CN106097848B - A kind of entity programming car and programming method - Google Patents

Abstract

The present invention relates to intellectual education equipment technical fields, and in particular to a kind of entity programming trolley and programmed method.It includes intelligent carriage and trolley control system that entity, which programs trolley,；Intelligent carriage includes the trolley main control module that vehicle body is arranged in, and the stepper motor and trolley zigbee module that are connected respectively with trolley main control module；Trolley main control module drives stepper motor work；Console main control module is provided on trolley control system, and the execution module and console zigbee module that are connected respectively with console main control module；Execution module executes function for obtaining, and sends console main control module to；Intelligent carriage is communicated with trolley control system with zigbee wireless transmissioning mode, executes movement corresponding with function is executed to control intelligent carriage.Education and entertainment can be combined through the invention, and then the advantage of study and amusement is performed to most preferably.

Description

A kind of entity programming car and programming method

technical field

The invention relates to the technical field of intelligent educational equipment, in particular to an entity programming car and a programming method.

Background technique

Smart devices are a hot topic in recent years. Many people define smart devices in smart homes and smart wearable applications. For educational facilities, most of the current domestic education forms are based on paper-based written exam-oriented education, which will limit children's imagination and creativity to a certain extent, and the education of electronic devices such as computers and tablets will be in To a certain extent, it limits the spatial imagination ability of children.

Based on the above, the remote control car based on infrared technology came into being, which is a kind of entertainment enlightenment for children to carry out preliminary education. However, the existing remote control car is only for entertainment. Because it adopts infrared technology, it integrates all functions on the steering wheel, and the method of controlling the remote control car through infrared technology is relatively simple. The education of logical thinking does not play a big role. Therefore, the existing remote control car based on infrared technology is biased towards entertainment to a certain extent, and does not play an important role in education.

SUMMARY OF THE INVENTION

Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a physical programming car, including: an intelligent car and a car control system;

Wherein, the intelligent car includes a car main control module arranged inside the car body, and a stepping motor and a car zigbee module respectively connected with the car main control module;

Wherein, the stepper motor is driven to work by the main control module of the trolley;

The trolley control system includes a console main control module, and an executive module and a console zigbee module respectively connected with the console main control module;

Wherein, the execution module is used to obtain the execution function and pass it to the console main control module;

The intelligent car and the car control system are wirelessly connected through the car zigbee module and the console zigbee module, and the console main control module transmits the execution function acquired by the execution module to the zigbee wireless transmission mode. The car main control module of the smart car is used to control the smart car to perform actions corresponding to the execution functions.

The entity programming car of the present invention can combine education and entertainment. It selects the advantages of existing independent paper-based written examination education and independent entertainment games, and combines the advantages of both to maximize learning and entertainment.

Further, the trolley control system also includes a trolley console and an execution button; the execution module is arranged on the trolley console, and a screw is provided on the execution module, and the execution module is connected to the function through the screw. The contact of the building block acquires the execution function corresponding to the function building block, and transmits it to the console main control module; the execution button is set on the car console, and the console main control is activated through the execution button. control module. .

Further, in the entity programming car, the functional building blocks include: forward function, left turn function, right turn function, function loop function and Brownian motion function; the execution module includes a basic execution module and a special execution module; wherein, The functional blocks placed on the basic execution module include function blocks of forward function, left turn function, right turn function, function cycle function and Brownian motion function; the function blocks placed on the special execution module include forward function, left Functional building blocks for turn function, right turn function and Brownian motion function.

Further, in the described entity programming trolley, when the function building blocks placed on the basic execution module are function building blocks with a function loop function, the special execution module obtains the same function building blocks according to the function building blocks placed on it. Corresponding execution functions, the smart car sequentially executes corresponding actions according to the execution functions obtained by the special function module.

Further, the entity programming car also includes: wheels arranged in front of the vehicle body and on both sides of the vehicle body, universal wheels arranged at the rear of the vehicle body, and steering gears arranged inside the vehicle body to control the steering of the vehicle body , a pen holder tray arranged between the wheels, a passive buzzer, a trolley power supply, a trolley power switch that controls the on or off of the trolley power supply, and a trolley power supply connected to the trolley power switch an indicator light; wherein, a through hole for placing a whiteboard pen is provided in the pen holder tray.

Further, in the physical programming car, the car power switch and the passive buzzer are all connected to the car main control module, and the car main control module is powered by the conduction of the car power switch. , the car main control module controls the passive buzzer to work.

Further, the described entity programming trolley is provided with a console power supply on the console of the trolley, and a console switch connected with the console power supply, through which the console switch is turned on and off to control the system. The trolley console is activated or deactivated;

An indicator light is provided on the execution module, and the indicator light is lit when the screw provided on the execution module is in contact with the functional building block.

Further, in the physical programming trolley, the trolley control system includes a trolley console and an execution button; wherein, the execution module is provided on the trolley console, and the execution module is provided with a device for reading settings The reading module of the RFID tag in the function building block, the execution module obtains the execution function through the reading module, and transmits it to the console main control module; the execution button is set on the car console, The console main control module is activated through the execution button, so as to transmit the execution function acquired by the execution module to the car main control module of the smart car.

Further, the physical programming car further includes a Bluetooth module and an RFID module respectively connected with the car main control module; wherein,

The bluetooth module is used to interact with the APP of the mobile terminal;

The RFID module is used to communicate with the RFID tag preset in the map grid to obtain the content of the RFID tag, and the smart car executes the corresponding RFID tag content according to the acquired RFID tag content. Function.

The present invention also provides a method for programming using the above-mentioned entity programming trolley, comprising:

placing functional building blocks on the execution module of the trolley console;

The execution module obtains the execution function corresponding to the function building block;

The console main control module transmits the execution function acquired by the execution module to the smart car through zigbee wireless transmission;

The car main control module of the smart car receives the execution function, and drives the stepper motor to work, so as to execute the action corresponding to the execution function.

Adopting the above technical scheme, including the following beneficial technical effects:

1) Can train children's logical thinking and spatial thinking;

2) The car is controlled by Zigbee wireless communication method and 16 AD modules, and RFID plays the role of reading tags at all times for the walking map, which increases children's thinking on key details to a certain extent;

3) Interact with the APP through Bluetooth wireless communication, and experience the reality and simulation together, so as to achieve the purpose of combining education and entertainment.

Description of drawings

Fig. 1 exemplarily shows a schematic diagram of the structure of the smart car of the present invention;

Fig. 2 exemplarily shows the logical structure block diagram of the car main control module of the present invention;

FIG. 3 exemplarily shows a schematic structural diagram of the trolley control system of the present invention;

FIG. 4 exemplarily shows a logical structure block diagram of the console main control module of the present invention.

The reference numerals shown in Figures 1 to 4 are as follows: 1. Car body; 2. Wheels; 3. Car control system; 4. Pen holder tray; 5. Whiteboard pen; ;22, stepper motor; 23, car zigbee module; 24, bluetooth module; 25, RFID module; 26, car power supply; 27, car power switch; 28, passive buzzer; 31, car console; 32, Execution button; 41, console main control module; 42, executive module; 43, console zigbee module; 44, console power supply; 45, console switch.

Detailed ways

The present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

In order to illustrate the entity programming car provided by the present invention, FIG. 1 shows the structure of the smart car of the entity programming car according to an embodiment of the present invention; FIG. 2 shows the car of the entity programming car according to an embodiment of the present invention. Logic structure of the main control module; Fig. 3 shows the structure of the trolley control system of the entity programming trolley according to an embodiment of the present invention; Fig. 4 shows the logic of the console main control module according to an embodiment of the present invention structure.

As shown in FIG. 1 to FIG. 4 , the present invention provides a physical programming car, including an intelligent car and a car control system 3 . The smart car includes a car main control module 21 disposed inside the car body 1 , a stepping motor 22 and a car zigbee module 23 respectively connected to the car main control module 21 . Among them, the stepper motor 22 is driven to work by the main control module of the car.

Further, the above-mentioned smart car further includes a Bluetooth module 24 and an RFID module 25 which are respectively connected with the car main control module 21 . Among them, the Bluetooth module 24 is used to interact with the APP of the mobile terminal; the RFID module 25 is used to communicate with the RFID tags preset in the map grid, and obtain the content of the RFID tags in the map grid. The contents of the RFID tags in the grid perform functions corresponding to the contents of the RFID tags. It should be noted that the above-mentioned mobile terminals include mobile devices such as mobile phones and tablets that can interact with users.

In addition, the smart car also includes wheels 2 arranged in front of the vehicle body 1 and located on both sides of the vehicle body 1, a universal wheel arranged at the rear of the vehicle body 1, a steering gear arranged in the vehicle body 1 to control the steering of the vehicle body, and a steering gear arranged in the vehicle body 1. The pen holder tray 4 between the wheels 2, and the passive buzzer, the trolley power supply 26, the trolley power switch that controls the trolley power supply to be turned on or off, and the trolley power supply indicator light connected to the trolley power switch; , the pen holder tray 4 is provided with a through hole 6 for placing the whiteboard pen 5, and the whiteboard pen is fixed in the pen holder tray through the through hole 6, so that the movement track of the smart car can be marked by the whiteboard pen 5. The trolley power switch 27 and the passive buzzer 28 are both connected to the trolley main control module 21, and the trolley power switch 27 is turned on to supply power to the trolley main control module, so that the trolley main control module can control the passive buzzer Work. It should be noted that since the steering gear, passive buzzer, power supply and power indicator lights are all set inside the vehicle body, they are not shown in the figure. In addition, since the connection of the wheel, the universal wheel and the steering gear of the smart car is a connection method well known to those skilled in the art, it will not be repeated here.

In addition, the trolley control system 3 includes a trolley console 31 and an execution button 32; the trolley console 31 is provided with a console main control module 41, and an execution module 42 and a console zigbee module respectively connected to the console main control module 41 43. The execution module 42 is provided with a screw, and the execution module 42 obtains the execution function corresponding to the function building block through the contact between the screw and the function building block.

The smart car and the car console 31 are wirelessly connected through the car zigbee module 23 and the console zigbee module 43, and the execution module 42 transmits the acquired execution functions to the car main control module 21 of the smart car in a zigbee wireless transmission mode to control the smart car. Execute the action corresponding to the execute function.

Wherein, the trolley console 31 is provided with an execution button 32 connected to the console main control module 41 , and the console main control module 41 is activated through the execution button 32 . Function blocks include forward function, left turn function, right turn function, function loop function and Brownian motion function. The execution module 42 includes a basic execution module and a special execution module; wherein, the functional building blocks placed on the basic execution module include functional building blocks for forward function, left turn function, right turn function, function loop function and Brownian motion function; in the special execution module The functional blocks placed above include functional blocks of forward function, left turn function, right turn function and Brownian motion function. When the function building block placed on the basic execution module is the function building block of the function loop function, the special execution module obtains the execution function corresponding to the function building block according to the function building block placed on it, and the smart car executes the execution function obtained by the special function module. The functions perform the corresponding actions in turn.

In addition, a console power supply 44 and a console switch 45 connected to the console power supply 44 are provided on the trolley console 31, and the trolley console 31 is controlled to be turned on or off by turning on and off the console switch 45; The module 42 is provided with an indicator light. When the screw provided on the execution module 42 is in contact with the functional building block, the indicator light is lit.

As another example of the present invention, the physically programmed car provided by the present invention includes an intelligent car and a car control system. Among them, the smart car is like the smart car described in the above Figures 1 and 2, and the car control system includes a console main control module, an executive module and a console zigbee module respectively connected to the console main control module, a car console and an executive button. .

Wherein, the execution module is set on the car console, and a reading module is set in the execution module. The reading module is used to read the reading module of the RFID tag set in the function building block, and the execution module obtains the reading module through the reading module. The execution function is transmitted to the console main control module; the execution button is set on the car console, and the console main control module is activated through the execution button to transmit the execution function obtained by the execution module to the car main control module of the smart car. The execution functions acquired by the execution module include but are not limited to forward function, left turn function, right turn function, function loop function, Brownian motion function, auxiliary execution function for controlling third-party equipment, and the like. That is to say, the execution module may acquire the execution function by contacting the above-mentioned function building block with the screw provided on the execution module, or by reading the RFID tag provided in the function building block to obtain the execution function. Similarly, the execution function obtained by the execution module by reading the RFID tag set in the function building block may be the aforementioned forward function, left turn function, right turn function, function loop function, Brownian motion function, etc., and may also be some other functions. Control assistive executive functions for third-party devices. The forward function, left turn function, right turn function, function loop function, and Brownian motion function acquired by the execution module have been described in detail above, and will not be repeated here. The following will focus on the auxiliary executive functions that control third-party devices.

Further, in order to provide users with a better immersive experience, the car control system of the present invention, in addition to the above-mentioned main control module, also includes some third-party zigbee interconnected output/input devices, and other devices separated from the main control module. , similar to VR auxiliary equipment, etc. The above-mentioned smart car and car control system can be used in conjunction with the above-mentioned third-party equipment to achieve a better user experience. For example, the execution function obtained by the execution module by reading the RFID tag is the function of swiping the accelerometer. If the smart car encounters a monster during the traveling process, the main control module of the console will use the swiping accelerometer function obtained by the execution module. Control the accelerometer to work. After the accelerometer performs the swipe function, it will transmit data such as the number of times and the intensity of the swipe to the console main control module through its own zigbee module, so that the console main control module can control the smart car to change according to these data. Operating status. On the other hand, the present invention also provides a method for programming by using the above-mentioned entity programming trolley, and the method specifically includes the following steps:

1. The execution module obtains the execution function and transmits it to the console main control module;

2. The console main control module transmits the execution function acquired by the execution module to the smart car through zigbee wireless transmission;

3. The car main control module of the smart car receives the execution function and drives the stepping motor to work to execute the action corresponding to the execution function.

In order to further illustrate the entity programming trolley and the programming method of the present invention, the following will describe the entity programming trolley and the programming method provided by the present invention in more detail by way of example.

Specifically, the physical programming car provided by the present invention consists of two devices, one is a smart car, and the other is a car console that is wirelessly connected to the smart car through zigbee wireless transmission.

Among them, the equipment accessories part of the smart car includes a car main control module (this module is composed of a main control chip STM32F103X), two 42 stepper motors (a drive circuit composed of two A4988 chips drives two 42 stepper motors working), zigbee module (this module is composed of 1 CC2531 chip), Bluetooth module (this module is composed of 1 CC2540 chip), RFID module (this module is designed by MSP430F23X chip and chip TRF7961, and equipped with 1 high frequency board antenna), 2 supporting wheels, 1 steering gear, 1 whiteboard pen, 1 universal wheel, 1 12V lithium battery, 1 pen holder tray for fixing the whiteboard pen, 1 passive buzzer, 1 1 power switch and 1 power indicator.

The car console consists of a Mega2560 main control chip to form the console main control module, a CC2531 chip to form the console zigbee module, 16 execution modules (by detecting the resistance value to obtain the corresponding executive function), 16 indicator lights, 1 Executive buttons, 1 7.4V lithium battery as console power supply, 1 2G antenna.

The operation process of the entity programming car is as follows:

1. Turn on the power switch of the trolley console. When the indicator light of the trolley console is on, it means that the trolley console is turned on successfully;

2. Turn on the car power switch of the smart car, when the passive buzzer is heard, it means that the smart car is successfully turned on;

3. There are 16 execution modules on the trolley console (4 execution modules in each row, a total of 4 rows, the first 3 rows are the basic execution modules, and the latter row is the special execution function), and the function building blocks matching the execution modules There are 13 types, namely forward one grid, forward two grids, forward three grids, turn left 90 degrees, turn left 60 degrees, turn left 30 degrees, turn right 90 degrees, turn right 60 degrees, turn right 30 degrees, function loop 1 time, function cycle 2 times, function cycle 3 times, Brownian motion 10 times; the function building block and the execution module are in contact through screws, and the execution module obtains the corresponding execution function by collecting different resistance values;

4. The first execution module in the upper left corner of the trolley console is the first basic execution module executed by the entity programming trolley in sequence, and then the entity programming trolley will execute the remaining 11 basic execution modules in sequence (only 12 basic execution modules are required). Function blocks are placed on the execution module, and the physical programming trolley will be executed in sequence);

5. The 4 special execution modules in the last row indicate that as long as the function building blocks with function loop function are placed on the basic execution module (including 1 function loop, 2 function loops and 3 function loops), the program will Jump to the special execution module to execute the function corresponding to the function building block placed on the special execution module (the function building block with function loop function cannot be placed on the special execution module, because the program will not be executed), the special execution module is placed Several functional blocks, the program will execute the execution functions corresponding to several functional blocks in turn, and will jump back to the next functional block of the basic execution module after the functions of the special execution module are executed;

6. When a functional block is placed in each execution module, the indicator light of the execution module will be lit to indicate that the execution module has acquired the corresponding execution function.

After the trolley console and the smart trolley are all turned on, after placing the functional blocks in the execution module of the trolley console, press the execution button of the trolley console, the trolley console communicates with the smart trolley through wireless zigbee, and the smart trolley The car will give feedback in time through the Bluetooth module and the APP of the mobile terminal. When the operation of the smart car ends, the passive buzzer will sound once to indicate that the execution has been completed.

As another example of the present invention, when you want to control the smart car to draw a square through the car console, there are the following two ways:

Algorithm 1: Place the following functional blocks in sequence on the basic execution module: move forward one block, turn left 90 degrees, move forward one block, turn left 90 degrees, move forward one block, turn left 90 degrees, move forward one block, turn left 90 degrees, and place After completing the functional blocks, press the execution button, and the smart car can draw a square.

Algorithm 2: In the basic execution module, place the function blocks for 3 functions and 1 function in sequence, and in the special execution module, place the function blocks for moving forward one space and turning left 90 degrees in sequence. The cart can also draw a square.

As another example of the present invention, a map with a size of 6*6 grids is set, the grid in the lower right corner of the map is set as the starting point, and the signs of upper north, lower south, left west and right east are marked. In the mode without interaction with the APP of the mobile terminal, symbolic patterns and three-dimensional objects are placed in the 6*6 map grid to represent the scene and obstacles, which are used to set the scene and storyline of the smart car; The executive module of the car console places functional blocks, and controls the car to perform corresponding functions through the placed functional blocks, thereby completing the story task.

In the mode of interacting with the APP of the mobile terminal, the player places symbolic patterns and items in the 6*6 map grid to represent the scene or obstacles, which are used to set the scene and storyline of the smart car. In addition, the smart car can also conduct zigbee wireless communication with third-party devices that support zigbee communication (such as sound devices or lighting devices, etc.) through the zigbee module, so as to prompt the player to interact with the surrounding items according to the set storyline. , the state of the smart car will also change correspondingly according to the specific story development plot (ie the specific interactive plot). It should be noted that RFID tags are placed in some map grids. When the smart car performs corresponding actions according to the functional blocks placed on the execution module of the car console, when it travels to the grid where the RFID tags are placed, the smart car It will choose to interrupt the execution of the functions corresponding to the function blocks placed on the execution module of the trolley console, but execute the functions corresponding to the RFID tags first, and then execute the functions of the function blocks placed on the remaining execution modules; at the same time, the intelligent The car will also feed back its own information status to the APP of the mobile terminal through Bluetooth, so as to interact with the APP.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. An entity programming trolley is characterized by comprising an intelligent trolley and a trolley control system; the intelligent trolley comprises a trolley main control module arranged in a trolley body, and a stepping motor and a trolley zigbee module which are respectively connected with the trolley main control module;

the trolley main control module drives the stepping motor to work;

the trolley control system comprises a console main control module, an execution module and a console zigbee module, wherein the execution module and the console zigbee module are respectively connected with the console main control module;

the execution module is used for acquiring an execution function and transmitting the execution function to the console main control module;

the intelligent trolley is wirelessly connected with the trolley control system through the trolley zigbee module and the console zigbee module, the console main control module transmits the execution function acquired by the execution module to the trolley main control module of the intelligent trolley in a zigbee wireless transmission mode so as to control the intelligent trolley to execute the action corresponding to the execution function,

dolly control system still include with the supporting functional building blocks of execution module, functional building blocks include: a forward function, a left turn function, a right turn function, a function loop function, and a brownian motion function;

the execution module comprises a basic execution module and a special execution module;

the functional building blocks arranged on the basic execution module comprise functional building blocks with a forward function, a left turning function, a right turning function, a function circulation function and a Brownian motion function;

the functional building blocks arranged on the special execution module comprise functional building blocks with a forward function, a left-turn function, a right-turn function and a Brownian motion function;

when the functional building blocks placed on the basic execution module are functional building blocks with function circulation functions, the special execution module acquires the execution functions corresponding to the functional building blocks according to the functional building blocks placed on the special execution module, and the intelligent trolley sequentially executes corresponding actions according to the execution functions acquired by the special execution module;

the trolley control system also comprises a trolley control console and an execution button;

the execution module is arranged on the trolley console, a screw is arranged on the execution module, and the execution module acquires an execution function corresponding to the functional building block through the contact between the screw and the functional building block and transmits the execution function to the console main control module;

the execution key is arranged on the trolley console, and the console main control module is started through the execution key.

2. The entity programming cart of claim 1, wherein the smart cart further comprises: the device comprises wheels arranged in front of and at two sides of a vehicle body, universal wheels arranged at the rear of the vehicle body, a steering engine arranged in the vehicle body and used for controlling the steering of the vehicle body, a pen rack tray arranged between the wheels, a passive buzzer, a trolley power supply switch used for controlling the on-off of the trolley power supply and a trolley power supply indicator lamp connected with the trolley power supply switch, wherein the passive buzzer, the trolley power supply switch and the trolley power supply indicator lamp are arranged in the vehicle body;

and a through hole for placing the whiteboard pen is arranged in the pen rack tray.

3. The entity programming trolley according to claim 2, wherein the trolley power switch and the passive buzzer are both connected with the trolley main control module, the trolley main control module is powered by the conduction of the trolley power switch, and the trolley main control module controls the passive buzzer to work.

4. The physical programming cart of claim 1,

a control console power supply and a control console switch connected with the control console power supply are arranged on the trolley control console, and the trolley control console is controlled to be started or closed by switching on and off the control console switch;

and an indicator light is arranged on the execution module, and when a screw arranged on the execution module is in contact with the functional building block, the indicator light is lightened.

5. An entity programming trolley is characterized by comprising an intelligent trolley and a trolley control system; the intelligent trolley comprises a trolley main control module arranged in a trolley body, and a stepping motor and a trolley zigbee module which are respectively connected with the trolley main control module;

the trolley main control module drives the stepping motor to work;

the trolley control system comprises a console main control module, an execution module and a console zigbee module, wherein the execution module and the console zigbee module are respectively connected with the console main control module;

the execution module is used for acquiring an execution function and transmitting the execution function to the console main control module;

the intelligent trolley is wirelessly connected with the trolley control system through the trolley zigbee module and the console zigbee module, the console main control module transmits the execution function acquired by the execution module to the trolley main control module of the intelligent trolley in a zigbee wireless transmission mode so as to control the intelligent trolley to execute the action corresponding to the execution function,

dolly control system still include with the supporting functional building blocks of execution module, functional building blocks include: a forward function, a left turn function, a right turn function, a function loop function, and a brownian motion function;

the execution module comprises a basic execution module and a special execution module;

the functional building blocks arranged on the basic execution module comprise functional building blocks with a forward function, a left turning function, a right turning function, a function circulation function and a Brownian motion function;

the functional building blocks arranged on the special execution module comprise functional building blocks with a forward function, a left-turn function, a right-turn function and a Brownian motion function;

when the functional building blocks placed on the basic execution module are functional building blocks with function circulation functions, the special execution module acquires the execution functions corresponding to the functional building blocks according to the functional building blocks placed on the special execution module, and the intelligent trolley sequentially executes corresponding actions according to the execution functions acquired by the special execution module;

the trolley control system comprises a trolley control console and an execution button;

the execution module is arranged on the trolley console, a reading module for reading RFID tags arranged in the functional building blocks is arranged in the execution module, and the execution module acquires execution functions through the reading module and transmits the execution functions to the console main control module;

the execution key is arranged on the trolley control console, and the control console main control module is started through the execution key so as to transmit the execution function acquired by the execution module to the trolley main control module of the intelligent trolley.

6. The entity programming cart of claim 1, wherein said smart cart further comprises a bluetooth module and an RFID module respectively connected to said cart master control module;

the Bluetooth module is used for interacting with an APP of the mobile terminal;

the intelligent trolley is used for carrying out communication with the RFID tags preset in the map grid to obtain the content of the RFID tags in the map grid, and the intelligent trolley executes the function corresponding to the content of the RFID tags in the map grid according to the obtained content of the RFID tags in the map grid.

7. A method of programming a physical programming cart, the programming being performed using a physical programming cart according to any of claims 1-6, the method comprising:

the execution module acquires an execution function and transmits the execution function to the console main control module;

the console main control module transmits the execution function acquired by the execution module to the intelligent trolley in a zigbee wireless transmission mode;

and the trolley main control module of the intelligent trolley receives the execution function and drives the stepping motor to work so as to execute the action corresponding to the execution function.