CN105538324A - Acoustic control robot based on DTMF signals - Google Patents
Acoustic control robot based on DTMF signals Download PDFInfo
- Publication number
- CN105538324A CN105538324A CN201511004582.1A CN201511004582A CN105538324A CN 105538324 A CN105538324 A CN 105538324A CN 201511004582 A CN201511004582 A CN 201511004582A CN 105538324 A CN105538324 A CN 105538324A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- module
- support
- steering wheel
- flat board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses an acoustic control robot based on DTMF signals. The acoustic control robot based on DTMF signals comprises a robot main body, a first circuit board and a second circuit board, wherein the signal detection module of the first circuit board can be used for receiving DTMF acoustical signals, and is in communication with the second circuit board through a Bluetooth way, and the second circuit board controls the robot to achieve functions of article grasping, lighting, and the like according to the received signals. The acoustic control robot provided by the invention adopts an MT8870 module as a signal detecting and recognizing module to detect and recognize mobile phone dialing tones and execute corresponding commands through a series of processing. The robot can be conveniently controlled only by that a user opens mobile phone dial keys and connects the signal detecting and recognizing module with a mobile phone through an earphone wire.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of televox based on dtmf signal.
Background technology
Existing robot can realize various ways and control, but general employing is IR remote controller or Bluetooth of mobile phone, needs download specific app or use specific remote controller during control, convenient not.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of televox based on dtmf signal.
In order to achieve the above object, the technical solution adopted in the present invention is as follows: a kind of televox based on dtmf signal, comprises the first stepper motor, the second stepper motor, the 3rd stepper motor, the 4th stepper motor, the first omni-directional wheel, the second omni-directional wheel, the 3rd omni-directional wheel, the 4th omni-directional wheel, the first flat board, the second flat board, the first steering wheel, the second steering wheel, the 3rd steering wheel, gripper, L-type plate, the first U-shaped plate, the first support, the second U-shaped plate, the second support, the 3rd support, first circuit board, second circuit board; Wherein, the first flat board and the second flat board are square plate, and four angles of the second flat board have stay pipe, and the first flat board is fixed on the stay pipe of the second flat board; The lower surface of the second flat board evenly installs the first stepper motor, the second stepper motor, the 3rd stepper motor, the 4th stepper motor; First omni-directional wheel is arranged on the output shaft of the first stepper motor, the second omni-directional wheel is arranged on the output shaft of the second stepper motor, the 3rd omni-directional wheel is arranged on the output shaft of the 3rd stepper motor, the 4th omni-directional wheel is arranged on the output shaft of the 4th stepper motor;
Described L-type plate while be fixed on one end of the first dull and stereotyped upper surface, the bottom of the first U-shaped plate is fixed on the another side of L-type plate; First support installing is in the first U-shaped plate, hinged with the first U-shaped plate; First steering wheel is arranged on the first support, for controlling the rotational angle of the first support in the first U-shaped plate; The bottom of the second U-shaped plate is fixed on the first support, installs the second support in the second U-shaped plate, the second support and the second U-shaped plate hinged; Second steering wheel is installed on the secondary support bracket, for controlling the rotational angle of the second support in the second U-shaped plate; 3rd support installing is on the top of the second support; Gripper and the 3rd support hinged, the 3rd steering wheel is arranged on the 3rd support, and the output shaft of the 3rd steering wheel is connected with gripper, for controlling the opening and closing size of gripper;
Described first circuit board is as remote control panel, and it comprises the first power module, signal detection and recognition module, the first single-chip microcomputer, the first bluetooth communication module; Wherein, described first power module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; Signal detection and recognition module is all connected with the first single-chip microcomputer with the first bluetooth communication module, wherein, signal detection and recognition module draws an earphone cord, for being connected with the earphone interface of mobile phone, the dtmf signal that detection of handset keypad tone is corresponding, and judge its characteristic frequency, identify the button number that received signal is corresponding, and produce the change of specific pin level according to different recognition result; The pin level change of single-chip microcomputer Received signal strength detection and indentification module, gives the first bluetooth communication module according to level change by Serial Port Transmission respective keys number corresponding value;
Described second circuit board is fixed on the second flat board, and it comprises by second source module, the first stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, second singlechip, the second bluetooth communication module; Wherein, described second source module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; First stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module are all connected with the I/O port of second singlechip with the second bluetooth communication module; Wherein, described first stepping motor drive module is for driving the first stepper motor; Second stepping motor drive module is for driving the second stepper motor; 3rd driving stepper motor module is for driving the 3rd stepper motor; 4th driving stepper motor module is for driving the 4th stepper motor; First steering wheel, the second steering wheel, the 3rd steering wheel are all connected with the PWM output port of second singlechip; The information that second bluetooth communication module transmits for receiving the first bluetooth communication module, and send second singlechip to serial ports; Second singlechip, as core control portions, is used for control first to fourth driving stepper motor module and the first to the 3rd steering wheel, the break-make of control relay, and receives the Serial Port Information that the second bluetooth communication module sends.
Further, the first stepping motor cabinet of the lower surface being evenly arranged on the second flat board, the second stepping motor cabinet, the 3rd stepper motor seat, the 4th stepper motor seat is also comprised; First stepper motor is arranged on the first stepping motor cabinet; Second stepper motor is arranged on the second stepping motor cabinet; 3rd stepper motor is arranged on the 3rd stepper motor seat; 4th stepper motor is arranged on the 4th stepper motor seat.
Further, D. C. bulb, D. C. bulb base and relay is also comprised; Wherein, described D. C. bulb base is pasted onto the first dull and stereotyped upper surface, and D. C. bulb is arranged on D. C. bulb base, for illumination; D. C. bulb is connected with relay, and relay is connected with the I/O port of the second singlechip of second circuit board, and relay is used for the break-make of isolated controlling 12V voltage to control the secretly bright of D. C. bulb.
The present invention is compared with background technology, and the beneficial effect had is: the present invention adopts MT8870 module as signal detection and recognition module, detects and identifies handset dialing sound, and performs command adapted thereto by some column processing controls.User only needs to open dial pad for mobile phones, signal detection and recognition module is connected by earphone cord with mobile phone, can facilitate control.
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention;
Fig. 2 is partial enlarged drawing of the present invention;
Fig. 3 is upward view of the present invention;
Fig. 4 is first circuit board schematic diagram of the present invention;
Fig. 5 is second circuit board schematic diagram of the present invention;
In figure, first stepper motor 1, second stepper motor 2, 3rd stepper motor 3, 4th stepper motor 4, first stepping motor cabinet 5, second stepping motor cabinet 6, 3rd stepper motor seat 7, 4th stepper motor seat 8, first omni-directional wheel 9, second omni-directional wheel 10, 3rd omni-directional wheel 11, 4th omni-directional wheel 12, first flat board 13, second flat board 14, first stud 15, second stud 16, 3rd stud 17, 4th stud 18, 3rd support 19, first steering wheel 20, second steering wheel 21, 3rd steering wheel 22, gripper 23, D. C. bulb 24, D. C. bulb base 25, L-type plate 26, first U-shaped plate 27, first support 28, second U-shaped plate 29, second support 30.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As figure 1 ?as described in 3, the present invention includes the first stepper motor 1, second stepper motor 2, 3rd stepper motor 3, 4th stepper motor 4, first stepping motor cabinet 5, second stepping motor cabinet 6, 3rd stepper motor seat 7, 4th stepper motor seat 8, first omni-directional wheel 9, second omni-directional wheel 10, 3rd omni-directional wheel 11, 4th omni-directional wheel 12, first flat board 13, second flat board 14, first stud 15, second stud 16, 3rd stud 17, 4th stud 18, 3rd support 19, first steering wheel 20, second steering wheel 21, 3rd steering wheel 22, gripper 23, D. C. bulb 24, D. C. bulb base 25, L-type plate 26, first U-shaped plate 27, first support 28, second U-shaped plate 29, second support 30, first circuit board (not shown), second circuit board (not shown), relay (not shown), wherein, first dull and stereotyped 13 and second flat board 14 is square plate, four angles of the second flat board 14 have stay pipe, and the first stud 15 is fixedly connected with first dull and stereotyped 13 with the second flat board 14 through the 4th stay pipe of the second flat board 14 through the 3rd stay pipe of the second flat board 14, the 4th stud 18 through the second stay pipe of the second flat board 14, the 3rd stud 17 through the first stay pipe of the second flat board 14, the second stud 16, the lower surface of the second flat board 14 is uniformly distributed the first stepping motor cabinet 5, second stepping motor cabinet 6, the 3rd stepper motor seat 7, the 4th stepper motor seat 8, first stepper motor 1 is arranged on the first stepping motor cabinet 5, second stepper motor 2 is arranged on the second stepping motor cabinet 6, 3rd stepper motor 3 is arranged on the 3rd stepper motor seat 7, 4th stepper motor 4 is arranged on the 4th stepper motor seat 8, first omni-directional wheel 9 is arranged on the output shaft of the first stepper motor 1, the second omni-directional wheel 10 is arranged on the output shaft of the second stepper motor 2, the 3rd omni-directional wheel 11 is arranged on the output shaft of the 3rd stepper motor 3, the 4th omni-directional wheel 12 is arranged on the output shaft of the 4th stepper motor 4, D. C. bulb base 25 is pasted onto the first dull and stereotyped 13 upper surfaces, and D. C. bulb 24 is arranged on D. C. bulb base 25, for illumination, D. C. bulb 24 is connected with relay, and relay is connected with second circuit board, and relay is used for the break-make of isolated controlling 12V voltage to control the secretly bright of D. C. bulb 24,
Described L-type plate 26 while be fixed on one end of the first dull and stereotyped 13 upper surfaces, the bottom of the first U-shaped plate 27 is fixed on the another side of L-type plate 26; First support 28 is arranged in the first U-shaped plate 27, hinged with the first U-shaped plate 27; First steering wheel 20 is arranged on the first support 28, for controlling the rotational angle of the first support 28 in the first U-shaped plate 27; The bottom of the second U-shaped plate 29 is fixed on the first support 28, in the second U-shaped plate 29, second support 30, second support 30 is installed and the second U-shaped plate 29 hinged; Second steering wheel 21 is arranged on the second support 30, for controlling the rotational angle of the second support 30 in the second U-shaped plate 29; 3rd support 19 is arranged on the top of the second support 30; Gripper 23 and the 3rd support 19 hinged, the 3rd steering wheel 22 is arranged on the 3rd support 19, and the output shaft of the 3rd steering wheel 22 is connected with gripper 23, for controlling the opening and closing size of gripper 23.
As shown in Figure 4, described first circuit board is as remote control panel, and it comprises the first power module, signal detection and recognition module, the first single-chip microcomputer, the first bluetooth communication module; Wherein, described first power module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; Signal detection and recognition module is all connected with the first single-chip microcomputer with the first bluetooth communication module, wherein, signal detection and recognition module draws an earphone cord, for being connected with the earphone interface of mobile phone, the dtmf signal that detection of handset keypad tone is corresponding, and judge its characteristic frequency, identify the button number that received signal is corresponding, and produce the change of specific pin level according to different recognition result; The pin level change of single-chip microcomputer Received signal strength detection and indentification module, changes by Serial Port Transmission respective keys number corresponding value (if button 1 is for 0x01) to the first bluetooth communication module according to level.
As shown in Figure 5, described second circuit board is fixed on the second flat board, and it comprises by second source module, the first stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, second singlechip, the second bluetooth communication module; Wherein, described second source module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; First stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, the second bluetooth communication module are all connected with the I/O port of second singlechip with relay; Wherein, described first stepping motor drive module is for driving the first stepper motor 1; Second stepping motor drive module is for driving the second stepper motor 2; 3rd driving stepper motor module is for driving the 3rd stepper motor 3; 4th driving stepper motor module is for driving the 4th stepper motor 4; First steering wheel 20, second steering wheel 21, the 3rd steering wheel 22 are all connected with the PWM output port of second singlechip; The information that second bluetooth communication module transmits for receiving the first bluetooth communication module, and send second singlechip to serial ports; Second singlechip, as core control portions, is used for control first to fourth driving stepper motor module and the first to the 3rd steering wheel, the break-make of control relay, and receives the Serial Port Information that the second bluetooth communication module sends.
Described first bluetooth communication module, the second bluetooth communication module can adopt model to be the bluetooth module of HC-05, but are not limited thereto; Described first power module, second source module can adopt model to be LM2596S power module, but are not limited thereto; Signal detection and recognition module of retouching can adopt model to be MT8870 module, but is not limited thereto; Described first single-chip microcomputer, second singlechip can adopt Atmel company model to be the product of Atmega128, but are not limited thereto; Described relay module can adopt Yun Hui mono-tunnel relay module, but is not limited thereto; Described first stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module can adopt cloud brightness TB6560 stepper motor module, but are not limited thereto.
The course of work of the present invention is as follows:
The earphone cord of the signal detection and recognition module extraction of first circuit board, is connected with the earphone interface of any mobile phone.User opens dialing keyboard, presses a certain button.Press different key and can realize difference in functionality by control, as shown in the table.
| Button 1/ turns left | Button 2/ advances | Button 3/ is turned right |
| Button 4/ left lateral | Button 5/ bright light | Button 6/ right lateral |
| Button 7/ captures | Button 8/ retreats | Button 9/ is placed |
| Button */undefined | Button 0/ is turned off the light | Button #/undefined |
If to push button 2, the keypad tone of button 2 correspondence will be transferred to the signal detection and recognition module of first circuit board from earphone cord, this audio signal is made up of a high fdrequency component and a low frequency component, and its low frequency centre frequency is 679Hz, and high frequency centre frequency is 1336Hz.Signal detection and recognition module can detect height centre frequency, judge that the corresponding button of institute's input signal is 2, export to corresponding level by 4 tri-state decoding outputs Q4, Q3, Q2, Q1, Q4, Q3, Q2, Q1 output level corresponding to button 2 is respectively low, low, high and low.First single-chip microcomputer 4 I/O pin is connected with tri-state decoding output Q4, Q3, Q2, Q1 of signal detection and recognition module, by detecting the incoming level combination of these 4 IO pins, judges that button is 2.The serial ports transmitting-receiving pin of the first single-chip microcomputer is connected with the first bluetooth module, and send the 0x02 signal corresponding to button 2 by serial ports, this signal is sent to the second bluetooth module of second circuit board by the first bluetooth module.Second bluetooth module is received and dispatched pin with the serial ports of second singlechip and is connected, by from the 0x02 Signal transmissions received by the first bluetooth module to second singlechip, second singlechip receives 0x02 signal, perform advance command, be embodied in the I/O pin of second singlechip module, output pwm signal is switched in order by low and high level, control the second stepping motor drive module and the 4th driving stepper motor module, for second and the 4th stepper motor input power is provided, control the second stepper motor to rotate forward, 4th stepper motor reversion, makes robot advance.
If to push button 1, the keypad tone of button 1 correspondence will be transferred to the signal detection and recognition module of first circuit board from earphone cord, this audio signal is made up of a high fdrequency component and a low frequency component, and its low frequency centre frequency is 679Hz, and high frequency centre frequency is 1209Hz.Signal detection and recognition module can detect height centre frequency, judge that the corresponding button of institute's input signal is 1, export to corresponding level by 4 tri-state decoding outputs Q4, Q3, Q2, Q1, Q4, Q3, Q2, Q1 output level corresponding to button 1 is respectively low, low, high and low.First single-chip microcomputer 4 IO pin is connected with tri-state decoding output Q4, Q3, Q2, Q1 of signal detection and recognition module, by detecting the incoming level combination of these 4 IO pins, judges that button is 1.The serial ports transmitting-receiving pin of the first single-chip microcomputer is connected with the first bluetooth module, and send the 0x01 signal corresponding to button 1 by serial ports, this signal is sent to the second bluetooth module of second circuit board by the first bluetooth module.Second bluetooth module is received and dispatched pin with the serial ports of second singlechip and is connected, by from the 0x01 Signal transmissions received by the first bluetooth module to second singlechip, second singlechip receives 0x01 signal, perform advance command, be embodied in the IO pin of second singlechip module, output pwm signal is switched in order by low and high level, control the first stepping motor drive module and the 3rd driving stepper motor module, for first and the 3rd stepper motor input power is provided, control the first stepper motor to rotate forward, 4th stepper motor rotates forward, robot is rotated counterclockwise (left-hand rotation).
If to push button 5, the keypad tone of button 5 correspondence will be transferred to the signal detection and recognition module of first circuit board from earphone cord, this audio signal is made up of a high fdrequency component and a low frequency component, and its low frequency centre frequency is 770Hz, and high frequency centre frequency is 1336Hz.Signal detection and recognition module can detect height centre frequency, judge that the corresponding button of institute's input signal is 5, export to corresponding level by 4 tri-state decoding outputs Q4, Q3, Q2, Q1, Q4, Q3, Q2, Q1 output level corresponding to button 5 is respectively low, low, high and low.First single-chip microcomputer 4 IO pin is connected with tri-state decoding output Q4, Q3, Q2, Q1 of signal detection and recognition module, by detecting the incoming level combination of these 4 IO pins, judges that button is 5.The serial ports transmitting-receiving pin of the first single-chip microcomputer is connected with the first bluetooth module, and send the 0x05 signal corresponding to button 5 by serial ports, this signal is sent to the second bluetooth module of second circuit board by the first bluetooth module.Second bluetooth module is received and dispatched pin with the serial ports of second singlechip and is connected, by from the 0x05 Signal transmissions received by the first bluetooth module to second singlechip, second singlechip receives 0x05 signal, the order of execution point bright light bubble, be embodied in the IO pin that second singlechip module is connected with relay module and export high level, making relay module export high level is that D. C. bulb is powered.
If to push button 7, the keypad tone of button 7 correspondence will be transferred to the signal detection and recognition module of first circuit board from earphone cord, this audio signal is made up of a high fdrequency component and a low frequency component, and its low frequency centre frequency is 852Hz, and high frequency centre frequency is 1209Hz.Signal detection and recognition module can detect height centre frequency, judge that the corresponding button of institute's input signal is 7, export to corresponding level by 4 tri-state decoding outputs Q4, Q3, Q2, Q1, Q4, Q3, Q2, Q1 output level corresponding to button 7 is respectively low, low, high and low.First single-chip microcomputer 4 IO pin is connected with tri-state decoding output Q4, Q3, Q2, Q1 of signal detection and recognition module, by detecting the incoming level combination of these 4 IO pins, judges that button is 7.The serial ports transmitting-receiving pin of the first single-chip microcomputer is connected with the first bluetooth module, and send the 0x07 signal corresponding to button 7 by serial ports, this signal is sent to the second bluetooth module of second circuit board by the first bluetooth module.Second bluetooth module is received and dispatched pin with the serial ports of second singlechip and is connected, by from the 0x07 Signal transmissions received by the first bluetooth module to second singlechip, second singlechip receives 0x07 signal, perform the order capturing ground article, be embodied in three PWM output ports of second singlechip module, control the first steering wheel respectively, the second steering wheel and the 3rd steering wheel rotate in order, i.e. controller mechanical arm and the orderly action of manipulator, realizes article and captures.
All the other button realization of functions modes and above-mentioned example similar.
Claims (3)
1. the televox based on dtmf signal, it is characterized in that, comprise the first stepper motor (1), second stepper motor (2), 3rd stepper motor (3), 4th stepper motor (4), first omni-directional wheel (9), second omni-directional wheel (10), 3rd omni-directional wheel (11), 4th omni-directional wheel (12), first flat board (13), second flat board (14), 3rd support (19), first steering wheel (20), second steering wheel (21), 3rd steering wheel (22), gripper (23), L-type plate (26), first U-shaped plate (27), first support (28), second U-shaped plate (29), second support (30), first circuit board, second circuit board, wherein, first flat board (13) and the second flat board (14) are square plate, four angles of the second flat board (14) have stay pipe, and the first flat board (13) is fixed on the stay pipe of the second flat board (14), the lower surface of the second flat board (14) evenly installs the first stepper motor (1), the second stepper motor (2), the 3rd stepper motor (3), the 4th stepper motor (4), first omni-directional wheel (9) is arranged on the output shaft of the first stepper motor (1), the second omni-directional wheel (10) is arranged on the output shaft of the second stepper motor (2), the 3rd omni-directional wheel (11) is arranged on the output shaft of the 3rd stepper motor (3), the 4th omni-directional wheel (12) is arranged on the output shaft of the 4th stepper motor (4),
Described L-type plate (26) while be fixed on one end of the first flat board (13) upper surface, the bottom of the first U-shaped plate (27) is fixed on the another side of L-type plate (26); First support (28) is arranged in the first U-shaped plate (27), hinged with the first U-shaped plate (27); First steering wheel (20) is arranged on the first support (28), for controlling the rotational angle of the first support (28) in the first U-shaped plate (27); The bottom of the second U-shaped plate (29) is fixed on the first support (28), installs the second support (30) in the second U-shaped plate (29), and the second support (30) is hinged with the second U-shaped plate (29); Second steering wheel (21) is arranged on the second support (30), for controlling the rotational angle of the second support (30) in the second U-shaped plate (29); 3rd support (19) is arranged on the top of the second support (30); Gripper (23) is hinged with the 3rd support (19), 3rd steering wheel (22) is arranged on the 3rd support (19), the output shaft of the 3rd steering wheel (22) is connected with gripper (23), for controlling the opening and closing size of gripper (23);
Described first circuit board is as remote control panel, and it comprises the first power module, signal detection and recognition module, the first single-chip microcomputer, the first bluetooth communication module; Wherein, described first power module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; Signal detection and recognition module is all connected with the first single-chip microcomputer with the first bluetooth communication module, wherein, signal detection and recognition module draws an earphone cord, for being connected with the earphone interface of mobile phone, the dtmf signal that detection of handset keypad tone is corresponding, and judge its characteristic frequency, identify the button number that received signal is corresponding, and produce the change of specific pin level according to different recognition result; The pin level change of single-chip microcomputer Received signal strength detection and indentification module, gives the first bluetooth communication module according to level change by Serial Port Transmission respective keys number corresponding value;
Described second circuit board is fixed on the second flat board, and it comprises by second source module, the first stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module, second singlechip, the second bluetooth communication module; Wherein, described second source module external input power is introduced circuit and pressure regulation to 5V, for other modules provide corresponding operating voltage; First stepping motor drive module, the second stepping motor drive module, the 3rd driving stepper motor module, the 4th driving stepper motor module are all connected with the I/O port of second singlechip with the second bluetooth communication module; Wherein, described first stepping motor drive module is for driving the first stepper motor (1); Second stepping motor drive module is for driving the second stepper motor (2); 3rd driving stepper motor module is for driving the 3rd stepper motor (3); 4th driving stepper motor module is for driving the 4th stepper motor (4); First steering wheel (20), the second steering wheel (21), the 3rd steering wheel (22) are all connected with the PWM output port of second singlechip; The information that second bluetooth communication module transmits for receiving the first bluetooth communication module, and send second singlechip to serial ports; Second singlechip, as core control portions, is used for control first to fourth driving stepper motor module and the first to the 3rd steering wheel, the break-make of control relay, and receives the Serial Port Information that the second bluetooth communication module sends.
2. the televox based on dtmf signal according to claim 1, it is characterized in that, also comprise the first stepping motor cabinet (5) of the lower surface being evenly arranged on the second flat board (14), the second stepping motor cabinet (6), the 3rd stepper motor seat (7), the 4th stepper motor seat (8); First stepper motor (1) is arranged on the first stepping motor cabinet (5); Second stepper motor (2) is arranged on the second stepping motor cabinet (6); 3rd stepper motor (3) is arranged on the 3rd stepper motor seat (7); 4th stepper motor (4) is arranged on the 4th stepper motor seat (8).
3. the televox based on dtmf signal according to claim 1 and 2, is characterized in that, also comprises D. C. bulb (24), D. C. bulb base (25) and relay; Wherein, described D. C. bulb base (25) is pasted onto the first flat board (13) upper surface, and D. C. bulb (24) is arranged on D. C. bulb base (25), for illumination; D. C. bulb (24) is connected with relay, and relay is connected with the I/O port of the second singlechip of second circuit board, and relay is used for the break-make of isolated controlling 12V voltage to control the secretly bright of D. C. bulb (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004582.1A CN105538324B (en) | 2015-12-28 | 2015-12-28 | Televox based on dtmf signal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511004582.1A CN105538324B (en) | 2015-12-28 | 2015-12-28 | Televox based on dtmf signal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105538324A true CN105538324A (en) | 2016-05-04 |
| CN105538324B CN105538324B (en) | 2018-01-30 |
Family
ID=55818114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511004582.1A Expired - Fee Related CN105538324B (en) | 2015-12-28 | 2015-12-28 | Televox based on dtmf signal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105538324B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106793405A (en) * | 2016-12-23 | 2017-05-31 | 浙江大学 | A kind of sound control illuminating system based on dtmf signal |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
| WO2018009431A1 (en) * | 2016-07-05 | 2018-01-11 | Stealth Air Corp | Unmanned vehicle control over a wireless connection |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002354139A (en) * | 2001-05-23 | 2002-12-06 | Toshiba Tec Corp | Robot control system and robot used for the system |
| JP2005161470A (en) * | 2003-12-03 | 2005-06-23 | Toshiba Tec Corp | Robot |
| CN1846949A (en) * | 2005-04-14 | 2006-10-18 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN1923471A (en) * | 2005-08-30 | 2007-03-07 | 三星光州电子株式会社 | Mobile robot system and method of remote-controlling the same |
| CN201360281Y (en) * | 2009-01-08 | 2009-12-09 | 中兴通讯股份有限公司 | Four-wire interface multimedia wire control earphone and terminal supporting same |
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104108100A (en) * | 2014-07-30 | 2014-10-22 | 桂林电子科技大学 | Device capable of substituting for manual writing |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN104772750A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Moving ascending and descending robot |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
-
2015
- 2015-12-28 CN CN201511004582.1A patent/CN105538324B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002354139A (en) * | 2001-05-23 | 2002-12-06 | Toshiba Tec Corp | Robot control system and robot used for the system |
| JP2005161470A (en) * | 2003-12-03 | 2005-06-23 | Toshiba Tec Corp | Robot |
| CN1846949A (en) * | 2005-04-14 | 2006-10-18 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN1923471A (en) * | 2005-08-30 | 2007-03-07 | 三星光州电子株式会社 | Mobile robot system and method of remote-controlling the same |
| CN201360281Y (en) * | 2009-01-08 | 2009-12-09 | 中兴通讯股份有限公司 | Four-wire interface multimedia wire control earphone and terminal supporting same |
| CN203331021U (en) * | 2013-06-03 | 2013-12-11 | 山东科技大学 | Household carrying robot |
| CN104552230A (en) * | 2013-10-22 | 2015-04-29 | 西华大学 | Book fetching robot for library |
| CN103659789A (en) * | 2013-12-02 | 2014-03-26 | 西北农林科技大学 | Conveying robot for competition |
| CN104108100A (en) * | 2014-07-30 | 2014-10-22 | 桂林电子科技大学 | Device capable of substituting for manual writing |
| CN104772750A (en) * | 2015-03-27 | 2015-07-15 | 燕山大学 | Moving ascending and descending robot |
| CN104999454A (en) * | 2015-07-10 | 2015-10-28 | 黑龙江大学 | Remote-controlled omnidirectional mobile manipulator and control method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018009431A1 (en) * | 2016-07-05 | 2018-01-11 | Stealth Air Corp | Unmanned vehicle control over a wireless connection |
| CN106793405A (en) * | 2016-12-23 | 2017-05-31 | 浙江大学 | A kind of sound control illuminating system based on dtmf signal |
| CN106793405B (en) * | 2016-12-23 | 2019-04-02 | 浙江大学 | A kind of sound control illuminating system based on dtmf signal |
| CN107486832A (en) * | 2017-10-12 | 2017-12-19 | 钦州学院 | A kind of wheeled rescue robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105538324B (en) | 2018-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105538324A (en) | Acoustic control robot based on DTMF signals | |
| CN203202730U (en) | Bluetooth lamp with loudspeaker | |
| CN105097319B (en) | A kind of remote control box of switch | |
| CN104349242A (en) | Sound system | |
| CN202856924U (en) | Remote controller having voice function | |
| CN204795555U (en) | Touch screen bluetooth speaker | |
| CN207975521U (en) | A kind of intelligent led desk lamps adjusting angle with voice | |
| CN109524256A (en) | A kind of portable intelligent voice wireless control switch cover | |
| CN205566606U (en) | Multifunctional bluetooth sound box | |
| CN202841489U (en) | Wireless Bluetooth high-fidelity background music controller | |
| CN206036766U (en) | Intelligent desk lamp with speech control | |
| CN202600945U (en) | Wireless connection remote starting device | |
| CN204921428U (en) | Regularly from opening dustproof main air exhauster | |
| CN103096198A (en) | Induction microphone circuit and method of achieving induction microphone | |
| CN207266054U (en) | Remote-controlled type multifunctional router | |
| CN201674562U (en) | Mobile communication terminal and energy-saving device thereof | |
| CN205586945U (en) | Multi -functional automatic feeding mixes material all -in -one equipment | |
| CN206389592U (en) | A kind of intelligent domestic lamp switch system | |
| CN205666149U (en) | Indoor intelligence switch based on wireless network of family | |
| CN109782647A (en) | Electricity-saving system and its electricity saving method applied to intelligent robot | |
| CN205796523U (en) | A kind of touch wakes up robot up | |
| CN202485104U (en) | Heating intelligent controller | |
| CN106815997A (en) | A kind of Intelligent gesture remote control | |
| CN206387986U (en) | A kind of auto heterodyne lamp | |
| CN213847098U (en) | Non-contact dormitory light switch control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20191228 |