Teaching aid water dance water spray height stabilizing device and teaching aid water dance

Abstract

The utility model discloses a device for stabilizing the spray height of a water dance teaching aid and a water dance teaching aid, the device comprising a motor, a turntable, an infrared sensor, a comparator and an MCU; the motor is used to control the spray height of the water dance teaching aid by using its own rotation speed; the turntable is connected to the motor, and two different areas are arranged at intervals on the turntable, and the two areas have different amounts of reflection; the infrared sensor is used to sense the amount of reflection in different areas of the turntable and output strong and weak alternating electrical signals; the comparator is connected to the infrared sensor, and is used to convert the electrical signal into a pulse signal; the MCU is connected to the motor, and is used to calculate the actual rotation speed of the motor according to the pulse signal, and adjust the actual rotation speed to reach a preset target rotation speed. The utility model measures the motor rotation speed and adjusts the motor rotation speed by means of the MCU chip, and finally keeps the motor rotation speed constant, thereby ensuring consistent water spray height.

Description

Technical Field

[0001] The utility model belongs to the technical field of fountain control, and particularly relates to a teaching aid water dance water spray height stabilizing device and a teaching aid water dance. Background Art

[0002] Water dance is a kind of outdoor artificial fountain, and teaching water dance is a kind of children's fountain toy used for education. Usually, the water spray height of water dance is determined by the motor speed in the water pump. The existing technology is to set a pulse width modulation (PWM) value according to the preset target speed, and then control the motor speed through the PWM value. However, because the motor speed is also affected by external factors, such as battery voltage, motor consistency, mechanical resistance, etc., the water spray height of different water nozzles is quite different. Therefore, the problem of inconsistent water spray height of water dance needs to be solved urgently. Utility Model Content

[0003] The utility model provides a teaching aid water dance water spray height stabilizing device and a teaching aid water dance, aiming to solve the problem of inconsistent water dance water spray height by measuring the motor speed and adjusting the motor speed by means of an MCU chip.

[0004] In order to solve the above technical problems, in the first aspect, the utility model provides a teaching water dance device, which comprises:

[0005] A motor, used for controlling the water spray height of the teaching aid water dance by using its own rotation speed;

[0006] A turntable connected to the motor, wherein the turntable is provided with two different areas spaced apart from each other, and the light reflection amounts of the two areas are different;

[0007] Infrared sensor, used to sense the amount of reflected light in different areas of the turntable and output alternating strong and weak electrical signals;

[0008] a comparator, connected to the infrared sensor, and configured to convert the electrical signal into a pulse signal; and

[0009] The MCU is connected to the motor and is used to calculate the actual rotation speed of the motor according to the pulse signal and adjust the actual rotation speed to achieve a preset target rotation speed.

[0010] Furthermore, the MCU includes a calculation unit and a PID control unit, the calculation unit is used to calculate the actual speed of the motor according to the pulse signal, and calculate the difference between the actual speed and the target speed, and the PID control unit is used to adjust the speed of the motor according to the difference.

[0011] Furthermore, the PID control unit includes a proportional link, an integral link, a differential link and an actuator.

[0012] Furthermore, the device also includes an amplifier, which is connected between the comparator and the MCU and is used to amplify the electrical signal.

[0013] In a second aspect, the utility model provides a teaching aid water dance, which includes the above-mentioned teaching aid water dance water spray height stabilization device and a water spray device, and the motor is connected to the water spray device.

[0014] Compared with the prior art, the teaching aid water dance water spray height stabilization device and the teaching aid water dance of the utility model measure the motor speed and adjust the motor speed by means of the MCU chip, thereby ultimately maintaining the motor speed constant, thereby ensuring consistent water spray height. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of an embodiment of a water dance teaching aid water spray height stabilizing device and a water dance teaching aid of the utility model;

[0017] Figure 2 for Figure 1 A schematic diagram of the structure of the PID control unit in the embodiment shown;

[0018] Figure 3 It is a schematic diagram of the structural framework of an MCU embodiment of the present utility model. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiment is a sub-embodiment of a unit of the utility model, rather than an embodiment of the whole unit. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] The directional terms mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "center", etc., are only used to refer to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate and understand the present invention, but not to limit the present invention. In addition, in the drawings, structures with similar or identical structures are represented by the same reference numerals.

[0021] See also Figures 1 to 3 , Figure 1 The utility model shows the structure of a teaching aid water dance water spray height stabilizing device and an embodiment of the teaching aid water dance. Figure 1 As shown, the water dance teaching aid water spray height stabilization device 10 includes a motor 12, a turntable 13, an infrared sensor 14, a comparator 16 and an MCU 11; wherein the motor 12 is used to control the water spray height of the teaching aid water dance by using its own rotation speed; the turntable 13 is connected to the motor 12, and two different areas are arranged at intervals on the turntable 13, and the amount of reflection of the two areas is different; the infrared sensor 14 is used to sense the amount of reflection in different areas of the turntable 13 and output alternating strong and weak electrical signals; the comparator 16 is connected to the infrared sensor 14, and is used to convert the electrical signal into a pulse signal; the MCU 11 is connected to the motor 12, and is used to control the motor 12 to rotate according to the target speed; the MCU 11 is also connected to the comparator 16, and is used to calculate the actual speed of the motor 12 according to the pulse signal, and adjust the actual speed to achieve the target speed.

[0022] In this embodiment, the teaching aid water dance is a fountain toy for education, which controls the speed of the motor 12 to stabilize the water spray height of the water dance. Specifically, two different areas are arranged on the turntable 13 at intervals, and the reflective amount of the two areas is different; wherein, the two different areas can be black and white areas, and the setting of the areas can be adjusted according to different needs. The infrared sensor 14 is arranged next to the turntable 13, and is used to emit infrared light to the turntable 13 and receive the infrared light reflected back by the turntable 13. Due to the two areas with different reflective amounts on the turntable 13, when the turntable 13 rotates, the infrared sensor 14 can receive the strong and weak alternating electrical signals reflected from the turntable 13; after the electrical signal is amplified by a certain multiple by the amplifier 15, a pulse signal can be obtained by passing through the comparator 16, and then the speed calculation module obtains the speed of the turntable 13 according to the interval of the pulse signal, that is, the actual speed of the motor 12, that is, the interval of the pulse signal can reflect the speed of the turntable 13.

[0023] Understandably, MCU11 can output a PWM value (pulse width modulation technology or duty cycle control, the ratio of the time occupied by a pulse to the total time during a continuous working time) to control the speed of motor 12. It can be known that the speed of motor 12 is mainly determined by the PWM value output by MCU11; MCU11 can generate PWM pulses of a certain frequency through an internal timer or counter, and change the duration of the high level by adjusting the duty cycle, thereby controlling the speed of motor 12. For example, if the duty cycle of the PWM pulse is set to 70%, the motor 12 will obtain 70% of the power supply voltage during the high level period and 0% of the power supply voltage during the low level period. Since the duration of the high level is longer, the average voltage at both ends of the motor 12 is higher, and the speed of the motor 12 is faster. By adjusting the frequency and duty cycle of the PWM pulse, fine control of the speed of the motor 12 can be achieved.

[0024] Specifically, Figure 3 As shown, a PID control unit 112 is set in the MCU11 to further control the rotation speed of the motor 12. The actual rotation speed of the motor 12 is obtained by the above-mentioned turntable 13, infrared sensor 14 and comparator 15, and the actual rotation speed of the motor 12 and the difference between the actual rotation speed and the target rotation speed to be achieved are calculated by the calculation unit 111205 of the MCU11. The PID control unit 112 can output a new PWM value according to the difference between the actual rotation speed and the target rotation speed to be achieved to adjust the rotation speed of the motor 12. For example, when the actual rotation speed is greater than the target rotation speed, the value of the output PWM is continuously reduced by the PID control unit 112 to make the actual rotation speed close to the target rotation speed, and vice versa. Therefore, the rotation speed of the motor 12 is adjusted by the PID control unit 112 to effectively solve the problem of inconsistent water spray height of the water dance.

[0025] In an optional embodiment, the teaching aid water dance further includes an amplifier 15 , which is connected between the comparator 16 and the MCU 11 , and is used to amplify the electrical signal and transmit the amplified electrical signal to the comparator 16 .

[0026] In a specific embodiment, if Figure 2 As shown, the PID control unit 112 specifically includes a proportional link 2041, an integral link 2042, a differential link 2043 and an actuator 2044, and the proportional link 2041, the integral link 2042 and the differential link 2043 are used together to adjust the output PWM value, wherein the control parameter of each link can usually be selected as 0 as the initial value, and then gradually increased and the output of the system is observed until the system reaches a relatively stable dynamic process.

[0027] It can be known that the proportional link 2041 is the simplest control method. Its output is proportional to the input error signal. When there is only the proportional link 2041, there is a steady-state error in the system output; the output of the differential link 2043 is proportional to the integral of the input error signal. If there is a steady-state error after entering the steady state, the control system is called a steady-state error or simply a differential system. In order to eliminate the steady-state error, an "integral term" must be introduced in the controller. The integral term depends on the integral of the error over time, and the integral term increases as time increases. In this way, even if the error is very small, the integral term will increase as time increases, and it will drive the output to increase and further reduce the steady-state error until it is equal to zero. Therefore, the proportional link 2041 and the differential link 2043 can make the system have no steady-state error after entering the steady state. The output of the differential link 2043 is proportional to the differential of the input error signal (that is, the rate of change of the error). Oscillation or even instability may occur in the adjustment process of overcoming the error. The reason is that there are large inertia components (links) or lag components, which have the effect of suppressing errors, and their changes always lag behind the changes in errors. The solution is to make the change of the effect of suppressing errors "ahead", that is, when the error is close to zero, the effect of suppressing errors should be zero. That is to say, it is often not enough to introduce only the "proportional" term. The role of the proportional term is only to amplify the amplitude of the error, and what needs to be added at present is the "differential term", which can predict the trend of error changes. In this way, with the proportional link 2041 and the differential link 2043, the control effect of suppressing errors can be made equal to zero or even negative in advance, thereby avoiding serious overshoot of the controlled quantity.

[0028] In an optional embodiment, the teaching water dance also includes a brain-computer interface device 20, which is connected to the MCU11, for receiving brain wave data of the human brain and transmitting it to the MCU11; for example: the brain-computer interface device can transmit the brain control value obtained from the brain to the MCU11 through wireless transmission, and the MCU11 can divide the brain control value into 4 levels, corresponding to different motor 12 speeds, thereby controlling different water spray heights.

[0029] like Figure 1 As shown, the present invention also provides a teaching water dance, which includes the above-mentioned teaching water dance water spray height stabilizing device 10 and a water spray device 3019, and the water spray device 3019 is connected to the motor 12, and the motor is used to control the water spray height of the water spray device 3019.

[0030] In an optional embodiment, the teaching aid water dance further includes a host computer 20, which is connected to the MCU11. The host computer 20 is used to input a control value to the MCU11, and the MCU11 further controls the water spray height of the water spray device 3019 according to the control value. In this specific embodiment, the host computer 20 is a brain-computer interface device, one end of which is connected to the human brain and inputs a brain control to the MCU11. The MCU can divide the brain control into 4 gears, which correspond to different motor speeds to achieve different water spray heights.

[0031] The utility model discloses a teaching aid water dance water spray height stabilizing device and a teaching aid water dance, which measure the actual rotation speed of the motor to detect the rotation speed change of the motor, and then dynamically adjust the output value of PWM through the PID control unit, and finally keep the rotation speed of the motor constant, thereby ensuring the consistency of the water spray height.

[0032] It is understandable that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present invention are within the scope of protection of the present invention.

Claims

1. A water dance teaching aid spray height stabilization device, characterized in that: The device comprises: A motor, used for controlling the water spray height of the teaching aid water dance by using its own rotation speed; A turntable connected to the motor, wherein the turntable is provided with two different areas spaced apart from each other, and the light reflection amounts of the two areas are different; Infrared sensors are used to sense the amount of light reflected from different areas of the turntable and output alternating strong and weak electrical signals; a comparator, connected to the infrared sensor, and configured to convert the electrical signal into a pulse signal; and an MCU connected to the motor and used to control the motor to rotate according to a target speed, and also connected to the comparator and used to calculate the actual speed of the motor according to the pulse signal and adjust the actual speed to reach the target speed; the MCU outputs a PWM value through an internal timer or counter, and the PWM value controls the speed of the motor; The MCU includes a calculation unit and a PID control unit. The calculation unit is used to calculate the actual speed of the motor according to the pulse signal and calculate the difference between the actual speed and the target speed. The PID control unit is used to adjust the speed of the motor according to the difference.

2. The device according to claim 1, characterized in that The PID control unit includes a proportional link, an integral link, a differential link and an actuator.

3. The device according to claim 1, characterized in that The device further comprises an amplifier, which is connected between the comparator and the MCU and is used for amplifying the electrical signal.

4. A teaching aid water dance, characterized in that: The teaching aid water dance comprises the teaching aid water dance water spray height stabilizing device and the water spraying device as described in any one of claims 1 to 3, and the motor is connected to the water spraying device.

5. The teaching aid water dance according to claim 4, characterized in that: The teaching aid water dance also includes a host computer, and the host computer is connected to the MCU.

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