 other end links to each other with STM8S103F3 single-chip microcomputer 13 pin, and the Q4 source electrode links to each other with GND, and the motor other end links to each other with VCC with capacitor C 5 other ends.

Shown in figure 15, brain electronic game tool remote operated vehicle booster circuit is the main energy supply circuit of dolly work, and booster circuit comprises battery, MH7011D3.3 voltage stabilizing chip and other peripheral components composition: MH7011D3.3 voltage stabilizing chip 1 pin links to each other with GND; MH7011D3.3 voltage stabilizing chip 2 pin link to each other with inductance L 1 one ends, and the L1 other end links to each other with anode, and GND links to each other with GND; MH7011D3.3 voltage stabilizing chip 3 pin link to each other with VCC with diode 1N5819 negative pole, and diode 1N5819 positive pole links to each other with MH7011D3.3 voltage stabilizing chip 2 pin; Capacitor C 6 positive poles link to each other with VCC, and negative pole links to each other with GND; Capacitor C 3 one ends link to each other with VCC, and the other end links to each other with GND.

Claims

1. A new route-finding car system based on EEG control, including headphones, a route-finding car and a scene map, characterized in that: the headphones collect and process the user's EEG signals; The car controls the speed of the car; the car automatically drives along the path in the scene map;

The headset includes an EEG acquisition and processing device, a headset motherboard and a first wireless transmission device;

The EEG acquisition device includes acquisition dry electrodes, reference dry electrodes, and Think Gear EEG processing chips; pins 1 and 2 of the P1 interface of the Think Gear EEG processing chip are connected to the acquisition dry electrodes; pins 3 are connected to GND; pins 4, 5 The pin is connected to the reference dry electrode; the P3 interface of the Think Gear EEG processing chip is connected to GND; the 2 pin is connected to VCC; the 3 pin is connected to TXD; the 4 pin is connected to RXD; The pin is connected to the positive pole of the 3.3V power supply; the pin 2 is connected to the negative pole of the 3.3V power supply;

The headphone motherboard includes USB charging circuit, STM8S103F3 single-chip microcomputer and indicating LED peripheral components; STM8S103F3 single-chip microcomputer 2 pins are connected with Think Gear EEG processing chip 3 pins; STM8S103F3 single-chip microcomputer 3 pins are connected with Think Gear brain power processing chip 4 pins; STM8S103F3 single-chip microcomputer Pin 4 is connected to pin 4 of the SWIM debugging interface; pin 7 of STM8S103F3 microcontroller is connected to GND; pin 8 of STM8S103F3 microcontroller is connected to one end of capacitor C2, and the other end of capacitor C2 is connected to GND; pin 9 of STM8S103F3 microcontroller is connected to VCC and one end of capacitor C1, capacitor C1 The other end is connected to GND; 10 pins of STM8S103F3 MCU are connected to 8 pins of CC2500 wireless communication chip; 11 pins of STM8S103F3 MCU are connected to 7 pins of CC2500 wireless communication chip; CC2500 wireless communication chip is connected with 3 pins; STM8S103F3 MCU 16 pins are connected with CC2500 wireless communication chip 2 pins; STM8S103F3 MCU 17 pins are connected with CC2500 wireless communication chip 4 pins; STM8S103F3 MCU 18 pins are connected with SWIM debugging interface 2 pins; STM8S103F3 MCU 20 pins Connect to the positive pole of LED1, the negative pole of LED1 is connected to one end of resistor R1, and the other end of resistor R1 is connected to GND; pin 1 of SWIM debugging interface is connected to VCC; pin 2 of SWIM debugging interface is connected to pin 16 of STM8S103F3 microcontroller; SWIM debugging interface 3 Pins are connected to GND; pin 4 of SWIM debugging interface is connected to pin 4 of STM8S103F3 microcontroller; pin 1 of miniUSB interface is connected to pin 4 of rechargeable lithium battery interface; pins 5, 6 and 7 of miniUSB interface are connected to GND; pin 1 of rechargeable lithium battery interface Connect one end of resistor R2, and the other end of resistor R2 is connected to the negative pole of LED1; rechargeable lithium battery interface pin 2 is connected to GND; rechargeable lithium battery interface pin 3 is connected to Li interface pin 1, Li interface pin 2 is connected to GND; rechargeable lithium battery interface Pin 4 is connected to the positive pole of LED1, pin 1 of miniUSB interface, one end of capacitor C3, and the other end of capacitor C3 is connected to GND; pin 5 of the rechargeable lithium battery interface is connected to one end of resistor R3, and the other end of resistor R3 is connected to GND; pin 1 of the SWITCH switch is connected to the charging The 3 pins of the lithium battery interface are connected; the 2 pins of the SWITCH switch are connected to the 1 and 3 pins of the TPS78233 voltage regulator chip; the 1 pin and 3 pins of the TPS78233 voltage regulator chip are connected to one end of the capacitor C4, and the other end of the capacitor C4 is connected to GND; the TPS78233 voltage regulator chip Pin 2 is connected to GND; pin 4 of the TPS78233 voltage regulator chip is connected to the negative pole of filter capacitor C6, and filter capacitor C6 The positive pole is connected to VCC; the pin 5 of the TPS78233 regulator chip is connected to VCC;

The first wireless transmission device includes the CC2500 radio frequency transmission chip and its peripheral circuits; the 1 pin of the CC2500 wireless communication chip is connected to VCC; the 2 pins of the CC2500 wireless communication chip are connected to the 16 pins of the STM8S103F3 single-chip microcomputer; the 3 pins of the CC2500 wireless communication chip are connected to the 15 pins of the STM8S103F3 single-chip microcomputer ;CC2500 wireless communication chip 4 pins are connected with STM8S103F3 microcontroller 17 pins; CC2500 wireless communication chip 5 pins are connected with STM8S103F3 single chip microcomputer 12 pins; CC2500 wireless communication chip 6 pins are connected with GND; CC2500 wireless communication chip 7 pins are connected with STM8S103F3 single chip microcomputer 11 pins; The 8 pins of CC2500 wireless communication chip are connected with the 10 pins of STM8S103F3 MCU;

The routing trolley includes a routing circuit, a trolley main board and a second wireless transmission device;

The routing circuit includes a left probe, a right probe, and a 7414 multivibrator; both the left probe and the right probe are composed of a routing infrared pair tube and corresponding peripheral circuits; the left probe includes a positive electrode of the left probe infrared emitting LED1 connected to one end of a resistor R7, The other end of resistor R7 is connected to VCC; the negative pole of left probe infrared transmitter LED1 is connected to GND; the positive pole of left probe infrared receiving Photo Sen is connected to one end of resistor R8, and the other end of resistor R8 is connected to GND; the negative pole of left probe infrared receiving Photo Sen is connected to resistor VCC ;The positive electrode of the right probe infrared emitting LED1 is connected to one end of the resistor R7, and the other end of the resistor R7 is connected to VCC; the negative electrode of the right probe infrared emitting LED1 is connected to GND; the positive electrode of the right probe infrared receiving Photo Sen is connected to one end of the resistor R8, and the other end of the resistor R8 is connected to GND Connected; the right probe infrared receiving Photo Sen negative electrode is connected to the resistor VCC;

Pin 1 of the 7414 multivibrator is connected to the positive electrode of the left probe infrared receiving Photo Sen; pin 2 of the 7414 multivibrator is connected to pin 3 of the 7414 multivibrator; pin 4 of the 7414 multivibrator is connected to pin 2 of the STM8S103F3 microcontroller; Pin 7 of the harmonic oscillator is connected to GND; pin 10 of the 7414 multivibrator is connected to pin 3 of the STM8S103F3 microcontroller; pin 11 of the 7414 multivibrator is connected to pin 12 of the 7414 multivibrator; pin 13 of the 7414 multivibrator is connected to the right probe The infrared receiving Photo Sen is connected to the positive pole; the 14th pin of the 7414 multivibrator is connected to VCC;

The main board of the car is composed of STM8S103F3 single-chip microcomputer and peripheral circuits, and the peripheral circuits include sounding circuit, boost circuit, motor drive circuit and indicating LED circuit;

The sound circuit includes the language IC and the speaker: the voice IC2 pin is connected to one end of the speaker, and the other end of the speaker is connected to the voice IC3 pin; the voice IC4 pin is connected to VCC; the voice IC5 pin is connected to GND; the voice IC6 pin is connected to the STM8S103F3 microcontroller 6 pin; IC7 pin is connected with STM8S103F3 MCU 5 pin;

The boost circuit consists of a battery, MH7011D3.3 voltage regulator chip and other peripheral components: MH7011D3.3 voltage regulator chip pin 1 is connected to GND; MH7011D3.3 voltage regulator chip pin 2 is connected to one end of the inductor L1, and the other end of L1 is connected to the battery The positive pole is connected, the negative pole of the battery is connected to GND; the 3rd pin of the MH7011D3.3 voltage regulator chip is connected to the negative pole of the diode 1N5819 and VCC, the positive pole of the diode 1N5819 is connected to the 2nd pin of the MH7011D3.3 voltage stabilizing chip; the positive pole of the capacitor C6 is connected to VCC, and the negative pole is connected to GND ; One end of capacitor C3 is connected to VCC, and the other end is connected to GND;

The motor drive circuit includes a left motor drive circuit and a right motor drive circuit: one end of the left motor is connected to one end of the capacitor C4 and one end of the resistor R2, the other end of the resistor R2 is connected to the drain of the field effect transistor Q3, the grounding end of Q3 is connected to one end of the resistor R11, and R11 The other end is connected to pin 14 of STM8S103F3 microcontroller, the source of Q3 is connected to GND, the other end of the motor is connected to the other end of capacitor C4 and VCC; one end of the right motor is connected to one end of capacitor C5, one end of resistor R3, and the other end of resistor R3 is connected to FET Q4 The drain is connected, the ground terminal of Q4 is connected to one end of resistor R12, the other end of R12 is connected to pin 13 of STM8S103F3 microcontroller, the source of Q4 is connected to GND, the other end of the motor is connected to the other end of capacitor C5 and VCC;

The indicating LED circuit includes LEDs and other peripheral components: indicating that the positive pole of LED D4 is connected with the positive pole of indicating LEDD3 and VCC, the negative pole of D4 is connected with the negative pole of D3 and one end of resistor R6, the other end of R6 is connected with the NPN transistor Q16C pole, Q16E pole is connected with GND, Q16B The pole is connected to one end of the resistor R5, and the other end of the resistor R5 is connected to the 20 pin of the STM8S103F3 microcontroller;

Pin 1 of STM8S103F3 microcontroller is connected to the positive pole of the indicating LED, the negative pole of LED is connected to one end of resistor R1, and the other end of resistor R1 is connected to GND; pin 2 of STM8S103F3 microcontroller is connected to pin 4 of 7414 multivibrator; pin 3 of STM8S103F3 single-chip microcomputer is connected to 7414 multivibrator 10 pins are connected; STM8S103F3 MCU 4 pins are connected to SWIM debugging interface 4 pins, SWIM debugging interface 1 pin is connected to VCC, 2 pins are connected to STM8S103F3 MCU 18 pins, 3 pins are connected to GND; STM8S103F3 MCU 5 pins are connected to voice IC 7 pins; Pin 6 of STM8S103F3 microcontroller is connected to pin 6 of voice IC; pin 7 of STM8S103F3 microcontroller is connected to GND; pin 8 of STM8S103F3 microcontroller is connected to one end of capacitor C2, and the other end of capacitor C2 is connected to GND; pin 9 of STM8S103F3 microcontroller is connected to VCC and one end of capacitor C9, capacitor C9 The other end is connected to GND; 10 pins of STM8S103F3 MCU are connected to 8 pins of CC2500 wireless communication chip; 11 pins of STM8S103F3 MCU are connected to 7 pins of CC2500 wireless communication chip; One end of the right motor R12 is connected; STM8S103F3 MCU 14 pins are connected with left motor R11; STM8S103F3 MCU 15 pins are connected with CC2500 wireless communication chip 3 pins; STM8S103F3 MCU 16 pins are connected with CC2500 wireless communication chip 2 pins; STM8S103F3 MCU 17 pins are connected with CC2500 The 4 pins of the communication chip are connected; the 18 pins of the STM8S103F3 MCU are connected with the 2 pins of the SWIM debugging interface; the 20 pins of the STM8S103F3 MCU are connected with the indicator LED circuit R5;

The second wireless transmission device includes the CC2500 radio frequency transmission chip and its peripheral circuits; the 1 pin of the CC2500 wireless communication chip is connected to VCC; the 2 pins of the CC2500 wireless communication chip are connected to the 16 pins of the STM8S103F3 single-chip microcomputer; ;CC2500 wireless communication chip 4 pins are connected with STM8S103F3 microcontroller 17 pins; CC2500 wireless communication chip 5 pins are connected with STM8S103F3 single chip microcomputer 12 pins; CC2500 wireless communication chip 6 pins are connected with GND; CC2500 wireless communication chip 7 pins are connected with STM8S103F3 single chip microcomputer 11 pins; The 8 pins of CC2500 wireless communication chip are connected with the 10 pins of STM8S103F3 MCU;

The scene map includes a car path and a background decoration; the car path is a coherent and uniform line drawn with a black pen on a white background; the background decoration is a series of decorative pictures.