CN109032133B - Indoor mobile robot based on sound source localization - Google Patents
Indoor mobile robot based on sound source localization Download PDFInfo
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- CN109032133B CN109032133B CN201810764009.8A CN201810764009A CN109032133B CN 109032133 B CN109032133 B CN 109032133B CN 201810764009 A CN201810764009 A CN 201810764009A CN 109032133 B CN109032133 B CN 109032133B
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- 230000004807 localization Effects 0.000 title claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 239000003990 capacitor Substances 0.000 claims description 76
- 230000000087 stabilizing effect Effects 0.000 claims description 32
- 238000002955 isolation Methods 0.000 claims description 17
- 239000003381 stabilizer Substances 0.000 claims description 13
- 239000013078 crystal Substances 0.000 claims description 10
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- 230000008569 process Effects 0.000 abstract description 5
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- 230000005669 field effect Effects 0.000 description 3
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Classifications
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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
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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
- G01S15/88—Sonar systems specially adapted for specific applications
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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
- 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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- 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 invention provides an indoor mobile robot based on sound source positioning, wherein a power supply realizes voltage conversion through a power supply module, the power supply module supplies power to a chassis motor through a motor driving module, a rotating shaft of the chassis motor is connected with a driving wheel, the power supply module also respectively supplies power to an ultrasonic ranging module, an ultrasonic receiving module, a microphone and a singlechip, an ultrasonic signal sent by the ultrasonic ranging module is returned by an obstacle and received by the ultrasonic receiving module, the ultrasonic receiving module sends the signal to the singlechip, and the singlechip realizes obstacle avoidance through the driving wheel by calculation. According to the invention, the three-dimensional coordinate calculation of the sound source position can be realized according to sound localization and under the indoor environment, the trolley is controlled to start from the initial position and automatically draw close to the sound source position, and the function of autonomous obstacle avoidance is realized in the moving process.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an indoor mobile robot based on sound source localization.
Background
The robot is used as an intelligent individual facing to a complex environment background, faces the world of multi-mode information, has a corresponding information processing system and an information acquisition mode for various application environments, and can make corresponding decisions according to the change of the environment. The robot is provided with various external sensors, so that the robot has higher performance indexes and wider application range, and is an important means for the intelligent development of the robot.
The robot vision technology greatly widens the application range of the robot and improves the working efficiency of the robot. However, visual perception is limited by vision and visibility, and can fail in poor light conditions or in the event of obstruction by obstacles.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an indoor mobile robot based on sound source positioning, which can realize three-dimensional coordinate calculation of a sound source position in an indoor environment, control a trolley to automatically approach the sound source position from an initial position and realize an autonomous obstacle avoidance function in the moving process.
The invention adopts the following technical scheme:
the utility model provides an indoor mobile robot based on sound source location, the power passes through power module and realizes the conversion of voltage, power module passes through motor drive module power supply and gives chassis motor, chassis motor's axis of rotation and drive wheel link to each other, power module still supplies power respectively and gives ultrasonic ranging module, ultrasonic receiving module, microphone and singlechip, the microphone is fixed a position to the sound source, and send the signal to the singlechip, singlechip send the signal for motor drive module, thereby order about the dolly to move to the sound source position, ultrasonic signal that ultrasonic ranging module sent is returned and is received by ultrasonic receiving module, ultrasonic receiving module sends the signal to the singlechip, the singlechip is through calculating, send the signal and be used for the robot to keep away the barrier, the microphone be 5, and constitute the microphone array of quadrangular pyramid, and adopt space five-membered microphone array time delay estimation algorithm to obtain the position of sound source.
The further technical scheme is that the motor driving module comprises a P3 driving signal interface, a P2 motor power interface and a P1 motor interface, wherein the BTS7960 chip U2, the BTS7960 chip U3 and the 74AHC244 latch U1, the P3 driving signal interface is connected with the 74AHC244 latch U1, the BTS7960 chip U2 and the BTS7960 chip U3, the P2 motor power interface is connected with the BTS7960 chip U2 and the BTS7960 chip U3, the P1 motor interface is connected with the BTS7960 chip U2 and the BTS7960 chip U3, the BTS7960 chip U2 is connected with the 74AHC244 latch U1, and the BTS7960 chip U3 is connected with the 74AHC244 latch U1.
The further preferable technical scheme is that the power supply is provided with a power supply overvoltage protection circuit, the power supply is a battery, the positive electrode of the battery of the power supply overvoltage protection circuit is connected with one end of a sliding rheostat resistor R2 and the source electrode of a PMOS tube Q1, the drain electrode of the PMOS tube Q1 is connected with the source electrode of an NMOS tube Q3, the grid electrode of the PMOS tube Q1 is connected with one end of the resistor R1 and one end of a resistor RL1, the other end of the resistor R1 is connected with the positive electrode of a light-emitting diode D1, the negative electrode of the light-emitting diode D1 is connected with the source electrode of a MOSFET tube Q2, the drain electrode of the MOSFET tube Q2 is connected with the other end of the sliding rheostat R2 and one end of the resistor R3, the grid electrode of the MOSFET tube Q2 is connected with the other end of the resistor R3, the drain electrode of the NMOS tube Q3 is connected with the other end of the sliding rheostat R2, the other end of the sliding rheostat R2 is also connected with the resistor R4, and the other end of the battery is connected with the other end of the resistor R3.
The further preferable technical scheme is that the power supply module comprises a 12V voltage stabilizing circuit, a 5V voltage stabilizing circuit and a 3.3V voltage stabilizing circuit, wherein the 12V voltage stabilizing circuit comprises an XL6009 current conversion chip, a 10V power supply input end is connected with one end of an input capacitor C1, one end of a capacitor C2, one end of an inductor L1 and a VIN interface of the XL6009 current conversion chip, the other end of the inductor L1 is connected with the positive electrode of the voltage stabilizing diode D1 and the SW port of the XL6009 current conversion chip, the negative electrode of the voltage stabilizing diode D1 is connected with one end of a capacitor C3, one end of an output capacitor C4 and one end of a resistor R2, the other end of the resistor R2 is connected with the FB port of the XL6009 current conversion chip, and the 10V power supply input end is connected with the other end of the input capacitor C1, the other end of the capacitor C2, the GND port of the XL6009 current conversion chip, the other end of the resistor wire R1, the other end of the capacitor C3 and the other end of the output capacitor C4;
the 12V power input end is connected with one end of a capacitor C5 and VIN of an A1212S-2W isolation power supply module, the other end of the capacitor C5 is connected with GND of the A1212S-2W isolation power supply module and grounded, +V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R3, and-V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R4, and the A1212S-2W isolation power supply module is grounded;
the 5V stabilized voltage power supply comprises an LM2596 chip, wherein the power supply input end is connected with VIN of the LM2596 chip and is connected with one end of a capacitor C6, OUT of the LM2596 chip is connected with an inductor L2 and the negative electrode of a voltage stabilizing diode D2, a sliding rheostat RV1 and one end of a capacitor C7, the other end of the sliding rheostat RV1 is connected with one end of a resistor R5, the other end of the capacitor C7 is connected with the other end of the resistor R5, the other end of the inductor L2 and one end of a capacitor C8, the FB port of the LM2596 chip is connected with an OUT port and one end of a resistor R6, the other end of the capacitor C6 is connected with the OFF port of the LM2596 chip, the GND of the LM2596 chip, the other end of the resistor R6 and the other end of the voltage stabilizing diode D2, and the other end of the capacitor C8 are connected to ground;
the 3.3V stabilized voltage power supply comprises an AMS1117-3.3V linear voltage stabilizer, wherein the power supply input end is connected with one end of a capacitor C9, one end of a capacitor C10 and an IN port of the AMS1117-3.3V linear voltage stabilizer are connected, an OUT end of the AMS1117-3.3V linear voltage stabilizer is connected with one end of a capacitor C11 and one end of a capacitor C12, and an ADJ end of the AMS1117-3.3V linear voltage stabilizer is connected with the other end of the capacitor C9, the other end of the capacitor C10, the other end of the capacitor C11 and the other end of the capacitor C12 and grounded.
The further preferable technical scheme is that the ultrasonic ranging module comprises an STC11 single-chip microcomputer, an MAX232 chip amplifier and a piezoelectric crystal, wherein the STC11 single-chip microcomputer generates signals and sends the signals to the MAX232 chip amplifier, and the MAX232 chip amplifier is connected with the piezoelectric crystal signals to drive the piezoelectric crystal to generate ultrasonic signals.
The further preferable technical scheme is that the ultrasonic receiving module comprises a TLO84 low-noise operational amplifier and a piezoelectric wafer, and the piezoelectric wafer is connected with the TLO84 low-noise operational amplifier.
The further preferable technical scheme is that the microphone further comprises a high-pass filter, an amplifying and filtering circuit and a low-pass filter, wherein the high-pass filter, the amplifying and filtering circuit and the low-pass filter are arranged in a circuit of the power supply module connected with the microphone.
According to the sound positioning indoor mobile robot, three-dimensional coordinate calculation of the sound source position can be achieved under an indoor environment, the trolley is controlled to start from the initial position and automatically close to the sound source position, and the function of autonomous obstacle avoidance is achieved in the moving process.
Drawings
FIG. 1 is a schematic diagram of a four-wheel differential steering chassis;
FIG. 2 is a motor drive circuit connection diagram;
FIG. 3 is a circuit diagram of a power supply over-discharge protection circuit;
fig. 4 is a diagram of an automatic boosting circuit of the 12V power supply voltage stabilizing circuit XL 6009;
FIG. 5 shows a 12V to 12V power supply of the 12V power supply voltage stabilizing circuit;
FIG. 6 is a schematic diagram of a 5VLM2596 buck circuit;
FIG. 7 is a 3.3VAMS1117-3.3 buck circuit diagram;
FIG. 8 is an ultrasonic wave transmitting circuit diagram of an ultrasonic ranging module;
fig. 9 is a circuit diagram of an ultrasonic wave reception;
FIG. 10 is a high pass filter circuit diagram;
FIG. 11 is a schematic diagram of an amplification filter circuit;
FIG. 12 is a schematic diagram of a low pass filter circuit;
fig. 13 is a schematic diagram of an array microphone structure.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the present invention will be clearly and completely described below, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention discloses an indoor mobile robot based on sound source localization, which comprises a chassis mechanism, a power supply module, a motor driving module, an ultrasonic obstacle avoidance module and a singlechip. As shown in fig. 1, a schematic view of a four-wheel differential steering chassis is shown. The chassis mechanism comprises driving wheels and a chassis, the chassis realizes steering through different rotation speeds of left and right driving wheels, namely, the speed difference between the driving wheels of the chassis can generate sideslip, and the sideslip is utilized for steering.
Four independent driving wheels are arranged on the chassis, and when the chassis is in differential steering, the speeds of the two driving wheels on the right side are the same, and the speeds of the two driving wheels on the left side are the same. The deflection angle of the left driving wheel is alpha, and the two directions are opposite. When=the chassis will move in a straight line; when- >0, the chassis will rotate about the right side center of rotation; when <0, the chassis will rotate about the left-hand center of rotation. The four-wheel differential steering can realize turning around any radius by utilizing the speed difference of the wheels at the left side and the right side, and has the advantages of flexible steering, higher precision and simple structure.
The power supply, the power supply module, the motor driving module, the ultrasonic obstacle avoidance module and the singlechip are all arranged on the chassis.
As shown in fig. 2, a chassis motor driving circuit diagram is shown. The motor driving module comprises a P3 driving signal interface, a P2 motor power interface and a P1 motor interface, wherein a BTS7960 chip U2, a BTS7960 chip U3 and a 74AHC244 latch U1 are connected, A1 # interface of the P3 driving signal interface IS connected with an A1 terminal of the 74AHC244 latch U1, A2 # interface of the P3 driving signal interface IS connected with an A2 terminal of the 74AHC244 latch U1, A4 # interface of the P3 driving signal interface IS connected with an A4 terminal of the 74AHC244 latch U1, a 5# interface of the P3 driving signal interface IS connected with an IS terminal of the BTS7960 chip U2, a 6# interface of the P3 driving signal interface IS connected with an IS terminal of the BTS7960 chip U3, a Y1 terminal of the 74AHC 244U 1 IS connected with an IN terminal of the BTS7960 chip U2, a Y2 terminal of the 74AHC 244U 1 IS connected with an INH terminal of the BTS7960 chip U2, and a 5# interface of the P3 driving signal interface IS connected with an INH terminal of the BTS7960 chip U3; the P2 motor power interface is connected with an OUT terminal of the BTS7960 chip U2 and an OUT terminal of the BTS7960 chip U3; the VS terminal of BTS7960 chip U2 and the VS terminal of BTS7960 chip U3 are both connected to the P1 motor interface.
The inside of the BTS7960 chip is formed by a high-potential field effect transistor of a P-type channel and a low-potential field effect transistor of an N-type channel to form a fully integrated high-current half-bridge.
The internal power switch ensures the optimal resistance state, and advanced vertical field effect transistor technology is adopted. Because the switch of the P-type channel is high, a charge pump is designed inside to eliminate electromagnetic interference and ensure the stable and reliable operation of the channel.
The logic level input end, the current sampling diagnosis, the dead time generator, the conversion rate regulator, the undervoltage prevention, the overcurrent of the conversion rate regulator and the short circuit structure are connected to a micro-processor through a driving integration technology.
Two BTS700 chips are adopted to form a full bridge circuit, and a 74AHC244 is added to be used as data buffer or latch, so that the singlechip can release port data values under the state of chip data latch, and the port data values are used for driving other loads.
The rotating shaft of the driving wheel is connected with the rotating shaft of the chassis motor.
The chassis motor adopts a PWM controller to adjust the motor driving voltage. The method is an effective technology for controlling the voltage of an analog circuit and the like by utilizing the digital output of a microprocessor, and is applied to the field of motor driving, and the motor driving voltage is adjusted by the width of a pulse signal output by micro-processing.
In PWM speed regulation systems, there are three general ways to change the pulse width, i.e. fixed width modulation, frequency modulation, fixed bandwidth, but fixed width modulation and frequency modulation change the frequency of the control pulse width during speed regulation.
And if the frequency is close to the natural frequency of the system, resonance is caused, so that the motor is subjected to a condition of large-amplitude vibration. In order to avoid the situation in practical use, a method of adjusting the duty ratio to adjust the voltage across the direct current motor mostly adopts a fixed natural frequency. The output voltage is given by the formulaT is the period of the pulse signal, and T is the high-level duration. For the motor to operate stably and reduce noise, the frequency must be far from the natural frequency of the motor.
Therefore, the frequency of the motor is generally selected to be at least above 1KHz, and no obvious motor noise is generally heard within 10KHz to 20 KHz. The duty cycle is determined according to the minimum driving voltage of the motor, and is generally selected to be 20% or more.
The chassis motor control of the invention adopts an ARM series singlechip STM32F103 chip for control. A Cortex-M3 core with ARM32 bits, 112 fast I/O ports, 11 timers, 13 communication interfaces, 3 analog-to-digital converters with 12 bits, a 2-channel 12-bit D/A converter and a 12-channel DMA controller.
As shown in fig. 3, the power supply is provided with a power supply over-discharge prevention protection circuit.
The power supply is provided with a power supply overvoltage protection circuit, the power supply is a battery, the positive electrode of the battery of the power supply overvoltage protection circuit is connected with one end of a sliding rheostat resistor R2 and the source electrode of a PMOS tube Q1, the drain electrode of the PMOS tube Q1 is connected with the source electrode of an NMOS tube Q3, the grid electrode of the PMOS tube Q1 is connected with one end of the resistor R1 and one end of a resistor RL1, the other end of the resistor R1 is connected with the positive electrode of a light-emitting diode D1, the negative electrode of the light-emitting diode D1 is connected with the source electrode of a MOSFET tube Q2, the drain electrode of the MOSFET tube Q2 is connected with the other end of the sliding rheostat R2 and one end of the resistor R3, the grid electrode of the MOSFET tube Q2 is connected with the other end of the resistor R3, the drain electrode of the NMOS tube Q3 is connected with the other end of the sliding rheostat R2, the other end of the sliding rheostat R2 is also connected with the resistor R4, and the negative electrode of the battery is connected with the other end of the resistor R3.
When the battery voltage is too low, the battery may be too weak to be activated due to internal galvanic reactions.
The power supply overvoltage protection circuit of the device adopts a high-power NMOS and PMOS tube to form a power supply switch circuit, when the power supply voltage is smaller than a set value, the NMOS is cut off when the power supply voltage is sealed and pressed through a resistor, the PMOS is cut off, and when the battery voltage is at an overdischarge protection voltage threshold value, the LED lamp is extinguished, and at the moment, the current should be taken down in time for charging.
The further preferable technical scheme is that the power supply module comprises a 12V voltage stabilizing circuit, a 5V voltage stabilizing circuit and a 3.3V voltage stabilizing circuit.
The 12V voltage stabilizing circuit is shown in fig. 4, the 12V power module comprises a 12V voltage stabilizing circuit, a 5V voltage stabilizing circuit and a 3.3V voltage stabilizing circuit, wherein the 12V voltage stabilizing circuit comprises an XL6009 current conversion chip, a 10V power input end is connected with one end of an input capacitor C1, one end of a capacitor C2, one end of an inductor L1 and a VIN interface of the XL6009 current conversion chip, the other end of the inductor L1 is connected with an anode of a voltage stabilizing diode D1 and a SW port of the XL6009 current conversion chip, a cathode of the voltage stabilizing diode D1 is connected with one end of a capacitor C3, one end of an output capacitor C4 and one end of a resistor R2, the other end of the resistor R2 is connected with a FB port of the XL6009 current conversion chip, and a 10V power input end is connected with the other end of the input capacitor C1, the other end of the capacitor C2, the GND port of the XL6009 current conversion chip, the other end of the resistor wire R1, the other end of the capacitor C3 and the other end of the output capacitor C4.
Because the battery voltage output is unstable, fluctuates around 11V, and because the start-stop of the chassis motor can form a pulse voltage, the circuit requires an automatic boost circuit.
The XL6009 current conversion chip has the advantages of wide input voltage range of 5-32V, maximum switching current of 400KHz and 4A, conversion efficiency of 94%, software start and the like.
As shown in FIG. 5, after 12V voltage is obtained, the power input end is connected with one end of a capacitor C5 and VIN of an A1212S-2W isolation power supply module, the other end of the capacitor C5 is connected with GND of the A1212S-2W isolation power supply module and grounded, +V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R3, and-V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R4, and the A1212S-2W isolation power supply module is grounded.
The positive and negative 12V power supply can be obtained by a 12V power supply in a way of switching power supply isolation. The isolation power supply module A1212S-2W is adopted, the conversion efficiency is more than 80%, the output voltage range is +/-12V +/-3%, the ripple coefficient and the quiescent current are low, and the filter is provided with an input/output filter.
As shown in FIG. 6, the 5V regulated power supply comprises an LM2596 chip, a power input end is connected with VIN of the LM2596 chip and is connected with one end of a capacitor C6, OUT of the LM2596 chip is connected with an inductor L2 and a negative electrode of a voltage stabilizing diode D2, a sliding rheostat RV1 and one end of a capacitor C7, the other end of the sliding rheostat RV1 is connected with one end of a resistor R5, the other end of the capacitor C7 is connected with the other end of the resistor R5, the other end of the inductor L2 and one end of the capacitor C8, an FB port of the LM2596 chip is connected with an OUT port and one end of the resistor R6, one end of the capacitor C6 is connected with an OFF port of the LM2596 chip and GND of the LM2596 chip, the other end of the resistor R6 and the other end of the voltage stabilizing diode D2 are connected with the other end of the resistor C8 and grounded.
The 5V stabilized voltage power supply is obtained from a 12V power supply, an LM2596 chip is adopted, the performance is excellent, the error of output voltage can be ensured to be within +/-4%, the oscillation frequency error is within +/-15%, and the LM2596 is used as a core voltage reducing circuit.
As shown IN FIG. 7, the 3.3V voltage-stabilizing power supply comprises an AMS1117-3.3V linear voltage stabilizer, a power supply input end is connected with one end of a capacitor C9, one end of a capacitor C10 and the IN of the AMS1117-3.3V linear voltage stabilizer are connected, an OUT end of the AMS1117-3.3V linear voltage stabilizer is connected with one end of a capacitor C11 and one end of a capacitor C12, and an end point of an ADJ of the AMS1117-3.3V linear voltage stabilizer is connected with the other end of the capacitor C9, the other end of the capacitor C10, the other end of the capacitor C11 and the other end of the capacitor C12 and grounded.
The 3.3V regulated power supply is obtained from a 5V power supply, the chip selects the linear voltage stabilizer AMS1117-3.3V, and the chip is outstanding in the voltage stabilizing chip, and the performance is good. The voltage stabilizing precision is within 1.5%, and almost no external device is needed, but the output voltage pulse curve is improved by using a capacitor in common use.
In order to ensure maximum output current, the voltage difference between the input and output is at least 1.3V, which is not too high, and is quite reasonable for 5V input voltage. AMS117 has a broad market share and is packaged in a form commonly known as SOT-223.
The 3.3V power supply supplies power for the STM32 singlechip, so that the power consumption is low, and the power also meets the requirements. The singlechip requires small power supply ripple, so that the power supply ripple can be improved by adopting a mode of combining a large capacitor and a small capacitor.
As shown in FIG. 8, the ultrasonic ranging module comprises an STC11 single-chip microcomputer, an MAX232 chip amplifier and a piezoelectric crystal, wherein the STC11 single-chip microcomputer generates signals and sends the signals to the MAX232 chip amplifier, and the MAX232 chip amplifier drives the piezoelectric crystal to generate ultrasonic signals.
The ultrasonic wave transmitting circuit adopts STC11 singlechip to generate signals, and the MAX232 chip drives the piezoelectric crystal after amplifying. When the TX pin level is detected to be high, the STC11 singlechip P1.6 and P1.7 generate 8 40KHz pulse waves with 180 degrees phase difference, and the piezoelectric crystal is made to oscillate to generate ultrasonic signals after being amplified by MAX 232.
When the ultrasonic ranging module is used for ranging, the TX input needs a high level of at least 20us, and after the transmission is waited, the singlechip timer is started for timing. And closing the timer when detecting that the RX jumps from the high level to the low level, taking out the timer value, and calculating the timing time. The distance is obtained by multiplying the timing time by the sound velocity of 340m/s, which is the actual distance of the ultrasonic ranging.
As shown in fig. 9, the ultrasonic receiving module includes a TLO84 low-noise operational amplifier and a piezoelectric chip, and the piezoelectric chip is connected with the TLO84 low-noise operational amplifier.
The singlechip opens the ports P1.0 and P1.1 for detection, and sets the ports to be high level. When the P1.1 port signal is detected to be pulled low, an RX high signal is output. The RX signal terminal is required to remain low when idle at ordinary times. The ultrasonic receiving circuit is composed of TLO84 low-noise operational amplifier, and when the ultrasonic signal is output by the second-order active filtering, amplifying, voltage comparing and triode switching circuit through pre-amplifying. The module defaults to its timeout after no feedback data is received for 38 ms.
Based on the time delay estimation algorithm of the spatial five-element microphone array, a spatial five-element microphone array shown in fig. 13 is established, and the array is respectively composed of microphones N 1 、N 2 、N 3 、N 4 And N 5 Is composed of microphone N 1 、N 2 、N 3 、N 4 The side length of the square is 2L, and the microphone N 5 The distance from the coordinate origin is L, the square matrix center is taken as the coordinate origin O, a space rectangular coordinate system shown in figure 13 is established, the position of the target is assumed to be positioned at S (x, y, z), the distance from the target to the coordinate origin is r, and the azimuth angle of the target is assumed to be positioned at S (x, y, z)The elevation angle is theta.
The coordinates of each array element of the space five-element microphone array are respectively as follows: n (N) 1 (L,L,0)、N 2 (-L,L,0)、N 3 (-L,-L,0)、N 4 (L,-L,0)、N 5 (0,0,L)，R i For the target S to the array element N i Distance (i=1, 2,3,4, 5), d 12 、d 13 、d 14 As reference array element N 1 And N 2 、N 3 、N 4 The difference in sound path between them, C, represents the propagation velocity of sound in air. The equation for calculating the sound path difference is as follows:
d 1i ＝R i -R 1 ＝C*t i1 (i＝2,3,4) (1)
t is in i1 As reference array element N 1 And N 2 、N 3 、N 4 Time delay between them.
The following are included according to the geometric position relation of the target and the acoustic array:
arranging and simplifying the equation set (2) to obtain:
substituting equation (3) into equation set (2) and finishing to obtain:
by the equation (4) and the equation (1), the x, y, z and R can be obtained by only estimating the time delay 1 At the same time, the azimuth angle can be obtained:
the elevation angle is:
is available according to the geometric position of the acoustic array and the equation set (4);
if R is 5 R, proving that the sound source coordinates are above the XOY plane; if R is 5 And r, the sound source coordinates are proved to be below the XOY plane.
The method can solve the problem that the obtained sound source coordinates can have upper and lower mirror coordinates due to the defects of the planar quaternary square matrix, and the calculated amount is not increased more than that of the planar quaternary square matrix, so that the method has strong practicability.
As shown in fig. 10, a high pass filter shorting chart is shown. When the microphone is used, direct current components in the microphone signal need to be filtered, low-frequency components in the signal should also be filtered, otherwise, 50Hz power frequency interference is introduced in a rear part circuit.
As shown in fig. 11, an amplifying filter circuit. The human voice frequency is 300Hz-3400Hz, and the frequency band is narrow, so that the method is realized by adopting a multi-stage band-pass filter. And because the electric signal current obtained by the microphone is smaller, the electric signal needs to be amplified and filtered. Whereas the form of passive filtering is broader in the same frequency band. The signal is thus amplified and filtered in the form of an active filter. The amplified signal is formed by OP07 OP-amp, although some manufacturers may also provide integrated filters.
OP07 is a bipolar operational amplifier with low noise and non-chopper-stabilized zero. The input offset voltage of the OP07 is very low, no extra zeroing measures are needed, the input offset current of the OP07 is low, the open loop gain is high, and therefore the OP07 is suitable for measuring equipment with high gain, amplifying weak signals of a sensor and the like. The positive and negative 12V power supply is added with 0.1uF capacitance filtering, so that low-frequency interference caused by power supply noise is avoided. Resistor R8 is used to adjust the gain.
The circuit adopts a differential amplification form for an instrument, so that common mode noise can be effectively suppressed, differential mode amplification capability is improved, amplification factor is 1+2R7/R8, and the minimum gain is 100 times.
As shown in fig. 12, a low pass filter circuit diagram is shown. The human voice frequency is typically within 30 to 3400HZ, and a low pass filter is required here in combination with the front-end designed high pass filter. It is believed that the signal passing through the filter produces a phase offset that is related to its frequency, and if this phase offset is linear with respect to the frequency of the signal, the filter delays the signal only a constant amount. However, if the offset is nonlinear relative to the change in signal frequency, i.e., signals of different frequencies have different displacements through the filter, the non-sinusoidal signal may be severely distorted when passing through such a filter. Therefore, a Chebyshev low-pass filter is adopted in the design, the passband gain is smaller than-5 dB, the stopband gain is 10KHz, the attenuation is larger than-50 dB, and the rated load of the filter is 50Ω. The filter does not use an amplifying function, the amplifying factor is 1, the internal circuit uses a resistor 51Ω, the precision is 5%, the filter capacitor adopts a monolithic capacitor, and the mobility is 1%.
The working process of the invention comprises the following steps:
the power supply is started, the microphone array receives a sound source signal, the sound source position calculation coordinate is judged, the chassis motor is driven to move through the singlechip, the positive ultrasonic ranging module and the ultrasonic receiving module in the moving process receive signals to judge whether an obstacle is on a traveling route, the singlechip controls the chassis motor to turn, and the robot reaches the sound source position after obstacle avoidance for many times.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. The indoor mobile robot based on sound source localization is characterized in that a power supply realizes voltage conversion through a power supply module, the power supply module supplies converted electric energy to a chassis motor through a motor driving module, a rotating shaft of the chassis motor is connected with a driving wheel, the power supply module also respectively supplies electric energy with different voltage requirements to an ultrasonic ranging module, an ultrasonic receiving module, a microphone and a singlechip, the microphone localizes a sound source and sends signals to the singlechip, the singlechip sends signals to the motor driving module so as to drive a trolley to move to the sound source position, ultrasonic signals sent by the ultrasonic ranging module are returned by an obstacle and received by an ultrasonic receiving module, the ultrasonic receiving module sends the signals to the singlechip, the singlechip sends signals to the robot for obstacle avoidance through calculation, the number of microphones is 5, a quadrangular pyramid microphone array is formed, and the position of the sound source is obtained by adopting a space five-membered microphone array time delay estimation algorithm;
the motor driving module comprises a P3 driving signal interface, a P2 motor power interface and a P1 motor interface, wherein the P3 driving signal interface is connected with the 74AHC244 latch U1, the BTS7960 chip U2 and the BTS7960 chip U3, the P2 motor power interface is connected with the BTS7960 chip U2 and the BTS7960 chip U3, the P1 motor interface is connected with the BTS7960 chip U2 and the BTS7960 chip U3, the BTS7960 chip U2 is connected with the 74AHC244 latch U1, and the BTS7960 chip U3 is connected with the 74AHC244 latch U1;
the power supply is provided with a power supply overvoltage protection circuit, the power supply is a battery, the positive electrode of the battery of the power supply overvoltage protection circuit is connected with one end of a sliding rheostat resistor R2 and the source electrode of a PMOS tube Q1, the drain electrode of the PMOS tube Q1 is connected with the source electrode of an NMOS tube Q3, the grid electrode of the PMOS tube Q1 is connected with one end of the resistor R1 and one end of a resistor RL1, the other end of the resistor R1 is connected with the positive electrode of a light-emitting diode D1, the negative electrode of the light-emitting diode D1 is connected with the source electrode of a MOSFET tube Q2, the drain electrode of the MOSFET tube Q2 is connected with the other end of the sliding rheostat R2 and one end of the resistor R3, the grid electrode of the MOSFET tube Q2 is connected with the other end of the resistor R3, the drain electrode of the NMOS tube Q3 is connected with the other end of the sliding rheostat R2, the other end of the sliding rheostat R2 is also connected with the resistor R4, and the negative electrode of the battery is connected with the other end of the resistor R3;
the power module comprises a 12V voltage stabilizing circuit, a 5V voltage stabilizing circuit and a 3.3V voltage stabilizing circuit, wherein the 12V voltage stabilizing circuit comprises an XL6009 current conversion chip, a 10V power input end is connected with one end of an input capacitor C1, one end of a capacitor C2, one end of an inductor L1 and a VIN interface of the XL6009 current conversion chip, the other end of the inductor L1 is connected with the anode of a voltage stabilizing diode D1 and the SW port of the XL6009 current conversion chip, the cathode of the voltage stabilizing diode D1 is connected with one end of a capacitor C3, one end of an output capacitor C4 and one end of a resistor R2, the other end of the resistor R2 is connected with the FB port of the XL6009 current conversion chip, the 10V power input end is connected with the other end of the input capacitor C1, the other end of the capacitor C2, the GND port of the XL6009 current conversion chip, the other end of a resistance wire R1, the other end of the capacitor C3 and the other end of the output capacitor C4;
the 12V power input end is connected with one end of a capacitor C5 and VIN of an A1212S-2W isolation power supply module, the other end of the capacitor C5 is connected with GND of the A1212S-2W isolation power supply module and grounded, +V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R3, and-V and 0V of the A1212S-2W isolation power supply module are connected through a resistor R4, and a 0V port of the A1212S-2W isolation power supply module is grounded;
the 5V stabilized voltage power supply comprises an LM2596 chip, wherein the power supply input end is connected with VIN of the LM2596 chip and is connected with one end of a capacitor C6, OUT of the LM2596 chip is connected with an inductor L2 and the negative electrode of a voltage stabilizing diode D2, a sliding rheostat RV1 and one end of a capacitor C7, the other end of the sliding rheostat RV1 is connected with one end of a resistor R5, the other end of the capacitor C7 is connected with the other end of the resistor R5, the other end of the inductor L2 and one end of a capacitor C8, the FB port of the LM2596 chip is connected with the OUT port and one end of the resistor R6, the other end of the capacitor C6 is connected with the OFF port of the LM2596 chip, the GND port of the LM2596 chip, the other end of the resistor R6 and the other end of the voltage stabilizing diode D2, and the other end of the capacitor C8;
the 3.3V stabilized voltage power supply comprises an AMS1117-3.3V linear voltage stabilizer, wherein the power supply input end is connected with one end of a capacitor C9, one end of a capacitor C10 and an IN port of the AMS1117-3.3V linear voltage stabilizer are connected, an OUT end of the AMS1117-3.3V linear voltage stabilizer is connected with one end of a capacitor C11 and one end of a capacitor C12, and an ADJ end of the AMS1117-3.3V linear voltage stabilizer is connected with the other end of the capacitor C9, the other end of the capacitor C10, the other end of the capacitor C11 and the other end of the capacitor C12 and grounded.
2. The indoor mobile robot based on sound source localization of claim 1, wherein the ultrasonic ranging module comprises an STC11 single-chip microcomputer and a MAX232 chip amplifier, the piezoelectric crystal generates a signal and sends the signal to the MAX232 chip amplifier, and the MAX232 chip amplifier is connected with the piezoelectric crystal signal to drive the piezoelectric crystal to generate an ultrasonic signal.
3. The indoor mobile robot based on sound source localization of claim 1, wherein the ultrasonic receiving module comprises a TLO84 low noise op-amp, a piezoelectric wafer, and the piezoelectric wafer is connected with the TLO84 low noise op-amp.
4. The sound source localization-based indoor mobile robot of claim 1, further comprising a high-pass filter, an amplifying filter circuit, and a low-pass filter, wherein the high-pass filter, the amplifying filter circuit, and the low-pass filter are installed in a circuit in which the power module is connected to the microphone, and the low-pass filter is a chebyshev low-pass filter.
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