# WRO 2022 早鳥高中組創意賽
## 作品報告書
[投影片](http://13.208.247.127/public/upload/1352dc06c9.pdf)
## 主題 & 故事劇情
### 主題概要
實作一個完整的 ADHD 家庭照護系統
包含智慧機器人、 AI 智能關節律動辨識技術、節奏樂器控制模組、遠端控 制APP 等
可適時引導 ADHD 孩子透過舞蹈表演、律動、 音樂等方法促進身心健康，舞出注意力
### 劇情
設計一個機器人系統，能在家自動巡邏，也能辨識 ADHD 孩子的臉部情緒
若是發現心情不美麗，則會邀 請他來跳個舞律動一下
並且用 AI 影像辨識技術來觀測 他的律動狀況
而遠在上班的爸媽也可以透過手機 APP 隨時掌握孩子的狀況
### 參考資料
[急性律動活動對ADHD兒童注意力之影響](https://hdl.handle.net/11296/dvq362)
## 成果影片
## 使用設備
* 平板電腦 & Android 手機（手機應用程式）
* Macbook（作為Broker & 執行程式 & Demo）
* Matrix 套件（機器人主體）
* EV3 主機 & 馬達（進行打鼓 & 拍手）
* Jetson Nano AI 開發版（MQTT & 骨骼分析 & 囧臉辨識）
* USB Cam 攝影鏡頭
## Motor Contoller 馬達控制模組
### Matrix Motor 全向輪的移動
```cpp=36
int motor_one, motor_two, motor_three;
void Speed_Moto_Control(float vx,float vy,float vz){
motor_one = (-VX_VALUE*vx + VY_VALUE*vy + L_value*vz);
motor_two = (-VX_VALUE*vx - VY_VALUE*vy + L_value*vz);
motor_three = (vx + L_value*vz);
}
```
### 參考資料
[三輪的全向輪運動學正解](https://www.codeprj.com/zh/blog/59976e1.html)
## Matrix Mini 感測器控制模組
* Matrix Ultrasonic Sensor : 放在車身前中右來偵測與牆的位置
* MATRIX 類比光感測器 : 使用類比光感測器確認機器人所在區域
## Matrix 家庭巡邏
### 巡邏程式碼（沿著左牆走）
:::spoiler PutsYourHandsUp 車的巡邏程式
```cpp=151
//D1 前 D2 左 D3 右(Ultrasonic Sensor)
int d1 = Mini.D1.US.get();
int d2 = Mini.D2.US.get();
int d3 = Mini.D3.US.get();
int d4 = Mini.D4.get();
// 離牆太近往右
if(d2 < 11){
turn_right(7);
counts = 0;
}
// 離牆太遠往左
else if(d2 > 20 && d2 <= 50){
move_left(Front_sp+1);
counts = 0;
}
// 離牆超遠（要回家）
else if(d2 > 50){
counts++;
if(counts>8){
front(Front_sp);
delay(700);
turn_left(LR_sp);
delay(300);
front(Front_sp);
delay(700);
counts = 0;
}
}
// 沿著左牆走的基本程式
else{
counts = 0;
// ＯＯ 左前 -> 右轉
if(LEFT(d2) && FRONT(d1) && !RIGHT(d3)){
turn_right(LR_sp);
}
// ＯＸ 左 -> 直走
else if(LEFT(d2) && !FRONT(d1) && !RIGHT(d3)) {
front(Front_sp);
}
// ＸＯ 前 -> 右轉
else if(!LEFT(d2) && FRONT(d1) && !RIGHT(d3)) {
turn_right(LR_sp);
}
// ＸＸ 無 -> 直走
else if(!LEFT(d2) && !FRONT(d1) && !RIGHT(d3)) {
front(Front_sp);
}
}
}
```
:::
:::spoiler Cindy 車的巡邏程式
```cpp=90
else if(((fp-t<1 && t<=fp) || (fp==1 && t==7)) && fp!=0){ //防撞（fp是前車位置，t是我的位置）
Mini.I2C1.MXctrl.motorSet(1,0);//po是power，是根據電量調整動力用的
Mini.I2C1.MXctrl.motorSet(2,0);
Mini.I2C1.MXctrl.motorSet(3,0);
delay(10);
}
else if(m<=20 || r<=20 || l<=10){//靠牆太近，原地右轉
Mini.I2C1.MXctrl.motorSet(1,-7-po);
Mini.I2C1.MXctrl.motorSet(2,-7-po);
Mini.I2C1.MXctrl.motorSet(3,-7-po);
}
else if(l>=30){//離牆太遠，向左偏轉
Mini.I2C1.MXctrl.motorSet(1,14+po);
Mini.I2C1.MXctrl.motorSet(2,-14-po);
Mini.I2C1.MXctrl.motorSet(3,11+po);
}
else if(l<=10){//離牆稍近，向右偏轉
Mini.I2C1.MXctrl.motorSet(1,14+po);
Mini.I2C1.MXctrl.motorSet(2,-14-po);
Mini.I2C1.MXctrl.motorSet(3,-11-po);
}
else{//距離完美，直走
Mini.I2C1.MXctrl.motorSet(1,+15+po);
Mini.I2C1.MXctrl.motorSet(2,-15-po);
Mini.I2C1.MXctrl.motorSet(3,0);
}
}
```
:::
## EV3樂器打擊控制模組
### 律動節拍程式碼（打鼓 & 拍手）
:::spoiler 打鼓&拍手程式
```python=
#!/usr/bin/env pybricks-micropython
from pybricks.hubs import EV3Brick
from pybricks.ev3devices import (Motor, TouchSensor, ColorSensor,
InfraredSensor, UltrasonicSensor, GyroSensor)
from pybricks.parameters import Port, Stop, Direction, Button, Color
from pybricks.tools import wait, StopWatch, DataLog
from pybricks.robotics import DriveBase
from pybricks.media.ev3dev import SoundFile, ImageFile
from umqtt.robust import MQTTClient
import time
import os
c=0
tp=0
MQTT_Topic_Beat = 'Beat'
MQTT_Topic_Mother = 'Mother'
MQTT_ClientID = 'alvin_ev3'
MQTT_Broker = '192.168.100.114'
# This program requires LEGO EV3 MicroPython v2.0 or higher.
# Click "Open user guide" on the EV3 extension tab for more information.
def getmessages(topic, msg):
global c,tp
if(topic==MQTT_Topic_Beat.encode()):
if(c==0):
print("A")
print(time.time()-tp)
tp=time.time()
a()
c=1
else:
print("B")
print(time.time()-tp)
tp=time.time()
b()
c=0
else:
print("hello")
ho()
# Create your objects here.
ev3 = EV3Brick()
# Write your program here.
ev3.speaker.beep()
l_m = Motor(Port.A)
m_m = Motor(Port.B)
r_m = Motor(Port.C)
l_m.reset_angle(0)
m_m.reset_angle(0)
r_m.reset_angle(0)
def a():
wait(850)
l_m.reset_angle(0)
l_m.run_target(7000, -610,Stop.HOLD, True)
def b():
pass
#r_m.reset_angle(0)
#r_m.run_target(7000, -610 ,Stop.HOLD, True)
def ho():
wait(5000)
l_m.reset_angle(0)
l_m.run_target(7000, -610,Stop.HOLD, True)
wait(608)
r_m.reset_angle(0)
r_m.run_target(7000, -610,Stop.HOLD, True)
wait(608)
l_m.reset_angle(0)
l_m.run_target(7000, -610,Stop.HOLD, True)
wait(608)
r_m.reset_angle(0)
r_m.run_target(7000, -610,Stop.HOLD, True)
wait(608)
client = MQTTClient(MQTT_ClientID, MQTT_Broker)
client.connect()
client.set_callback(getmessages)
client.subscribe(MQTT_Topic_Beat)
client.subscribe(MQTT_Topic_Mother)
while True:
client.check_msg()
time.sleep(0.1)
```
:::
## Jetson Nano AI影像辨識模組
### 囧臉辨識＆骨骼分析
#### 使用技術
* Teachable Machine 影像分類訓練
#### 訓練的過程
1. 搜集訓練資料（拍很多照片）
2. 標註各分類(Class)名字
3. 開始訓練(Training)
4. 驗證信心分數(避免誤判)
5. 下載Modle模型
#### 程式碼
:::spoiler 囧臉辨識程式
```python=
import tensorflow as tf
import cv2
import numpy as np
import time
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
import _thread
import serial
model = tf.keras.models.load_model('keras_model.h5', compile=False)#model
data = np.ndarray(shape=(1, 224, 224, 3), dtype=np.float32)
cap = cv2.VideoCapture(0)
if not cap.isOpened():
print("Cannot open camera")
exit()
while True:
ret, frame = cap.read()
if not ret:
print("Cannot receive frame")
break
img = cv2.resize(frame , (398, 224) )
img = img[0:224, 80:304]
image_array = np.asarray(img)
normalized_image_array = (image_array.astype(np.float32) / 127.0) - 1
data[0] = normalized_image_array
prediction = model.predict(data)
a = prediction[0][0]
print(a)
if a>=0.80:
test = "Face Found Confidence:"
test2 = str(round(a*100,2))
test = test + test2
publish.single(
topic="Jiong", payload="1", hostname="192.168.100.114", port=1883
)
print('Embarssing')
elif a<0.80:
test = "No Face Found"
print('Normal')
cv2.putText(frame,test,(10,30),cv2.FONT_HERSHEY_COMPLEX,1,(255,0,0),2,cv2.LINE_AA)
cv2.imshow('Face', frame)
if cv2.waitKey(500) == ord('q'):
break
# 建立 MQTT Client 物件
client = mqtt.Client()
# 設定建立連線回呼函數
client.on_connect = on_connect
# 設定接收訊息回呼函數
client.on_message = on_message
# 設定登入帳號密碼（若無則可省略）
# client.username_pw_set("myuser","mypassword")
# 連線至 MQTT 伺服器（伺服器位址,連接埠）
client.connect("192.168.100.114", 1883)
# 進入無窮處理迴圈
cap.release()
cv2.destroyAllWindows()
```
:::
:::spoiler 骨骼分析程式
```python=
import cv2
import numpy as np
import mediapipe as mp
import time
import json
from decimal import Decimal
import paho.mqtt.publish as publish
import time
import paho.mqtt.client as mqtt
import _thread
tim=-1
avg=0
avgn=0
sced=0
def on_connect(client,userdata,flags,rc):
client.subscribe("Music")
def on_message(client,userdata,msg):
global tim
print("m")
tim=time.time()
client=mqtt.Client()
client.on_connect=on_connect
client.on_message=on_message
client.connect("192.168.100.114",1883)
sted=0
def mqt(whatever):
client.loop_forever()
_thread.start_new_thread(mqt,(0,))
badtime=0
frame_count=0
tim=-1.0
mp_drawing = mp.solutions.drawing_utils # mediapipe 繪圖方法
mp_drawing_styles = mp.solutions.drawing_styles # mediapipe 繪圖樣式
mp_holistic = mp.solutions.holistic # mediapipe 全身偵測方法
cap = cv2.VideoCapture(0)
poin=0
poinp=0
poinpp=0
# mediapipe 啟用偵測全身
with mp_holistic.Holistic(
min_detection_confidence=0.5,
min_tracking_confidence=0.5) as holistic:
if not cap.isOpened():
print("Cannot open camera")
exit()
frame_rate=10
prev =0
while True:
time_elapsed = time.time()-prev
ret, img = cap.read()
#frame_count+=1
#print(frame_count)
if time_elapsed >1./frame_rate:
prev=time.time()
if not ret:
print("Cannot receive frame")
break
img = cv2.resize(img,(520,300))
#img = cv2.resize(img,(300,200))
img2 = cv2.cvtColor(img, cv2.COLOR_BGR2RGB) # 將 BGR 轉換成 RGB
results = holistic.process(img2) # 開始偵測全身
# 面部偵測，繪製臉部網格
mp_drawing.draw_landmarks(
img,
results.face_landmarks,
mp_holistic.FACEMESH_CONTOURS,
landmark_drawing_spec=None,
connection_drawing_spec=mp_drawing_styles
.get_default_face_mesh_contours_style())
kk=str(results.pose_landmarks).replace('landmark','')
i=0
j=0
xs=''
ys=''
xn=0.0
yn=0.0
x=[0.0]*100
y=[0.0]*100
poinpp=poinp
poinp=poin
poin=0.0
if(kk != 'NONE'):
while i<len(kk):
if(kk[i]=='x'):
i+=2
while True:
if kk[i]=='\n':
break
else:
xs+=kk[i]
i+=1
xn=float(xs)
xs=''
if(kk[i]=='y' and kk[i-1]!='t'):
i+=2
while True:
if kk[i]=='\n':
break
else:
ys+=kk[i]
i+=1
yn=float(ys)
ys=''
if(j>=10):
poin+=abs((x[j]-xn)*(x[j]-xn)+((y[j]-yn)*(y[j]-yn)*2))*(3-yn)
x[j]=xn
y[j]=yn
j+=1
i+=1
print(poin)
print(tim)
print(time.time())
if(poin+poinp+poinpp<=270 and poin+poinp+poinpp!=0):
print("Great")
elif(poin+poinp+poinpp<=315):
print("Good")
else:
print("Bad")
rl=x[12]+x[11]
if(rl<1.2 and rl!=0 and tim!=-1):
publish.single(
topic="Alvincarst",
payload=1,
hostname="192.168.100.114",
port=1883)
#print("sp"+str(rl))
print("st")
if(tim!=-1 and time.time()-tim>=65 and sted==0 ):
publish.single(
topic="Dance",
payload=1,
hostname="192.168.100.114",
port=1883)
sted=1
# 身體偵測，繪製身體骨架
if(sted==1 and sced==0):
avg+=poin
avgn+=1
if(sted==1 and time.time()-tim>=96 and sced==0):
re=time.strftime("%Y-%m-%d %I:%M:%S %p",time.localtime())
re+=" 舞蹈分數: "
re+=str(round(180-(avg/avgn)),2)
if(avg/avgn>=120):
re+=" Bad"
elif(avg/avgn<=80):
re+=" Great"
else:
re+=" Good"
publish.single(
topic="Activity",
payload=re,
hostname="192.168.100.114",
port=1883)
sced=1
mp_drawing.draw_landmarks(
img,
results.pose_landmarks,
mp_holistic.POSE_CONNECTIONS,
landmark_drawing_spec=mp_drawing_styles
.get_default_pose_landmarks_style())
cv2.imshow('oxxostudio', img)
if cv2.waitKey(5) == ord('q'):
break # 按下 q 鍵停止
cap.release()
cv2.destroyAllWindows()
```
:::
### 參考資料
[安裝 TensorFlow GPU](https://hackmd.io/@0p3Xnj8xQ66lEl0EHA_2RQ/Skoa_phv)
[骨骼分析範例程式](https://colab.research.google.com/drive/19txHpN8exWhstO6WVkfmYYVC6uug_oVR)
[MediaPipe Pose](https://google.github.io/mediapipe/solutions/pose.html)
## 遠端控制、室內定位、事件列表
### 使用 MQTT 通訊協定系統
#### MQTT原理
#### 概念圖總覽
#### Jeston Nano AI 板(PutYourHandsUp車)MQTT程式
:::spoiler 程式碼
```python=
import time
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
import _thread
import serial
StopMove = True
print("loading")
##while True:
##localtime = time.localtime()
##result = time.strftime("%Y-%m-%d %I:%M:%S %p", localtime)
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
# 每次連線之後，重新設定訂閱主題
client.subscribe([("Go", 0),("Jiong", 0),("Music", 0)])
def on_message(client, userdata, msg):
global StopMove
IP = "192.168.100.114"
messin = int(msg.payload)
if (msg.topic == "Go"):
localtime = time.localtime()
result = time.strftime("%Y-%m-%d %I:%M:%S %p", localtime)
now = " 開始巡邏"
result = result + now
w_data='g'
bytes = serial_port.write(w_data.encode())
print('g')
publish.single(
topic = "Activity", payload = result, hostname = IP, port = 1883,
)
check = True #(check = true -> no find) (check = false -> find embarrasing face)
elif (msg.topic == "Jiong"):
if (StopMove == True ) :
w_data="s"
bytes = serial_port.write(w_data.encode())
localtime = time.localtime()
result = time.strftime("%Y-%m-%d %I:%M:%S %p", localtime)
now = " 找到囧臉"
result = result + now
print(result)
#Stop
publish.single(
topic = "Activity", payload = result, hostname = IP, port = 1883,
)
publish.single(
topic = "AskDance", payload = "1", hostname = IP, port = 1883,
)
publish.single(
topic = "Eye", payload = "1", hostname = IP, port = 1883,
)
StopMove = False
#continue
elif(msg.topic == "Music"):
w_data="m"
bytes = serial_port.write(w_data.encode())
print('m')
# 建立 MQTT Client 物件
client = mqtt.Client()
# 設定建立連線回呼函數
client.on_connect = on_connect
# 設定接收訊息回呼函數
client.on_message = on_message
# 設定登入帳號密碼（若無則可省略）
# client.username_pw_set("myuser","mypassword")
# 連線至 MQTT 伺服器（伺服器位址,連接埠）
client.connect("192.168.100.114", 1883)
# 進入無窮處理迴圈
```
:::
#### 兩台車之間的通訊
:::spoiler 程式碼
```python=
while True:
try:
r_data = '1'
w_data = '1'
while True:
# Write data to serial
time.sleep(1)
while True:
# Read data from serial
r_data = serial_port.read()//讀取來自matrix的訊息
if(str(r_data)!='b\'\\n\'' and str(r_data)!='b\'\\r\''):
print("msg:"+str(r_data))
time.sleep(0.1)
if(str(r_data)>='b\'1\'' and str(r_data)<='b\'7\'')://排除除了位子以外的data
mq=int(r_data)
print("mqtted"+str(r_data))
publish.single(//使用mqtt上傳
topic="CindyPlace",
payload=mq,hostname="192.168.100.114",port=1883
)
time.sleep(1)
```
:::
### 室內定位
#### 定位程式
###### 使用類比光感測器確認區域
:::spoiler 程式碼
```cpp=100
int d4 = Mini.D4.get();
Serial.print(lines);
Serial.print("\n");
// 算走過黑線數量
if(d4 == 1) {
if(last_line == 0) lines++;
}
last_line = d4;
```
:::
###### 使用Uart(通用非同步收發傳輸器）程式碼
:::spoiler python 介面
```python=83
def mqt(ka):
client.loop_forever()
_thread.start_new_thread(mqt,(0,))
serial_port = serial.Serial(
port="/dev/ttyUSB0",
baudrate=9600,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
)
while True:
try:
r_data = '1'
w_data = '1'
while True:
# Write data to serial
bytes = serial_port.write(w_data.encode())
time.sleep(1)
while True:
# Read data from serial
r_data = serial_port.read()
print("msg:"+str(r_data))
time.sleep(1)
if(str(r_data)>='b\'1\'' and str(r_data)<='b\'7\''):
mq=int(r_data)
print("mqtted"+str(r_data))
publish.single(
topic="HandsUpPlace",
payload=mq,hostname="192.168.100.114",port=1883
)
print("Hiiiiiii")
#except KeyboardInterrupt:
#print("Exiting Program")
#except Exception as exception_error:
#print("Error occurred. Exiting Program")
#print("Error: " + str(exception_error))
finally:
serial_port.close()
pass
```
:::
:::spoiler Arduino IDE 介面 & 巡邏定點
```cpp=126
r_data = Serial.read(); // read() return integer, and read one byte from serial buffer and save to receivedData
// st = start, sta = stop in anothor round
if(r_data=='g'){
st=1;
sta=0;
Serial.println('g');
lines=1;
}
else if(r_data == 's'){
Serial.println('s');
st =0;
}
else if(r_data=='m'){
Serial.println('m');
st=1;
sta=1;
}
r_data='n';
```
:::
### 手機應用程式＆介面
#### 機器人眼睛介面＆程式
#### 巡邏定位介面＆巡邏定位程式
#### 活動紀錄介面＆程式
### 音樂＆音訊播放
#### 程式碼
:::spoiler 音樂程式
```python=
import pygame
import time
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
pygame.init()
print("loading")
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
# 每次連線之後，重新設定訂閱主題
client.subscribe("Music")
def on_message(client, userdata, msg):
messin = int(msg.payload)
IP = "192.168.100.114"
if messin == 1:
localtime = time.localtime()
result = time.strftime("%Y-%m-%d %I:%M:%S %p", localtime)
now = " 開始跳舞"
result = result + now
publish.single(
topic="Activity",
payload = result,
hostname = IP,
port=1883,
)
print("YES")
past = 0
times = 2
pygame.mixer.music.load("./LoveYou.mp3")
pygame.mixer.music.play(loops=0, start = 12.3)
while True:
#print(pygame.mixer.music.get_pos())
if(pygame.mixer.music.get_pos() == 80000):
pygame.mixer.music.stop()
if(pygame.mixer.music.get_pos() - past == 550):
#print(pygame.mixer.music.get_pos())
if(times == 1):
publish.single(
topic="Beat",
payload="1",
hostname = IP,
port=1883,
)
if(times == 4):
times = 0
times += 1
past = pygame.mixer.music.get_pos()
else :
print("No")
while pygame.mixer.music.get_busy == True: #or interupt:
continue
# 建立 MQTT Client 物件
client = mqtt.Client()
# 設定建立連線回呼函數
client.on_connect = on_connect
# 設定接收訊息回呼函數
client.on_message = on_message
# 設定登入帳號密碼（若無則可省略）
# client.username_pw_set("myuser","mypassword")
# 連線至 MQTT 伺服器（伺服器位址,連接埠）
client.connect("192.168.100.114", 1883)
# 進入無窮處理迴圈
client.loop_forever()
```
:::
:::spoiler 音訊播放
```python=
import pygame
import time
import paho.mqtt.client as mqtt
import paho.mqtt.publish as publish
pygame.init()
print("loading")
def on_connect(client, userdata, flags, rc):
print("Connected with result code " + str(rc))
# 每次連線之後，重新設定訂閱主題
client.subscribe("AskDance")
def on_message(client, userdata, msg):
messin = int(msg.payload)
IP = "192.168.100.114"
if messin == 1:
print("YES")
past = 0
times = 2
pygame.mixer.music.load("./Ask.mp3")
pygame.mixer.music.play(loops=0, start = 0.0)
while True:
past = pygame.mixer.music.get_pos()
else :
print("No")
while pygame.mixer.music.get_busy == True: #or interupt:
continue
# 建立 MQTT Client 物件
client = mqtt.Client()
# 設定建立連線回呼函數
client.on_connect = on_connect
# 設定接收訊息回呼函數
client.on_message = on_message
# 設定登入帳號密碼（若無則可省略）
# client.username_pw_set("myuser","mypassword")
# 連線至 MQTT 伺服器（伺服器位址,連接埠）
client.connect("192.168.100.114", 1883)
# 進入無窮處理迴圈
client.loop_forever()
```
:::
### 參考資料
[安裝 Mosquitto MQTT Broker](https://oranwind.org/post-post-2/)
[物聯網基礎傳輸協議 - MQTT](https://ithelp.ithome.com.tw/articles/10224407)
[Paho Python MQTT Client Subscribe With Examples](http://www.steves-internet-guide.com/subscribing-topics-mqtt-client/)
[新增或刪除清單顯示器的項目](https://www.omdte.com/app-inventor%E5%AD%B8%E7%BF%92%E8%A8%98%E9%8C%8462%EF%BC%8C%E6%96%B0%E5%A2%9E%E6%88%96%E5%88%AA%E9%99%A4%E6%B8%85%E5%96%AE%E9%A1%AF%E7%A4%BA%E5%99%A8%E7%9A%84%E9%A0%85%E7%9B%AE%EF%BC%8C%E5%81%9A/)
[pygame.mixer.music](https://www.pygame.org/docs/ref/music.html)
## 其他參考來源 & 除錯技術
[NVIDIA Jetson Nano — 環境安裝](https://d246810g2000.medium.com/nvidia-jetson-nano-for-jetpack-4-4-01-%E7%92%B0%E5%A2%83%E5%AE%89%E8%A3%9D-fd48d5658a13)
[日常筆記（除錯/安裝/終端機指令/查 Jetson Nano 電量）](https://www.evernote.com/shard/s485/sh/10072c6a-03dc-670c-eb30-42848fdb2004/cc708cd05b300bf8bd415f917ac54fa8)
## 應用網站
[Teachable Machine 訓練網站](https://teachablemachine.withgoogle.com/)
[App inventor2](http://appinventor.mit.edu/)
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**日常筆記 QR Code**
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