A fortune cat system based on millimeter wave radar

Abstract

The utility model provides a kind of fortune cat system based on millimeter wave radar, comprising: fortune cat shape shell (1), the shell (1) is rotatably connected by rotating support (6) and base (2);Base motor (5) is fixed on the base (2), the output of base motor (5) is connected with rotating support (6), drives its rotation;The side of shell (1), swing arm (3) is movably installed, one end of swing arm (3) is inserted into the inside of shell (1), top end is fixed with driven bevel gear;Rotating support (6) is fixed with arm control motor (4), the output of arm control motor (4) is fixed with driving bevel gear, driving bevel gear and driven bevel gear meshing rotation, drive swing arm (3) swing.This system has stronger environmental adaptability and man-machine interaction characteristics, has significant advantages in improving user experience and intelligent perception ability.

Description

Technical Field

[0001] This utility model relates to a lucky cat system, and more particularly to a lucky cat system based on millimeter-wave radar. Background Technology

[0002] This section provides only background information relevant to this disclosure and is not necessarily prior art.

[0003] Maneki-neko (beckoning cat) is a popular decoration and ornament in commercial venues, symbolizing wealth and prosperity, and can be seen everywhere in shopping malls and shops.

[0004] The existing lucky cat designs have limited functionality and are products without any sensory capabilities; they simply swing their arms randomly and have a limited beckoning speed.

[0005] In addition, the lucky cat design in the current technology requires a switch to be turned on and off manually.

[0006] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0007] Purpose of the invention: The technical problem to be solved by this utility model is to provide a lucky cat system based on millimeter-wave radar, which addresses the shortcomings of the existing technology.

[0008] To address the aforementioned technical problems, this utility model discloses a lucky cat system based on millimeter-wave radar, comprising:

[0009] The outer shell is shaped like a lucky cat and is rotatably connected to a base via a rotating bracket. A base motor is fixed on the base, and the output end of the base motor is connected to the rotating bracket to drive it to rotate.

[0010] A swing arm is movably mounted on the side of the housing, one end of which extends into the interior of the housing, and a driven bevel gear is fixed at the top end.

[0011] An arm control motor is fixed on the rotating bracket, and an active bevel gear is fixed at the output end of the arm control motor. The active bevel gear meshes with the driven bevel gear and rotates to drive the swinging arm to swing.

[0012] Furthermore, the base is also equipped with a radar module for detecting people in the surrounding area.

[0013] Furthermore, the system also includes:

[0014] A control module used to control the system.

[0015] Furthermore, the radar module, the arm control motor, and the base motor are electrically connected to the control module.

[0016] Furthermore, the control module includes:

[0017] MCU module, power supply module, and motor drive circuit; among which,

[0018] The power supply module is electrically connected to the radar module, the MCU module, the drive circuit, and the arm control motor, respectively, to provide power.

[0019] The MCU module is connected to the radar module to receive detection signals; the MCU module is connected to the drive circuit to send motor control signals; the MCU module is connected to the arm control motor to send PWM signals.

[0020] The motor drive circuit is connected to the base motor signal and is used to send motor drive signals.

[0021] Furthermore, the power supply module includes:

[0022] USB1 is a connector used to connect to an external USB interface; wherein,

[0023] The GND terminal of the USB connector USB1 is electrically connected to the external power ground, the power terminal VBUS is connected to the external input USB 5V power supply, and is also electrically connected to the first terminal of the first TVS electrostatic protection diode D1. The second terminal of the first TVS electrostatic protection diode D1 is electrically connected to the power ground.

[0024] The DP2 terminal of the USB connector USB1 is electrically connected to the first terminal of the second TVS electrostatic protection diode D2 and the USB_DP port, and the second terminal of the second TVS electrostatic protection diode D2 is electrically connected to the external power ground.

[0025] The DN1 terminal of the USB connector USB1 is electrically connected to the first terminal of the third TVS electrostatic protection diode D3 and the USB_DN port, and the second terminal of the third TVS electrostatic protection diode D3 is electrically connected to the external power ground.

[0026] The DP1 end of the USB connector USB1 is electrically connected to the USB_DP port;

[0027] The DN2 terminal of the USB1 connector is electrically connected to the USB_DN port;

[0028] The CC1 terminal of the USB connector USB1 is electrically connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is electrically connected to the external power ground.

[0029] The SHELL pin of the USB1 connector is electrically connected to the external power ground.

[0030] Furthermore, the power supply module also includes:

[0031] Voltage regulator U2 is used for voltage regulation and conversion; where,

[0032] The externally input USB 5V power supply is electrically connected to the power input terminal IN of the voltage regulator U2 and the first terminal of the third capacitor C3. The second terminal of the third capacitor C3 is electrically connected to the GND port of the voltage regulator U2 and the external power ground. The enable terminal EN of the voltage regulator U2 is electrically connected to the USB 5V power supply. The OUT terminal of the voltage regulator U2 is electrically connected to the first terminal of the fifth capacitor C5 and outputs a 3.3V voltage. The BP / FB port of the voltage regulator U2 is electrically connected to the first terminal of the seventh capacitor C7. The second terminals of the fifth capacitor C5 and the second terminals of the seventh capacitor C7 are electrically connected to the external power ground.

[0033] Furthermore, the power supply module also includes:

[0034] Power monitoring submodule; specifically includes:

[0035] The external USB 5V power supply is electrically connected to the first end of the fifth resistor R5, the second end of the fifth resistor R5 is electrically connected to the first end of the LED LED3, and the second end of the LED3 is electrically connected to the external power ground.

[0036] Furthermore, the MCU module includes:

[0037] Microcontroller U3; where,

[0038] The boot mode configuration terminal BOOT0 of microcontroller U3 is electrically connected to the first terminal of the tenth resistor R10. The second terminal of the tenth resistor R10 is selected to be grounded or connected to a 3.3V power supply by a jumper cap. The boot mode configuration terminal BOOT1 of microcontroller U3 is electrically connected to the first terminal of the ninth resistor R9. The second terminal of the ninth resistor R9 is selected to be grounded or connected to a 3.3V power supply by a jumper cap.

[0039] The external clock input terminal PC14-OSC32_IN of the microcontroller U3 is electrically connected to the first terminal of the crystal oscillator X1 and the first terminal of the first capacitor C1;

[0040] The external clock input terminal PC15-OSC32_OUT of the microcontroller U3 is electrically connected to the second terminal of the crystal oscillator X1 and the first terminal of the fourth capacitor C4. The second terminals of the first capacitor C1 and the second terminal of the fourth capacitor C4 are electrically connected to the external power supply ground.

[0041] The clock signal input terminal PD0-OSC_IN of the microcontroller U3 is electrically connected to the first terminal of the crystal oscillator X2 and the first terminal of the eighth capacitor C8. The second terminal of the eighth capacitor C8 is electrically connected to the external power supply ground.

[0042] The clock signal output terminal PD1-OSC_OUT of the microcontroller U3 is electrically connected to the second terminal of the crystal oscillator X2 and the first terminal of the ninth capacitor C9. The second terminal of the ninth capacitor C9 is electrically connected to the external power supply ground.

[0043] The power supply terminals VBAT, VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are electrically connected to an external 3V3 power supply.

[0044] The power supply terminals VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are electrically connected to the first terminals of the thirteenth capacitor C13, the fourteenth capacitor C14, the fifteenth capacitor C15, and the sixteenth capacitor C16, respectively. The second terminals of the thirteenth capacitor C13, the fourteenth capacitor C14, the fifteenth capacitor C15, and the sixteenth capacitor C16 are electrically connected to the external power ground.

[0045] The ground terminals VSSA, VSS_1, VSS_2, and VSS_3 of the microcontroller U3 are electrically connected to the external power supply ground.

[0046] The NRST terminal of microcontroller U3 is electrically connected to the first terminal of the eleventh resistor R11, the fifth switch U5, and the seventeenth capacitor C17. The second terminal of the eleventh resistor R11 is electrically connected to the external power supply 3V3. The second terminals of the fifth switch U5 and the seventeenth capacitor C17 are electrically connected to the external power supply ground.

[0047] The data transmission terminals PB6 and PB7 of the microcontroller U3 are electrically connected to the external data interface.

[0048] Furthermore, the data transmission terminals PB6 and PB7 of the microcontroller U3 are electrically connected to an external data interface, including:

[0049] The data transmission terminal PB6 of the microcontroller U3 is electrically connected to the RXD terminal of the serial-to-USB chip CH340N; the data transmission terminal PB7 of the microcontroller U3 is electrically connected to the TXD terminal of the serial-to-USB chip CH340N.

[0050] Beneficial effects:

[0051] This invention proposes an intelligent lucky cat structure and system based on millimeter-wave radar, which can realize intelligent human perception and human interaction. Compared with the ordinary lucky cat in the prior art, it is more interesting and improves the interactivity. Attached Figure Description

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, and the advantages of the present invention in the above and / or other aspects will become clearer.

[0053] Figure 1 This is a schematic diagram of the system modules of this utility model.

[0054] Figure 2 This is a schematic diagram of the usage process of this utility model.

[0055] Figure 3 This is a schematic diagram showing the connection between the radar module and the MCU.

[0056] Figure 4 This is a circuit connection diagram of the MCU main control module.

[0057] Figure 5a This is a schematic diagram of the voltage regulator circuit connection in the power supply module.

[0058] Figure 5b This is a schematic diagram of the USB connector circuit connection in the power supply module.

[0059] Figure 6 This is a schematic diagram of the circuit connection of the base motor module.

[0060] Figure 7 This is a schematic diagram of the overall structure of this utility model.

[0061] In the diagram, 1 is the outer casing, 2 is the base, 3 is the swing arm, 4 is the arm control motor, 5 is the base motor, and 6 is the rotating bracket. Detailed Implementation

[0062] This invention aims to enhance the fun and interactivity of ordinary lucky cat figurines, and proposes a lucky cat structure and system based on millimeter-wave radar. The structure of the lucky cat is as follows: Figure 7 As shown, it includes:

[0063] The outer shell 1 is shaped like a lucky cat, and the base 2 is connected to the outer shell 1 by a rotating bracket 6. The rotating bracket 6 can be a structure with a rotating shaft and a rotating wheel.

[0064] The base motor 5 is fixedly installed on the base 2, and its output end is used to drive the rotating bracket 6 to rotate, thereby driving the outer shell 1 to rotate.

[0065] A swing arm 3 is movably mounted on the side of the outer casing 1. One end of the swing arm 3 extends into the interior of the outer casing 1, and its end is provided with a driven bevel gear. An arm control motor 4 is fixed on the rotating bracket 6. An active bevel gear is fixed at the output end of the arm control motor 4. The active bevel gear meshes with the driven bevel gear and rotates to drive the swing arm 3 to swing.

[0066] Both the base motor 5 and the arm control motor 4 are electrically connected to the control module (not shown in the figure). The control module is used to control the movement of the base motor 5 and the arm control motor 4.

[0067] A radar module is also fixed on the base 2 to monitor personnel movement. The radar module is electrically connected to the control module to transmit the collected data to the control module for analysis.

[0068] The system structure of the lucky cat is as follows: Figure 1 As shown, it includes: a radar module, an MCU module, a base motor module, a hand gesture motor module, and a power supply module. The data output terminal of the radar module is connected to the data input terminal of the MCU module, and the data output terminal of the MCU module is connected to the data input terminals of the base motor module and the hand gesture motor module.

[0069] The power supply module is connected to the radar module, MCU module, base motor module, and wave motor module respectively, and supplies power to the radar module, MCU module, base motor module, and wave motor module.

[0070] Among them, such as Figure 3 As shown, the radar module transmits the converted data to the main control unit MCU via a serial port, which includes two signal lines: TX and RX.

[0071] In the radar module:

[0072] The VIN terminal of the radar module is connected to the USB 5V of the Type-C interface of the external power supply module;

[0073] The GND terminal of the radar module is connected to ground;

[0074] The PM6 / TX terminal of the radar module is connected to the PA3 terminal of the microcontroller U3 in the MCU module;

[0075] The PM7 / RX terminal of the radar module is connected to the PA2 terminal of the microcontroller U3 in the MCU module.

[0076] like Figure 4 As shown, the MCU module includes: microcontroller U3, wherein,

[0077] The boot mode configuration terminal BOOT0 of microcontroller U3 is connected to the first terminal of resistor R10. The second terminal of resistor R10 can be grounded or connected to 3.3V by a jumper cap. The boot mode configuration terminal BOOT1 of microcontroller U2 is connected to the first terminal of resistor R9. The second terminal of resistor R9 can be grounded or connected to 3.3V by a jumper cap.

[0078] The data transmission terminal PB6 of microcontroller U3 is connected to the RXD of the serial-to-USB chip CH340N; the data transmission terminal PB7 of microcontroller U3 is connected to the TXD of the serial-to-USB chip CH340N.

[0079] The external clock input terminal PC14-OSC32_IN of the microcontroller U3 is connected to the first terminal of the crystal oscillator X1 and the first terminal of the capacitor C1;

[0080] The external clock input terminal PC15-OSC32_OUT of the microcontroller U3 is connected to the second terminal of the crystal oscillator X1 and the first terminal of the capacitor C4. The second terminals of the capacitor C1 and the second terminals of the capacitor C4 are connected to the power supply ground.

[0081] The clock signal input terminal PD0-OSC_IN of the microcontroller U3 is connected to the first terminal of the crystal oscillator X2 and the first terminal of the capacitor C8, and the second terminal of the capacitor C8 is connected to the power supply ground.

[0082] The clock signal output terminal PD1-OSC_OUT of the microcontroller U3 is connected to the second terminal of the crystal oscillator X2 and the first terminal of the capacitor C9. The second terminal of the capacitor C9 is connected to the power supply ground.

[0083] The power supply terminals VBAT, VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are connected to a 3V3 power supply.

[0084] The power supply terminals VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are connected to the first terminals of capacitors C13, C14, C15, and C16, respectively, and the second terminals of capacitors C13, C14, C15, and C16 are connected to ground.

[0085] The grounding terminals VSSA, VSS_1, VSS_2, and VSS_3 of the microcontroller U3 are connected to the power supply ground;

[0086] The NRST terminal of microcontroller U3 is connected to the first terminal of resistor R11, switch U5, and capacitor C17. The second terminal of resistor R11 is connected to 3V3, and the second terminal of switch U5 and capacitor C17 is connected to the power ground.

[0087] The power supply module includes a voltage regulator U2, such as Figure 5a As shown:

[0088] The power input terminal IN of voltage regulator U2 and the first terminal of capacitor C3 are connected to the USB 5V power supply. The second terminal of capacitor C3 is connected to the GND and power ground of voltage regulator U2. The enable terminal EN of voltage regulator U2 is connected to the USB 5V power supply. The OUT terminal of voltage regulator U2 is connected to the first terminal of capacitor C5, outputting 3.3V voltage to the 3V3 port to power the system. The BP / FB port of voltage regulator U2 is connected to the first terminal of capacitor C7. The second terminals of capacitors C5 and C7 are connected to GND.

[0089] The power supply module also includes a USB connector, USB1, such as... Figure 5b As shown:

[0090] The GND terminal of the USB1 connector is connected to the power ground, the power VBUS terminal is connected to the first terminal of the TVS electrostatic protection diode D1, the 5V voltage is connected to the USB 5V port, and the second terminal of the TVS electrostatic protection diode D1 is connected to the power ground.

[0091] The DP2 terminal of the USB connector USB1 is connected to the first terminal of the TVS electrostatic protection diode D2 and the USB_DP port, and the second terminal of the TVS electrostatic protection diode D2 is connected to the power ground.

[0092] The DN1 terminal of the USB connector USB1 is connected to the first terminal of the TVS electrostatic protection diode D3 and the USB_DN port, and the second terminal of the TVS electrostatic protection diode D3 is connected to the power ground.

[0093] The DP1 end of the USB connector USB1 is connected to the USB_DP port.

[0094] The DN2 end of the USB connector USB1 is connected to the USB_DN port;

[0095] The CC1 terminal of the USB connector USB1 is connected to the first terminal of resistor R2, and the second terminal of resistor R2 is connected to the power ground.

[0096] The shell end of the USB1 connector is connected to the power ground.

[0097] In the power supply module:

[0098] The USB 5V port is connected to the first end of resistor R5, the second end of resistor R5 is connected to the first end of LED3, and the second end of LED3 is connected to the power ground to indicate whether the 5V power supply is valid.

[0099] like Figure 6 As shown, the base motor module includes a brushed DC motor driver chip U4, as detailed below:

[0100] The VMIN terminal of the brushed DC motor driver chip U4 is powered by the USB 5V port and connected to the first terminal of capacitor C12. The second terminal of capacitor C12 is connected to the power ground.

[0101] The OUT1 terminal of the brushed DC motor driver chip U4 is connected to the first terminal of capacitor C10 and pin 2 of connector P1.

[0102] The OUT2 terminal of the brushed DC motor driver chip U4 is connected to the second terminal of capacitor C10 and pin 1 of connector P1.

[0103] The GND terminal of the brushed DC motor driver chip U4 is connected to ground;

[0104] The IN2 terminal of the brushed DC motor driver chip U4 is connected to PA10 of the microcontroller U3 and the first terminal of the resistor R6, and the second terminal of the resistor R6 is connected to the power supply ground.

[0105] The IN1 terminal of the brushed DC motor driver chip U4 is connected to PA9 of the microcontroller U3 and the first terminal of resistor R7, and the second terminal of resistor R7 is connected to the power supply ground.

[0106] The NSLEEP pin of the brushed DC motor driver chip U4 is connected to PA11 of the microcontroller U3 and the first end of the resistor R8, and the second end of the resistor R8 is connected to the power supply ground.

[0107] The VCC terminal of the brushed DC motor driver chip U4 is connected to the 3V3 port and the first terminal of capacitor C11, and the second terminal of capacitor C11 is connected to the power supply ground.

[0108] The PAD terminal of the brushed DC motor driver chip U4 is connected to the power supply ground.

[0109] Connector P1 has terminals 1 and 2 connected to the positive and negative terminals of the motor.

[0110] Connector P1 has terminals 3 and 4 connected to the power ground.

[0111] The wave motor module includes:

[0112] The PWM input terminal of the lucky cat arm drive motor is connected to the PWM output terminal PA8 of the microcontroller U3 to control the speed;

[0113] The power supply terminal of the lucky cat arm drive motor is connected to USB 5V;

[0114] The GND terminal of the motor driving the lucky cat's arm is connected to the power ground.

[0115] The radar module model is MS24-4415D12M4.

[0116] The microcontroller U3 is model STM32F103C8T6, the voltage regulator U2 is model SGM2019-3.3YC5G / TR, the brushed DC motor driver chip U4 is model DRV8837CDSGR, the arm drive motor is model SG90, and the brushed DC motor is model miniature planetary geared motor.

[0117] When in use, the intelligent lucky cat structure and system can adjust the lucky cat's direction and waving frequency in real time, such as... Figure 2 As shown, the radar module detects targets within the radar's field of view of the lucky cat and determines their coordinates: angle θ1 and distance r1. Based on the target's angle and distance, the angle of the lucky cat is adjusted to face the target, and the waving frequency is adjusted according to the target's distance. If two targets are present, with positions {θ1, r1} and {θ2, r2} respectively, the cat moves back and forth between the angle θ1+θ2 formed by the two targets, while adjusting the waving frequency according to different target distances. Specifically: the radar module detects targets within the lucky cat's radar's field of view, tracks targets in real time, and updates target position information; the control module adjusts the lucky cat's angle and waving speed according to the target's distance and angle. Additionally, when the detection module detects no targets within the area for an extended period, it is responsible for turning off the lucky cat's waving switch.

[0118] Example:

[0119] This embodiment provides a smart lucky cat structure and system based on millimeter-wave radar. It includes two parts: a detection module and a control module, as follows: Figure 2 As shown. The detection module uses a 24GHz millimeter-wave radar to emit electromagnetic waves and receive signals reflected back from different people in the environment. It tracks the movement of the target through a Kalman filter and provides the target's distance and angle in real time. The control module adjusts the angle and waving frequency of the lucky cat according to the distance and angle of different targets in the environment.

[0120] When using:

[0121] First, electromagnetic waves are emitted to personnel in the detection space environment through a millimeter-wave radar module, and the echoes are received.

[0122] Then, the echo data sampled by the radar module is transmitted to the MCU. The MCU analyzes and processes the data to calculate the distance and angle information of different people contained in the signal.

[0123] Finally, the control module adjusts the angle and waving frequency of the lucky cat based on the distance and angle information of the people obtained from the detection module.

[0124] The radar module transmits millimeter-wave signals via the TX antenna and receives the reflected signals via the RX antenna. The A / D converter within the module converts the received analog signals into digital signals for subsequent signal processing and analysis. The connection between the radar module and the MCU is as follows: Figure 3 As shown, the converted data is transmitted to the main control unit MCU via serial port. The connection module mainly includes two signal lines, RX and TX, and two power lines, USB5V and GND.

[0125] The MCU is mainly responsible for processing the data transmitted by the radar module through efficient algorithms to calculate the distance and angle of the target within the detection area.

[0126] The control module also adjusts the angle and waving frequency of the lucky cat according to the distance and angle of the target.

[0127] The specific circuit diagram of the intelligent lucky cat structure and system is as follows: Figures 4-6 As shown.

[0128] Figure 4 This is a circuit connection diagram of the MCU main control module of this utility model. The BOOT0 terminal of the microcontroller U3 is connected to the first end of the resistor R10, and the second end of the resistor R10 can be grounded or connected to 3.3V by a jumper cap; the BOOT1 terminal of the microcontroller U2 is connected to the first end of the resistor R9, and the second end of the resistor R9 can be grounded or connected to 3.3V by a jumper cap.

[0129] The data transmission terminal PB6 of microcontroller U3 is connected to the RXD of the serial-to-USB chip CH340N; the data transmission terminal PB7 of microcontroller U3 is connected to the TXD of the serial-to-USB chip CH340N.

[0130] The external clock input terminal PC14-OSC32_IN of the microcontroller U3 is connected to the first terminal of the crystal oscillator X1 and the first terminal of the capacitor C1;

[0131] The external clock input terminal PC15-OSC32_OUT of the microcontroller U3 is connected to the second terminal of the crystal oscillator X1 and the first terminal of the capacitor C4. The second terminals of the capacitor C1 and the second terminals of the capacitor C4 are connected to the power supply ground.

[0132] The clock signal input terminal PD0-OSC_IN of the microcontroller U3 is connected to the first terminal of the crystal oscillator X2 and the first terminal of the capacitor C8, and the second terminal of the capacitor C8 is connected to the power supply ground.

[0133] The clock signal output terminal PD1-OSC_OUT of the microcontroller U3 is connected to the second terminal of the crystal oscillator X2 and the first terminal of the capacitor C9. The second terminal of the capacitor C9 is connected to the power supply ground.

[0134] Crystal X2 is an internal low-speed crystal oscillator (32.768kHz), connected to the LSE (low-speed external clock signal), ultimately reaching the RTC (real-time clock). The RTC is an independent timer that records the current system time and date in real time, regardless of whether the chip is powered on. If the RTC is to be used for real-time system time recording, the chip needs an external backup power supply, typically a coin cell battery. This allows the RTC to continue operating on battery power after a power outage. For cases where system time recording is not required after a power outage, the low-speed crystal oscillator can be omitted, saving board space and simplifying the circuit design.

[0135] Crystal X1 is an external high-speed crystal oscillator (8MHz), connected to the HSE (high-speed external clock signal), ultimately reaching SYSCLK (system clock). SYSCLK is the system clock, providing power for the operation of various modules within the chip and is indispensable. The high-speed crystal oscillator, as the source of the system clock, can be provided by the chip's internal HSI RC clock source or an external independent clock source. When using the chip's internal HSI RC clock source as the system clock, clock deviations were found, causing serial port devices to malfunction. Because the chip's internal HSI RC clock source is not accurate enough, an external independent clock source is typically used to provide the chip's system clock.

[0136] Therefore, an external high-speed crystal oscillator is essential in practical use to provide the system clock for the chip, enabling it to function normally.

[0137] The power supply terminals VBAT, VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are connected to a 3V3 power supply.

[0138] The power supply terminals VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are connected to the first terminals of capacitors C13, C14, C15, and C16, respectively, and the second terminals of capacitors C13, C14, C15, and C16 are connected to ground.

[0139] The grounding terminals VSSA, VSS_1, VSS_2, and VSS_3 of the microcontroller U3 are connected to the power supply ground;

[0140] The NRST terminal of microcontroller U3 is connected to the first terminal of resistor R11, switch U5, and capacitor C17. The second terminal of resistor R11 is connected to 3V3, and the second terminal of switch U5 and capacitor C17 is connected to the power ground.

[0141] The preferred model for the microcontroller U2 is STM32F103C8T6.

[0142] Figure 5 is a schematic diagram of the circuit connection of the USB power supply module of this utility model. The power input terminal IN of the voltage regulator U2 and the first terminal of the capacitor C3 are connected to the USB 5V power supply. The second terminal of the capacitor C3 is connected to the GND and power ground of the voltage regulator U2. The enable terminal EN of the voltage regulator U2 is connected to the USB 5V power supply. The OUT terminal of the voltage regulator U2 is connected to the first terminal of the capacitor C5, outputting a 3.3V voltage to the 3V3 port to power the system. The BP / FB port of the voltage regulator U2 is connected to the first terminal of the capacitor C7. The second terminals of the capacitors C5 and C7 are connected to GND.

[0143] The preferred model for voltage regulator U2 is SGM2019-3.3YC5G / TR.

[0144] The GND terminal of the USB1 connector is connected to the power ground. The power VBUS terminal is connected to the first terminal of the TVS electrostatic protection diode D1, and the 5V voltage is output to the USB 5V port. The second terminal of the TVS electrostatic protection diode D1 is connected to the power ground.

[0145] The DP2 terminal of the USB connector USB1 is connected to the first terminal of the TVS electrostatic protection diode D2 and the USB_DP port, and the second terminal of the TVS electrostatic protection diode D2 is connected to the power ground.

[0146] The DN1 terminal of the USB connector USB1 is connected to the first terminal of the TVS electrostatic protection diode D3 and the USB_DN port, and the second terminal of the TVS electrostatic protection diode D3 is connected to the power ground.

[0147] The DP1 end of the USB connector USB1 is connected to the USB_DP port.

[0148] The DN2 end of the USB connector USB1 is connected to the USB_DN port;

[0149] The CC1 terminal of the USB connector USB1 is connected to the first terminal of resistor R2, and the second terminal of resistor R2 is connected to the power ground.

[0150] The shell end of USB1 on the USB connector is connected to the power ground.

[0151] The USB 5V port is connected to the first end of resistor R5, the second end of resistor R5 is connected to the first end of LED3, and the second end of LED3 is connected to the power ground. This is used to indicate whether the 5V power supply is valid. When LED3 lights up, it means that the 5V power supply is valid.

[0152] The preferred model for the USB connector is TYPE-C 16PIN 2MD.

[0153] Figure 6This is a schematic diagram of the circuit connection of the base motor of this utility model.

[0154] The VMIN terminal of the brushed DC motor driver chip U4 is powered by the USB 5V port and connected to the first terminal of capacitor C12. The second terminal of capacitor C12 is connected to the power ground.

[0155] The OUT1 terminal of the brushed DC motor driver chip U4 is connected to the first terminal of capacitor C10 and pin 2 of connector P1.

[0156] The OUT2 terminal of the brushed DC motor driver chip U4 is connected to the second terminal of capacitor C10 and pin 1 of connector P1.

[0157] The GND terminal of the brushed DC motor driver chip U4 is connected to ground;

[0158] The IN2 terminal of the brushed DC motor driver chip U4 is connected to PA10 of the microcontroller U3 and the first terminal of the resistor R6, and the second terminal of the resistor R6 is connected to the power supply ground.

[0159] The IN1 terminal of the brushed DC motor driver chip U4 is connected to PA9 of the microcontroller U3 and the first terminal of the resistor R7, and the second terminal of the resistor R7 is connected to the power supply ground.

[0160] The NSLEEP pin of the brushed DC motor driver chip U4 is connected to PA11 of the microcontroller U3 and the first end of the resistor R8, and the second end of the resistor R8 is connected to the power supply ground.

[0161] The VCC terminal of the brushed DC motor driver chip U4 is connected to the 3V3 port and the first terminal of capacitor C11, and the second terminal of capacitor C11 is connected to the power supply ground.

[0162] The PAD terminal of the brushed DC motor driver chip U4 is connected to the power supply ground.

[0163] Connector P1 has terminals 1 and 2 connected to the positive and negative terminals of the brushed DC motor.

[0164] Connector P1 has terminals 3 and 4 connected to the power ground.

[0165] The preferred model of the brushed DC motor driver chip U4 is DRV8837CDSGR, and the preferred model of the brushed DC motor is a miniature new type geared motor.

[0166] Figure 7 This is an assembly diagram of this utility model.

[0167] The system motor control signal is connected to the lucky cat waving motor and the base rotation motor, controlling the rotation of the base rotation motor and the waving motor. The bottom rotation motor provides physical support for the lucky cat module.

[0168] In summary, this application can adjust the turning and waving frequency of the lucky cat in real time based on the position information of the target within the detection area. When there is only one target in the detection area, the lucky cat faces the target and adjusts the waving frequency according to the distance. When there are two targets in the detection area, the lucky cat rotates within the angle formed by the two targets and adjusts the waving frequency according to the average distance.

[0169] This utility model provides a lucky cat system based on millimeter-wave radar. There are many methods and approaches to implement this technical solution. The above description is only a preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model. All components not explicitly stated in this embodiment can be implemented using existing technology.

Claims

1. A lucky cat system based on millimeter-wave radar, characterized in that, include: The outer shell (1) is shaped like a lucky cat. The outer shell (1) is rotatably connected to the base (2) via a rotating bracket (6). A base motor (5) is fixed on the base (2). The output end of the base motor (5) is connected to the rotating bracket (6) to drive it to rotate. A swing arm (3) is movably mounted on the side of the outer shell (1). One end of the swing arm (3) extends into the interior of the outer shell (1), and a driven bevel gear is fixed at the top. An arm control motor (4) is fixed on the rotating bracket (6). An active bevel gear is fixed at the output end of the arm control motor (4). The active bevel gear meshes with the driven bevel gear and rotates to drive the swing arm (3) to swing.

2. The lucky cat system based on millimeter-wave radar according to claim 1, characterized in that, The base (2) is also equipped with a radar module for detecting people in the surrounding area.

3. The lucky cat system based on millimeter-wave radar according to claim 2, characterized in that, The system also includes: A control module used to control the system.

4. The lucky cat system based on millimeter-wave radar according to claim 3, characterized in that, The radar module, the arm control motor (4), and the base motor (5) are electrically connected to the control module.

5. A lucky cat system based on millimeter-wave radar according to claim 4, characterized in that, The control module includes: MCU module, power supply module, and motor drive circuit; among which, The power supply module is electrically connected to the radar module, the MCU module, the drive circuit and the arm control motor (4) respectively, and provides power; The MCU module is connected to the radar module to receive detection signals; the MCU module is connected to the drive circuit to send motor control signals; the MCU module is connected to the arm control motor (4) to send PWM signals. The motor drive circuit is signal-connected to the base motor (5) and is used to send motor drive signals.

6. The lucky cat system based on millimeter-wave radar according to claim 5, characterized in that, The power supply module includes: USB1 is a connector used to connect to an external USB interface; wherein, The GND terminal of the USB connector USB1 is electrically connected to the external power ground, the power terminal VBUS is connected to the external USB 5V power input, and is also electrically connected to the first terminal of the first TVS electrostatic protection diode D1. The second terminal of the first TVS electrostatic protection diode D1 is electrically connected to the power ground. The DP2 terminal of the USB connector USB1 is electrically connected to the first terminal of the second TVS electrostatic protection diode D2 and the USB_DP port, and the second terminal of the second TVS electrostatic protection diode D2 is electrically connected to the external power ground. The DN1 terminal of the USB connector USB1 is electrically connected to the first terminal of the third TVS electrostatic protection diode D3 and the USB_DN port, and the second terminal of the third TVS electrostatic protection diode D3 is electrically connected to the external power ground. The DP1 end of the USB connector USB1 is electrically connected to the USB_DP port; The DN2 terminal of the USB1 connector is electrically connected to the USB_DN port; The CC1 terminal of the USB connector USB1 is electrically connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is electrically connected to the external power ground. The SHELL pin of the USB1 connector is electrically connected to the external power ground.

7. A lucky cat system based on millimeter-wave radar according to claim 6, characterized in that, The power supply module further includes: Voltage regulator U2 is used for voltage regulation and conversion; where, The externally input USB 5V power supply is electrically connected to the power input terminal IN of the voltage regulator U2 and the first terminal of the third capacitor C3. The second terminal of the third capacitor C3 is electrically connected to the GND port of the voltage regulator U2 and the external power ground. The enable terminal EN of the voltage regulator U2 is electrically connected to the USB 5V power supply. The OUT terminal of the voltage regulator U2 is electrically connected to the first terminal of the fifth capacitor C5 and outputs a 3.3V voltage. The BP / FB port of the voltage regulator U2 is electrically connected to the first terminal of the seventh capacitor C7. The second terminals of the fifth capacitor C5 and the second terminals of the seventh capacitor C7 are electrically connected to the external power ground.

8. A lucky cat system based on millimeter-wave radar according to claim 7, characterized in that, The power supply module further includes: Power monitoring submodule; specifically includes: The external USB 5V power supply is electrically connected to the first end of the fifth resistor R5, the second end of the fifth resistor R5 is electrically connected to the first end of the LED LED3, and the second end of the LED3 is electrically connected to the external power ground.

9. A lucky cat system based on millimeter-wave radar according to claim 8, characterized in that, The MCU module includes: Microcontroller U3; where, The boot mode configuration terminal BOOT0 of microcontroller U3 is electrically connected to the first terminal of the tenth resistor R10. The second terminal of the tenth resistor R10 is selected to be grounded or connected to a 3.3V power supply by a jumper cap. The boot mode configuration terminal BOOT1 of microcontroller U3 is electrically connected to the first terminal of the ninth resistor R9. The second terminal of the ninth resistor R9 is selected to be grounded or connected to a 3.3V power supply by a jumper cap. The external clock input terminal PC14-OSC32_IN of the microcontroller U3 is electrically connected to the first terminal of the crystal oscillator X1 and the first terminal of the first capacitor C1; The external clock input terminal PC15-OSC32_OUT of the microcontroller U3 is electrically connected to the second terminal of the crystal oscillator X1 and the first terminal of the fourth capacitor C4. The second terminals of the first capacitor C1 and the second terminal of the fourth capacitor C4 are electrically connected to the external power supply ground. The clock signal input terminal PD0-OSC_IN of the microcontroller U3 is electrically connected to the first terminal of the crystal oscillator X2 and the first terminal of the eighth capacitor C8. The second terminal of the eighth capacitor C8 is electrically connected to the external power supply ground. The clock signal output terminal PD1-OSC_OUT of the microcontroller U3 is electrically connected to the second terminal of the crystal oscillator X2 and the first terminal of the ninth capacitor C9. The second terminal of the ninth capacitor C9 is electrically connected to the external power supply ground. The power supply terminals VBAT, VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are electrically connected to an external 3V3 power supply. The power supply terminals VDDA, VDD_1, VDD_2, and VDD_3 of the microcontroller U3 are electrically connected to the first terminals of the thirteenth capacitor C13, the fourteenth capacitor C14, the fifteenth capacitor C15, and the sixteenth capacitor C16, respectively. The second terminals of the thirteenth capacitor C13, the fourteenth capacitor C14, the fifteenth capacitor C15, and the sixteenth capacitor C16 are electrically connected to the external power ground. The ground terminals VSSA, VSS_1, VSS_2, and VSS_3 of the microcontroller U3 are electrically connected to the external power supply ground. The NRST terminal of microcontroller U3 is electrically connected to the first terminal of the eleventh resistor R11, the fifth switch U5, and the seventeenth capacitor C17. The second terminal of the eleventh resistor R11 is electrically connected to the external power supply 3V3. The second terminals of the fifth switch U5 and the seventeenth capacitor C17 are electrically connected to the external power supply ground. The data transmission terminals PB6 and PB7 of the microcontroller U3 are electrically connected to the external data interface.

10. A lucky cat system based on millimeter-wave radar according to claim 9, characterized in that, The data transmission terminals PB6 and PB7 of the microcontroller U3 are electrically connected to an external data interface, including: The data transmission terminal PB6 of the microcontroller U3 is electrically connected to the RXD terminal of the serial-to-USB chip CH340N; the data transmission terminal PB7 of the microcontroller U3 is electrically connected to the TXD terminal of the serial-to-USB chip CH340N.

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