CN109032133A - Indoor mobile robot based on auditory localization - Google Patents
Indoor mobile robot based on auditory localization Download PDFInfo
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- CN109032133A CN109032133A CN201810764009.8A CN201810764009A CN109032133A CN 109032133 A CN109032133 A CN 109032133A CN 201810764009 A CN201810764009 A CN 201810764009A CN 109032133 A CN109032133 A CN 109032133A
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- 230000004807 localization Effects 0.000 title claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims abstract description 25
- 230000005611 electricity Effects 0.000 claims abstract description 14
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- 239000003990 capacitor Substances 0.000 claims description 64
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- 238000001914 filtration Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 8
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- 238000003199 nucleic acid amplification method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 108091006146 Channels Proteins 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000005669 field effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000016776 visual perception Effects 0.000 description 2
- 108090000699 N-Type Calcium Channels Proteins 0.000 description 1
- 102000004129 N-Type Calcium Channels Human genes 0.000 description 1
- 108010075750 P-Type Calcium Channels Proteins 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Direct Current Feeding And Distribution (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The present invention provides the indoor mobile robot based on auditory localization, power supply realizes the conversion of voltage by power module, power module supplies electricity to base plate electric machine by motor drive module, the rotation axis of base plate electric machine is connected with driving wheel, power module also supplies electricity to ultrasonic distance measuring module respectively, ultrasonic wave receiving module, microphone and single-chip microcontroller, the ultrasonic signal that ultrasonic distance measuring module issues is returned and received by ultrasonic wave receiving module by barrier, ultrasonic wave receiving module sends a signal to single-chip microcontroller, and single-chip microcontroller realizes avoidance by driving wheel by calculating.The present invention can be positioned according to sound, and realize that the three-dimensional coordinate of sound source position resolves under environment indoors, controlled trolley from initial position, drawn close from trend sound source position, the function of automatic obstacle avoiding is realized in moving process.
Description
Technical field
The invention belongs to robot fields, more particularly to the indoor mobile robot based on auditory localization.
Background technique
Robot is as the intelligence individual towards complex environment background, and what is faced is the world of multi-modal information, to various
It all has corresponding information processing system and information acquiring pattern to application environment, and corresponding determine can be made according to the variation of environment
Plan.For the various external sensors of robotic equipment, higher performance indicator and broader application range are made it have, is robot
To the important means of intelligent development.
Robot vision technology has greatly widened the application range of robot, improves machine task efficiency.But
Visual perception is limited by sight and visibility, and when light condition is poor or barrier obstruction, visual perception will
Failure.
Summary of the invention
It is an object of the invention to solve the problems of the above-mentioned prior art, the indoor moving based on auditory localization is provided
Robot can realize that the three-dimensional coordinate of sound source position resolves under environment indoors, and control trolley from initial position, from
Trend sound source position is drawn close, and the function of automatic obstacle avoiding is realized in moving process.
The present invention adopts the following technical scheme:
Indoor mobile robot based on auditory localization, power supply realize the conversion of voltage, power module by power module
Base plate electric machine is supplied electricity to by motor drive module, the rotation axis of base plate electric machine is connected with driving wheel, and power module also supplies respectively
Ultrasonic distance measuring module is supplied electricity to, ultrasonic wave receiving module, microphone and single-chip microcontroller, microphone positions sound source, and sends
Signal sends a signal to motor drive module to single-chip microcontroller, single-chip microcontroller, to drive moving of car to sound source position, ultrasound
It is returned away from the ultrasonic signal that module issues by barrier and is received by ultrasonic wave receiving module, ultrasonic wave receiving module is by signal
It is sent to single-chip microcontroller, single-chip microcontroller sends signal and be used for robot obstacle-avoiding, the microphone is 5, and constitutes four by calculating
The microphone array of pyramid, and the position of sound source is obtained using five yuan of space microphone array Time Delay Estimation Algorithms.
Further technical solution is, the motor drive module includes that P3 driving signal interface, P2 motor power connect
Mouthful, P1 motor interface, BTS7960 chip U2, BTS7960 chip U3,74AHC244 latch U1, P3 driving signal interface with
74AHC244 latches U1, BTS7960 chip U2, BTS7960 chip U3 and is connected, P2 motor power interface and BTS7960 chip U2,
BTS7960 chip U3 be connected, P1 motor interface is connected with BTS7960 chip U2, BTS7960 chip U3, BTS7960 chip U2 and
74AHC244 latches U1 and is connected, and BTS7960 chip U3 latches U1 with 74AHC244 and is connected.
Further preferred technical solution is that the power supply is equipped with power supply anti-overvoltage protection circuit, and power supply is
The anode of battery, power supply anti-overvoltage protection circuit is connected with the source electrode of the one end slide rheostat resistance R2, PMOS tube Q1
It connects, the drain electrode of PMOS tube Q1 is connected with the source electrode of NMOS tube Q3, the grid and the one end resistance R1 and resistance RL1 mono- of PMOS tube Q1
End is connected, and the resistance R1 other end is connected with the anode of light emitting diode D1, and the cathode and MOSFET of light emitting diode D1 is managed
The source electrode of Q2 is connected, and the drain electrode of MOSFET pipe Q2 is connected with the other end of slide rheostat R2, the one end resistance R3, MOSFET
The grid of pipe Q2 is connected with the resistance R3 other end, and the other end of resistance RL1 is connected with the other end of resistance R3, NMOS tube Q3
Grid be connected with resistance R3, the drain electrode of NMOS tube Q3 is connected with the other end of slide rheostat R2, slide rheostat R2
The other end be also connected with resistance R4, battery cathode is connected with the other end of the other end of resistance R4, resistance R3.
Further optimal technical scheme is that the power module includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V
Voltage regulator circuit, wherein 12V voltage regulator circuit includes XL6009 electric current conversion chip, 10V power input and input capacitance C1 mono-
End, the one end capacitor C2, the one end inductance L1, the VIN interface of XL6009 electric current conversion chip are connected, the inductance L1 other end and pressure stabilizing two
Pole pipe D1 anode, the port SW of XL6009 electric current conversion chip are connected, the cathode of zener diode D1 and the one end capacitor C3, output
The one end capacitor C4, the one end resistance R2 are connected, and the other end of resistance R2 is connected with the port FB of XL6009 electric current conversion chip,
One end FB and resistance R1 of XL6009 electric current conversion chip is connected, 10V power input and the input capacitance C1 other end, capacitor C2
The other end, the port GND of XL6009 electric current conversion chip, the other end of resistance wire R1, the capacitor C3 other end, output capacitance C4 are another
One end is connected；
12V power input is connected with the VIN of the one end capacitor C5, A1212S-2W isolated power supply module, the capacitor C5 other end
It is connected and is grounded with the GND of A1212S-2W isolated power supply module, passes through between+the V and 0V of A1212S-2W isolated power supply module
Resistance R3 is connected, and is connected between-the V and 0V of A1212S-2W isolated power supply module by resistance R4, A1212S-2W isolated power supply
Module ground；
5V regulated power supply includes LM2596 chip, and power input is connected with the VIN of LM2596 chip, and with capacitor C6 mono-
End is connected, the OUT and inductance L2 and zener diode D2 cathode of LM2596 chip, slide rheostat RV1, the one end capacitor C7, sliding
The dynamic rheostat RV1 other end is connected with the one end resistance R5, the capacitor C7 other end and the resistance R5 other end, the inductance L2 other end, electricity
Hold the one end C8 to be connected, the port FB of LM2596 chip is connected with, OUT terminal mouth, the one end resistance R6, the capacitor C6 other end and LM2596
The port OFF of chip, LM2596 chip GND be connected, the resistance R6 other end, the zener diode D2 other end, capacitor C8 is another
End is connected, and is grounded；
3.3V regulated power supply includes AMS1117-3.3V linear voltage regulator, power input and the one end capacitor C9, capacitor C10
One end, the port IN of AMS1117-3.3V linear voltage regulator are connected, the OUT terminal and capacitor of AMS1117-3.3V linear voltage regulator
The one end C11, the one end capacitor C12 are connected, the endpoint and the capacitor C9 other end, electricity of the ADJ of AMS1117-3.3V linear voltage regulator
Hold the C10 other end, the capacitor C11 other end, the capacitor C12 other end to be connected and be grounded.
Further optimal technical scheme is that the ultrasonic distance measuring module includes STC11 single-chip microcontroller, MAX232 chip
Amplifier, piezo-electric crystal, STC11 single-chip microcontroller generate signal and are sent to MAX232 chip amplifier, MAX232 chip amplifier
It is connected with piezo-electric crystal signal, driving piezo-electric crystal generates ultrasonic signal.
Further optimal technical scheme is that the ultrasonic wave receiving module includes TLO84 low-noise operational amplifier, piezo crystals
Piece, piezoelectric chip are electrically connected with TLO84 low-noise operational amplifier.
Further optimal technical scheme be further include high-pass filter, filtering and amplifying circuit, low-pass filter, high pass
Filter, filtering and amplifying circuit, low-pass filter are installed in the circuit that power module is connected with microphone.
The present invention is the indoor mobile robot positioned according to sound, can realize the three-dimensional of sound source position under environment indoors
Calculating coordinate, and trolley is controlled from initial position, it is drawn close from trend sound source position, realizes automatic obstacle avoiding in moving process
Function.
Detailed description of the invention
Fig. 1 is that four-wheel differentia turns to chassis schematic diagram；
Fig. 2 is motor-drive circuit connection figure；
Fig. 3 is the anti-over-discharge protection circuit figure of power supply；
Fig. 4 is 12V power supply stabilization circuit XL6009 automatic boosting circuit diagram；
Fig. 5 is that 12V power supply stabilization circuit 12V turns 12V power supply；
Fig. 6 is 5VLM2596 reduction voltage circuit figure；
Fig. 7 is 3.3VAMS1117-3.3 reduction voltage circuit figure；
Fig. 8 is the ultrasonic wave transmitting circuit figure of ultrasonic distance measuring module；
Fig. 9 is that ultrasonic wave receives circuit diagram；
Figure 10 is circuit of high pass filter figure；
Figure 11 is filtering and amplifying circuit schematic diagram；
Figure 12 is low-pass filter circuit schematic diagram；
Figure 13 is array microphone structural schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the technical solution below in the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Indoor mobile robot based on auditory localization of the invention, including body chassis, power supply, power module, motor
Drive module, avoiding obstacles by supersonic wave module, single-chip microcontroller.As shown in Figure 1, turning to chassis schematic diagram for four-wheel differentia.Body chassis packet
Driving wheel and chassis are included, chassis realizes by left and right sidesing driving wheel revolving speed difference and turn to that is, the speed difference between the driving wheel of chassis can produce
It is raw to break away, it is turned to using sideslip.
Four independent driving wheels are installed on chassis, when the differential steering of chassis, the speed of two driving wheels in right side is mutually all,
The speed of two driving wheels in left side is mutually all.Left side drive wheel deflection angle is α, and the two is contrary.=when, chassis will be along straight line
Movement；When -> 0, chassis will be rotated around right side center of rotation；When < 0, chassis will be around left pivot movement center rotating.Four-wheel differentia turns
It can be achieved to utilization left and right sides wheel speed difference around any semidiameter turn, with turning to, flexible, precision is higher, structure is simple
Advantage.
Power supply, power module, motor drive module, avoiding obstacles by supersonic wave module, single-chip microcontroller are all set on chassis.
As shown in Fig. 2, being base plate electric machine driving circuit figure.The motor drive module include P3 driving signal interface,
P2 motor power interface, P1 motor interface, BTS7960 chip U2, BTS7960 chip U3,74AHC244 latch U1, P3 driving letter
The 1# interface of number interface is connected with the 74AHC244 A1 terminal for latching U1,2# interface and the 74AHC244 lock of P3 driving signal interface
The A3 terminal for depositing U1 is connected, and the 3# interface of P3 driving signal interface is connected with the 74AHC244 A2 terminal for latching U1, P3 driving letter
The 4# interface of number interface is connected with the 74AHC244 A4 terminal for latching U1, the 5# interface and BTS7960 core of P3 driving signal interface
The IS terminal of piece U2 is connected, and the 6# interface of P3 driving signal interface is connected with the IS terminal of BTS7960 chip U3,74AHC244 lock
The Y1 terminal for depositing U1 is connected with the IN terminal of BTS7960 chip U2, and 74AHC244 latches the Y2 terminal and BTS7960 chip U2 of U1
INH terminal be connected, 74AHC244 latch U1 Y3 terminal be connected with the IN terminal of BTS7960 chip U3,74AHC244 latch
The Y4 terminal of U1 is connected with the INH terminal of BTS7960 chip U3；The OUT terminal of P2 motor power interface and BTS7960 chip U2
Son, OUT terminal of BTS7960 chip U3 are connected；The VS terminal of BTS7960 chip U2 and the VS terminal of BTS7960 chip U3 are equal
It is connected with P1 motor interface.
BTS7960 chip interior is by the high potential field effect transistor in p-type channel and the low potential in a N-type channel
Field-effect tube mutually constitutes a fully integrated high current half-bridge.
Its internal power switch is ensured to be optimal resistance state, uses advanced vertical field-effect Manifold technology.Because p-type is logical
The switch in road is high potential, therefore one charge pump of interior design eliminates electromagnetic interference and guarantees the reliable and stable work in the channel
Make.
It is internal by driving integrated technology, by logic level input, current sampling diagnosis, out-of-service time generator,
Conversion rate adjuster prevents under-voltage, conversion rate adjuster overcurrent, short-circuit structure to be connected to a microprocessor
On.
Constitute full-bridge circuits using two pieces of BTS700 chips, then plus a 74AHC244 as data buffering or latch, can
Change single-chip microcontroller under chip data latch mode, release port data value, for driving remaining load.
The shaft of driving wheel is connected with base plate electric machine shaft.
Base plate electric machine uses PWM controller, adjusts motor driven voltage.It is a kind of numeral output using microprocessor
Come a kind of effective technology that the voltage etc. to analog circuit is controlled, applies in motor driven field, pass through micro process
The pulse signal width of output adjusts motor driven voltage.
In PWM speed-regulating system, it is general there are three types of mode can change the width i.e. fixed width frequency modulation of pulse, modulating frequency and width,
Fixed frequency modulated PWM, but fixed width frequency modulation and modulating frequency and width can change the frequency of control pulsewidth in speed regulation.
And if frequency will cause to resonate when being close with the intrinsic frequency of system, shake motor appearance significantly
Situation.It is most of using fixed intrinsic frequency in order to avoid this kind of situation in actual use, and the method for duty ratio is adjusted to adjust
Save dc motor both end voltage.The formula of its output voltage isT is the period of pulse signal, and t holds for high level
The continuous time.To make motor stabilizing work and reducing noise, frequency must be far from the intrinsic frequency of motor.
Therefore the frequency of motor is typically chosen generally then can't hear significantly at least in 1KHz or more, 10KHz to 20KHz
Noise of motor.Duty ratio selection is determined according to motor minimum driving voltage, is typically chosen in 20% or more.
Base plate electric machine control of the present invention is controlled using the single-chip microcontroller STM32F103 chip of ARM series.With ARM32
The Cortex-M3 kernel of position, 112 quick ports I/O, 11 timers, 13 communication interfaces, 3 12 be analog-digital converter,
2 Channel 12-Bit D/A converters and 12 channel DMA controllers.
As shown in figure 3, power supply is equipped with the anti-over-discharge protection circuit of power supply.
The power supply is equipped with power supply anti-overvoltage protection circuit, and power supply is battery, and power supply anti-overvoltage protects circuit
Anode be connected with the source electrode of the one end slide rheostat resistance R2, PMOS tube Q1, the drain electrode and NMOS tube of PMOS tube Q1
The source electrode of Q3 is connected, and the grid of PMOS tube Q1 is connected with the one end resistance R1 and the one end resistance RL1, the resistance R1 other end and hair
The anode of optical diode D1 is connected, and the cathode of light emitting diode D1 is connected with the source electrode of MOSFET pipe Q2, MOSFET pipe Q2
Drain electrode be connected with the other end of slide rheostat R2, the one end resistance R3, the grid of MOSFET pipe Q2 and the resistance R3 other end
It is connected, the other end of resistance RL1 is connected with the other end of resistance R3, and the grid of NMOS tube Q3 is connected with resistance R3,
The drain electrode of NMOS tube Q3 is connected with the other end of slide rheostat R2, and the other end of slide rheostat R2 is also connected with resistance R4
It connects, battery cathode is connected with the other end of the other end of resistance R4, resistance R3.
When cell voltage put it is too low when, battery can not then be activated since internal galvanic interaction is too faint.
The power supply anti-overvoltage protection circuit of the present apparatus forms power switch circuit, electricity using high-power NMOS and PMOS tube
When source voltage is less than setting value, NMOS ends when being pressed by resistive seal, PMOS cut-off, when cell voltage is in Cross prevention voltage threshold
When value, LED light can be extinguished, and should remove in time electric current at this time and charge.
Further optimal technical scheme is that the power module includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V
Voltage regulator circuit.
Wherein 12V voltage regulator circuit is, as shown in figure 4, power module described in 12V includes 12V voltage regulator circuit, 5V pressure stabilizing electricity
Road, 3.3V voltage regulator circuit, wherein 12V voltage regulator circuit includes XL6009 electric current conversion chip, 10V power input and input electricity
Hold the one end C1, the one end capacitor C2, the one end inductance L1, XL6009 electric current conversion chip VIN interface be connected, the inductance L1 other end with
Zener diode D1 anode, the port SW of XL6009 electric current conversion chip are connected, the cathode and capacitor C3 mono- of zener diode D1
End, the one end output capacitance C4, the one end resistance R2 are connected, the other end of resistance R2 and the port FB of XL6009 electric current conversion chip
It is connected, one end FB and resistance R1 of XL6009 electric current conversion chip is connected, and 10V power input and input capacitance C1 are another
It is end, the capacitor C2 other end, the port GND of XL6009 electric current conversion chip, the other end of resistance wire R1, the capacitor C3 other end, defeated
The capacitor C4 other end is connected out.
Because cell voltage output is unstable, in 11V or so fluctuating change, and since the start and stop of base plate electric machine will form
Pulse voltage, therefore circuit needs an automatic boosting circuit.
XL6009 electric current conversion chip has the wide input voltage range of 5-32V, and the maximum of switching frequency 400KHz, 4A are opened
The advantages that powered-down stream, transfer efficiency 94%, software starts.
As shown in figure 5, after obtaining 12V voltage, power input and the one end capacitor C5, A1212S-2W isolated power supply module
VIN be connected, the capacitor C5 other end is connected and is grounded with the GND of A1212S-2W isolated power supply module, and A1212S-2W is isolated electric
It is connected between+the V of source module and 0V by resistance R3, passes through resistance R4 between the-V and 0V of A1212S-2W isolated power supply module
It is connected, A1212S-2W isolated power supply module ground.
Positive and negative 12V power supply can be obtained by the mode that 12V power supply carries out Switching Power Supply isolation.Using isolated power supply module
A1212S-2W, transfer efficiency are 80% or more, and output voltage range is ± 12V ± 3%, and ripple factor and quiescent current are low,
And itself just has input and output filter.
As shown in fig. 6,5V regulated power supply includes LM2596 chip, power input is connected with the VIN of LM2596 chip, and
It is connected with the one end capacitor C6, the OUT and inductance L2 and zener diode D2 cathode, slide rheostat RV1, capacitor of LM2596 chip
The one end C7, the slide rheostat RV1 other end are connected with the one end resistance R5, the capacitor C7 other end and the resistance R5 other end, inductance L2
The other end, the one end capacitor C8 are connected, and the port FB of LM2596 chip is connected with, OUT terminal mouth, the one end resistance R6, the one end capacitor C6
It is connected with the GND of the port OFF of LM2596 chip, LM2596 chip, the resistance R6 other end, the zener diode D2 other end, electricity
Hold the C8 other end to be connected, and is grounded.
5V regulated power supply is obtained from 12V power supply, can be protected using the error of LM2596 chip, superior performance, output voltage
Card is in ± 4% range, and frequency of oscillation error is in ± 15% range, using LM2596 as the reduction voltage circuit of core.
As shown in fig. 7,3.3V regulated power supply includes AMS1117-3.3V linear voltage regulator, power input and capacitor C9 mono-
End, the one end capacitor C10, AMS1117-3.3V linear voltage regulator IN be connected, the OUT terminal of AMS1117-3.3V linear voltage regulator with
The one end capacitor C11, the one end capacitor C12 are connected, and the endpoint and capacitor C9 of the ADJ of AMS1117-3.3V linear voltage regulator is another
End, the capacitor C10 other end, the capacitor C11 other end, the capacitor C12 other end are connected and are grounded.
3.3V regulated power supply is obtained from 5V power supply, line of chip select voltage-stablizer AMS1117-3.3V, which is pressure stabilizing
Outstanding person in chip, better performances.The precision of voltage regulation hardly needs any external devices within 1.5%, but generally uses
In can use capacitor improve output voltage pulse curve.
In order to guarantee to export maximum current, outputs and inputs a pressure difference and be at least 1.3V or more, it is unsuitable excessively high, for 5V's
Input voltage is quite reasonable.The occupation rate of market of AMS117 is wide, and packing forms generally use SOT-223.
3.3V power supply is the power supply of STM32 single-chip microcontroller, and small power consumption, power is also met the requirements.Single-chip microcontroller requires power supply ripple
It is small, therefore power supply ripple can be improved in the form of bulky capacitor and small capacitances are used in combination.
As shown in figure 8, being ultrasonic distance measuring module, the ultrasonic distance measuring module includes STC11 single-chip microcontroller, MAX232
Chip amplifier, piezo-electric crystal, STC11 single-chip microcontroller generate signal and are sent to MAX232 chip amplifier, and MAX232 chip is put
Big device driving piezo-electric crystal generates ultrasonic signal.
Ultrasonic wave transmitting circuit generates signal using STC11 single-chip microcontroller, and MAX232 chip amplifies rear-guard dynamic pressure transistor.When
When detecting that TX pin level is high, STC11 single-chip microcontroller P1.6 and P1.7 generate the pulse of 8 180 ° of phase phase difference of 40KHz
Wave makes piezoelectric crystal oscillating generate ultrasonic signal after MAX232 amplifies.
When carrying out ranging using ultrasonic distance measuring module, TX input needs an at least high level of 20us, waits to be sent
After complete, the timing of single-chip microcontroller timer is opened.The Off Timer when detecting RX by high level jump is low level, takes out timing
Device value calculates timing.Distance then can be obtained multiplied by velocity of sound 340m/s according to timing, this section of distance is then ultrasound
Away from actual range.
As shown in figure 9, being ultrasonic wave receiving module, the ultrasonic wave receiving module includes TLO84 low-noise operational amplifier, pressure
Electric chip, piezoelectric chip are electrically connected with TLO84 low-noise operational amplifier.
Single-chip microcontroller opens P1.0 and P1.1 Port detecting, and this port is set to high level.When detect the port P1.1 believe
When number being pulled low, RX high level signal is exported.RX signal end keeps low level state when requiring usually to leave unused herein.Ultrasonic wave connects
It receives circuit to be made of TLO84 low-noise operational amplifier, by preposition amplification, second-order active filter, amplification, voltage compares, triode is opened
When powered-down road output ultrasonic wave signal.The module then defaults its time-out after lasting 38ms does not receive feedback data.
Based on the Time Delay Estimation Algorithms of the five yuan of microphone arrays in space, five yuan of space microphone array as shown in fig. 13 that is established
Column, the array is not by microphone N1、N2、N3、N4And N5Composition, by microphone N1、N2、N3、N4Composition square side length be
2L, microphone N5Distance to coordinate origin is L, using square matrix center as coordinate origin O, establishes space right-angle as shown in fig. 13 that
Coordinate system, it is assumed that target position is located at S (x, y, z), and the distance of target range coordinate origin is r, the azimuth of target
It is θ for the elevation angle.
Each array element coordinate of five yuan of space microphone array is respectively: N1(L,L,0)、N2(-L,L,0)、N3(-L,-L,0)、N4
(L,-L,0)、N5(0,0, L), RiFor target S to array element NiThe distance of (i=1,2,3,4,5), d12、d13、d14For reference array element N1
With N2、N3、N4Between path difference, C indicate the aerial spread speed of sound.The formula for then calculating path difference is as follows:
d1i=Ri-R1=C*ti1(i=2,3,4) (1)
T in formulai1For reference array element N1With N2、N3、N4Between time delay.
Then had according to the geometry site of target and acoustic matrix:
Equation group (2) are arranged and abbreviation can obtain:
Equation (3), which are substituted into equation group (2) and are arranged, to be obtained:
It can be in the hope of x, y, z and R as long as estimating time delay by equation group above (4) and equation (1)1, while can be with
Obtain azimuth:
The elevation angle are as follows:
It can be obtained according to the geometric position of acoustic matrix and equation group (4)；
If R5> r then proves sound source coordinate above XOY plane；If R5< r then proves sound source coordinate under XOY plane
Side.
This method can solve the sound source coordinate obtained due to planar four-element square matrix existing defects itself and be likely to occur
The problem of lower two mirror image coordinates, and how much calculation amount compares the no increase of planar four-element square matrix, has very strong practicability.
It as shown in Figure 10, is high-pass filter short circuit figure.When using microphone, need to filter the direct current in microphone signal
Ingredient should also filter out the low-frequency component in signal, 50Hz Hz noise otherwise can be introduced in rear partial circuit.
It as shown in figure 11, is filtering and amplifying circuit.The speech frequency of people is in 300Hz-3400Hz, and the frequency band is relatively narrow, therefore
It is realized using multilevel band-pass filter.And it since the quiescent current that microphone obtains is smaller, needs to amplify and filter.And
It is wider with frequency band for the form of passive filtering.Therefore signal is amplified and is filtered using the form of active filter.Amplification
Signal is constituted using OP07 amplifier, and the integrated filter that certain manufacturers provide can also be used certainly.
OP07 is that a kind of noise is low, the bipolar operational amplifier of non-chopper-zero-stabilized.OP07 input offset voltage is very low,
Additional zeroing measure is not needed, OP07 input bias current is low, open-loop gain is high, therefore OP07 is suitable for the measurement of high-gain
The small-signal etc. of equipment and amplification sensor.Positive and negative 12V power supply adds 0.1uF capacitor filtering, and power supply noise is avoided to cause low frequency
Interference.Resistance R8 is used to that gain is adjusted.
Circuit constitutes the form of instrument amplification using differential amplification, can effectively inhibit common-mode noise, improves differential mode and amplifies energy
Power, amplification factor 1+2R7/R8, minimum more than 100 times of gain.
It as shown in figure 12, is low-pass filter circuit figure.Voice frequency generally within 30 to 3400HZ, is set in conjunction with front end
The high-pass filter of meter needs to design a low-pass filter herein.It is generally believed that signal through wave filter can generate one and
The related phase pushing figure of its frequency, if this phase pushing figure and the variation relation of signal frequency be it is linear, filter
Wave device can only make signal one constant amount of delay.However if the opposite variation with signal frequency of offset be it is nonlinear, i.e.,
The signal of different frequencies has different displacements through wave filter, then nonsinusoidal signal can be produced when passing through this filter
Raw serious distortion.Therefore chebyshev low-pass filter is used in design, passband gain is less than -5dB, stop band gain
10KHz, decaying are greater than -50dB, and filter nominal load is 50 Ω.Filter does not use enlarging function, and amplification factor 1 is interior
Portion's circuit uses 51 Ω of resistance, precision 5%, and filter capacitor uses monolithic capacitor, motor-driven degree 1%.
The course of work of the invention:
Startup power supply, microphone array receives sound-source signal, and judges sound source position coordinates computed, passes through MCU driving
Base plate electric machine movement, the positive ultrasonic distance measuring module of motion process, ultrasonic wave receiving module receive signal disturbance in judgement object whether
In travelling route, single-chip microcontroller control base plate electric machine is to turn to, and robot reaches sound source position after multiple avoidance.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (7)
1. the indoor mobile robot based on auditory localization, which is characterized in that power supply realizes the conversion of voltage by power module,
Electric energy after conversion is supplied electricity to base plate electric machine, the rotation axis and driving wheel of base plate electric machine by motor drive module by power module
It is connected, the electric energy of different voltages demand is also supplied electricity to ultrasonic distance measuring module respectively by power module, and ultrasonic wave receiving module passes
Sound device and single-chip microcontroller, microphone position sound source, and send a signal to single-chip microcontroller, and single-chip microcontroller sends a signal to motor driven
Module, to drive moving of car to sound source position, the ultrasonic signal that ultrasonic distance measuring module issues is returned simultaneously by barrier
It is received by ultrasonic wave receiving module, ultrasonic wave receiving module sends a signal to single-chip microcontroller, and single-chip microcontroller sends signal by calculating
For robot obstacle-avoiding, the microphone is 5, and constitutes the microphone array of quadrangular pyramid, and transaudient using five yuan of space
Device array Time Delay Estimation Algorithms obtain the position of sound source.
2. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the motor drives
Dynamic model block includes P3 driving signal interface, P2 motor power interface, P1 motor interface, BTS7960 chip U2, BTS7960 chip
U3,74AHC244 latch U1, and P3 driving signal interface and 74AHC244 latch U1, BTS7960 chip U2, BTS7960 chip U3
It is connected, P2 motor power interface is connected with BTS7960 chip U2, BTS7960 chip U3, P1 motor interface and BTS7960 chip
U2, BTS7960 chip U3 are connected, and BTS7960 chip U2 and 74AHC244 latch U1 and be connected, BTS7960 chip U3 and
74AHC244 latches U1 and is connected.
3. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the power supply peace
Circuit is protected equipped with power supply anti-overvoltage, power supply is battery, and power supply anti-overvoltage protects the anode and sliding variable resistance of circuit
The one end device resistance R2, PMOS tube Q1 source electrode be connected, the drain electrode of PMOS tube Q1 is connected with the source electrode of NMOS tube Q3, PMOS tube Q1
Grid be connected with the one end resistance R1 and the one end resistance RL1, the resistance R1 other end is connected with the anode of light emitting diode D1
It connects, the cathode of light emitting diode D1 is connected with the source electrode of MOSFET pipe Q2, the drain electrode of MOSFET pipe Q2 and slide rheostat R2
The other end, the one end resistance R3 be connected, the grid of MOSFET pipe Q2 is connected with the resistance R3 other end, and resistance RL1's is another
End is connected with the other end of resistance R3, and the grid of NMOS tube Q3 is connected with resistance R3, and the drain electrode and sliding of NMOS tube Q3 becomes
The other end of resistance device R2 is connected, and the other end of slide rheostat R2 is also connected with resistance R4, and battery cathode is with resistance R4's
The other end, resistance R3 the other end be connected.
4. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the power supply mould
Block includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V voltage regulator circuit, wherein 12V voltage regulator circuit includes the conversion of XL6009 electric current
Chip, 10V power input and the one end input capacitance C1, the one end capacitor C2, the one end inductance L1, XL6009 electric current conversion chip
VIN interface is connected, and the inductance L1 other end is connected with the port SW of zener diode D1 anode, XL6009 electric current conversion chip, surely
Pressure diode D1 cathode be connected with the one end capacitor C3, the one end output capacitance C4, the one end resistance R2, the other end of resistance R2 and
The port FB of XL6009 electric current conversion chip is connected, and one end FB and resistance R1 of XL6009 electric current conversion chip is connected, 10V electricity
Source input terminal and the input capacitance C1 other end, the capacitor C2 other end, the port GND of XL6009 electric current conversion chip, resistance wire R1
The other end, the capacitor C3 other end, the output capacitance C4 other end be connected；
12V power input is connected with the VIN of the one end capacitor C5, A1212S-2W isolated power supply module, the capacitor C5 other end with
The GND of A1212S-2W isolated power supply module is connected and is grounded, and passes through electricity between the+V and 0V of A1212S-2W isolated power supply module
It hinders R3 to be connected, be connected between-the V and 0V of A1212S-2W isolated power supply module by resistance R4, A1212S-2W isolated power supply mould
The port block 0v ground connection；
5V regulated power supply includes LM2596 chip, and power input is connected with the VIN of LM2596 chip, and with the one end capacitor C6 phase
Even, the OUT and inductance L2 and zener diode D2 cathode of LM2596 chip, slide rheostat RV1, the one end capacitor C7, sliding become
The resistance device RV1 other end is connected with the one end resistance R5, the capacitor C7 other end and the resistance R5 other end, the inductance L2 other end, capacitor C8
One end is connected, and the port FB of LM2596 chip is connected with OUT terminal mouth, the one end resistance R6, the capacitor C6 other end and LM2596 chip
The port OFF, the port GND of LM2596 chip, the resistance R6 other end, the zener diode D2 other end, capacitor C8 other end phase
Even, it and is grounded；
3.3V regulated power supply includes AMS1117-3.3V linear voltage regulator, power input and the one end capacitor C9, capacitor C10 mono-
End, the port IN of AMS1117-3.3V linear voltage regulator are connected, the OUT terminal and capacitor C11 of AMS1117-3.3V linear voltage regulator
One end, the one end capacitor C12 are connected, the endpoint and the capacitor C9 other end, capacitor of the ADJ of AMS1117-3.3V linear voltage regulator
The C10 other end, the capacitor C11 other end, the capacitor C12 other end are connected and are grounded.
5. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the ultrasonic wave
Range finder module includes STC11 single-chip microcontroller, MAX232 chip amplifier, piezo-electric crystal, and STC11 single-chip microcontroller generates signal and is simultaneously sent to
MAX232 chip amplifier, MAX232 chip amplifier are connected with piezo-electric crystal signal, and driving piezo-electric crystal generates ultrasonic wave letter
Number.
6. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the ultrasonic wave
Receiving module includes TLO84 low-noise operational amplifier, piezoelectric chip, and piezoelectric chip is electrically connected with TLO84 low-noise operational amplifier.
7. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that further include high pass filter
Wave device, filtering and amplifying circuit, low-pass filter, high-pass filter, filtering and amplifying circuit, low-pass filter are installed on power module
In the circuit being connected with microphone, low-pass filter is chebyshev low-pass filter.
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