CN107045308A - Intelligent interaction service robot - Google Patents
Intelligent interaction service robot Download PDFInfo
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- CN107045308A CN107045308A CN201710371186.5A CN201710371186A CN107045308A CN 107045308 A CN107045308 A CN 107045308A CN 201710371186 A CN201710371186 A CN 201710371186A CN 107045308 A CN107045308 A CN 107045308A
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- 230000003993 interaction Effects 0.000 title claims abstract description 20
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- 238000013461 design Methods 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000011897 real-time detection Methods 0.000 claims abstract description 5
- 230000004807 localization Effects 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 15
- 238000005516 engineering process Methods 0.000 claims description 10
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- 238000004891 communication Methods 0.000 claims description 4
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- 230000004927 fusion Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
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Classifications
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- 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
- G05B19/0423—Input/output
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a kind of intelligent interaction service robot, including mechanical car body and hardware control circuit, the mechanical vehicle bottom is provided with road wheel, sound pick-up is installed on the mechanical car body, when the sound pick-up on car body receives command signal, automatically moved to by the road wheel of hardware control circuit control machinery car body at user place；The hardware control circuit, including Power Management Design module, dsp controller, sound identification module, auditory localization module, motor drive module, avoiding obstacles by supersonic wave module and signal processing module.The present invention is using TMS32OF28O12 as core controller, using sound pick-up as sound transducer, using Delay Estima-tion method, realizes the real-time detection to customer location with voluntarily judging；Obstacle in automatic dodging traveling process is realized using ultrasonic sensor, is accurate to up to user location.
Description
Technical field
The present invention relates to smart home field, specifically, more particularly, to a kind of intelligent interaction service robot.
Background technology
In modern house, people increasingly focus on the intellectuality of various furniture layouts in family, and operableization is rationalized, section
Huas and hommization.A kind of design framework for including the modules such as voice, communication interface, motor, avoidance, signal transacting is proposed, can
To design and manufacture a kind of smart home service robot of intelligent, hommization.The interactive and class people for improving robot is special
Levy, and apply it to the interactive robot of children education, the elder's health guards the application scenarios such as robot of accompanying and attending to.
The content of the invention
For problems of the prior art, because voice signal can change into data signal in systems, to numeral
The result of signal directly determines final effect, thus the present invention devise it is a set of based on DSP control being capable of voice
The intelligent robot of identification, realizes the control function of " at someone's beck and call ".
In order to realize foregoing invention purpose, the technical solution adopted by the present invention is：A kind of intelligent interaction service robot, bag
Include mechanical car body and hardware control circuit, it is characterised in that：The mechanical vehicle bottom is provided with road wheel, the mechanical car body
On sound pick-up is installed, when the sound pick-up on car body receives command signal, pass through hardware control circuit control machinery car body
Road wheel automatically move at where user；The hardware control circuit, including Power Management Design module, dsp controller, language
Sound identification module, auditory localization module, motor drive module, avoiding obstacles by supersonic wave module and signal processing module.
Intelligent interaction service robot is used as sound sensor using TMS32OF28O12 as core controller using sound pick-up
Device, using Delay Estima-tion method, realizes the real-time detection to customer location with voluntarily judging；Realized certainly using avoiding obstacles by supersonic wave module
The dynamic obstacle hidden in traveling process, is accurate to up to user location；Meanwhile, realized using sound identification module to the various languages of user
The identification that sound is indicated, so that smart home robot has acoustic control barrier avoiding function, energy " at someone's beck and call ".
Above-mentioned intelligent interaction service robot, it is further characterized by：The motor drive module is according to DSP controls
The operation of the control signal motor of device, the drive circuit of motor uses H-bridge drive circuit, the H-bridge drive circuit by Q1,
Tetra- triodes of Q2, Q3, Q4 constitute four bridge arms, and Q1 and mono- group of Q4, Q2 and mono- group of Q3, Q5 control Q2, Q3 conducting and disconnection,
Q6 controls Q1 and Q4 conducting and disconnection；Because Q5, Q6 are controlled by the GPIO mouths of dsp controller, the height exported by I/0
Level controls the conducting and shut-off of four bridge arms, so that the running status of controlled motor, and then the movement of control machinery car body
Direction.
The avoiding obstacles by supersonic wave module, realizes ultrasonic ranging, selection is by radiating circuit transmitting work frequency by echo method
Rate is 40kHz ultrasonic waves, runs into and is returned to again by amplifying device in receiving circuit after barrier reflection, ARM is super by measurement
Ping goes out the distance between robot and barrier from the Time Calculation for being issued to reception.The avoiding obstacles by supersonic wave module is used
Many sonacs and multi-sensor fusion technology carry out ranging, while using the Fuzzy Control with very strong fault tolerance and robustness
Algorithm processed, sets up the fuzzy relation of the position and direction of barrier, and the correct path of planning robot；Due to ultrasonic velocity with
Temperature is relevant, is perceived using the temperature in temperature measuring device to external world environment, with compensation temperature influenceing, in fact to ultrasonic velocity
The accuracy and real-time of existing ranging.
The sound identification module is made up of voice recognition chip, signal processing circuit and controller, the voice letter of input
Number, pretreatment is first passed around, effective voice signal is extracted after amplification, filtering, to the speech signal analysis signal characteristic of extraction,
Voice command template is generated, and be stored in inside ATL；It is when carrying out speech recognition, i.e., special using the signal extracted
The test template storehouse for levying parameter and training is compared, and the command sequence number of matching is exported to control unit, and finally output is known
Other result.The voice recognition chip uses small vocabulary, the VP1002 voice recognition chips of isolated word, knows with anti-error well
Other ability；The controller uses SPCE061A single-chip microcomputers, and the single-chip microcomputer has the UART interface of a full duplex standard, is used for
Complete the serial communication between other external equipments；The signal processing circuit includes automatic gain control circuit and anti-aliased band
Bandpass filter circuit.The SPCE061A single-chip microcomputers have the MIC-IN passages inputted dedicated for voice signal, and inside is potential
Signal amplifier and AGC automatic gain amplifying circuits, built-in A/D change-over circuits realize the preprocessing process to voice signal.
Beneficial effect：The intelligent interaction service robot of the present invention is using TMS32OF28O12 as core controller, to pick up
Sound device is as sound transducer, using Delay Estima-tion method, realizes the real-time detection to customer location with voluntarily judging；Using ultrasound
Wave sensor realizes the obstacle in automatic dodging traveling process, is accurate to up to user location；Meanwhile, it is real using speech recognition technology
The identification now indicated the various voices of user so that this smart home robot has an acoustic control barrier avoiding function, can " with cry with
To ", intellectuality is embodied, hommization is filled with.The present invention provides a set of intelligent machine for being capable of speech recognition controlled based on DSP
Device people, realizes the control function of " at someone's beck and call ", and improves interactive and class people's feature of robot, and interaction effect is good.
Brief description of the drawings
Fig. 1, the system global structure figure of the embodiment of the present invention.
Fig. 2, the H-bridge drive circuit figure of the embodiment of the present invention.
Fig. 3, the avoidance module design schematic diagram of the embodiment of the present invention.
Fig. 4, the avoiding obstacles by supersonic wave flow chart of the embodiment of the present invention.
Fig. 5, the speech recognition process figure of the embodiment of the present invention.
Fig. 6, the speech recognition control system figure of the embodiment of the present invention.
Fig. 7, the speech recognition principle flow chart of the embodiment of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
The intelligent interaction service robot of the present embodiment using TMS32OF28O12 as core controller, using sound pick-up as
Sound transducer, using Delay Estima-tion method, realizes the real-time detection to customer location with voluntarily judging；Using ultrasonic sensor
The obstacle in automatic dodging traveling process is realized, is accurate to up to user location；Meanwhile, realized using speech recognition technology to user
The identification that various voices are indicated, so that this smart home robot has acoustic control barrier avoiding function, can " at someone's beck and call ", embodiment
Intellectuality, is filled with hommization.
The intelligent interaction service robot of the present embodiment, system hardware includes two large divisions：Robotic structure and hard
Part controls circuit.Idea based on three-wheel vehicle configuration, the mechanical structure of car body is a three wheeler car body, when picking up on car body
When sound device receives command signal (sound instruction of user), automatically move at where user.System global structure figure is such as
Shown in Fig. 1, including Power Management Design module, sound identification module, auditory localization module, motor drive module, avoiding obstacles by supersonic wave mould
Block.
Motor drive module is according to the operation of the control signal motor of dsp controller (advance, turn, retreat etc.).
The drive circuit of motor uses H-bridge drive circuit, (H-bridge drive circuit figure) as shown in Figure 2, this 4 triodes of Q1, Q2, Q3, Q4
4 bridge arms are constituted, Q1 and mono- group of Q4, Q2 and mono- group of Q3, Q5 control Q2, Q3 conducting and disconnection, and Q6 controls Q1 and Q4 conducting
With disconnection.Because Q5, Q6 are controlled by the GPIO mouths of dsp controller, the low and high level that can be thus exported by I/0 is controlled
The conducting and shut-off of four bridge arms, so that the running status (forward or reverse etc.) of controlled motor, and then the shifting of control machine people
Dynamic direction.L298N chip drives elements are make use of in the design, can be effectively prevented from circuit board that discrete component brings excessively
Complicated the problem of.
In order to complete automatic obstacle avoiding function of the robot during autonomous, mobile robot needs in real time, actively
The distance between detection and barrier, in order to avoid collision.At present, conventional method is to be based on infrared sensor and ultrasonic sensor
Carry out ranging.Because photoelectric sensor is easily influenceed by environmental factors such as light, media, thus infrared module using direct-injection type,
The reflective distance measurement result for waiting transmitting-receiving mode is all inaccurate.Therefore, when designing avoidance module, the ultrasonic wave of low cost is employed
Avoidance module.Compared with resonance method and beat method, echo method is ultrasonic ranging more conventional simple and easy method.Selection is by launching
Circuit transmission working frequency is 40kHz ultrasonic waves, runs into and is returned to again by amplifying device in receiving circuit after barrier reflection,
ARM goes out the distance between robot and barrier by measuring ultrasonic pulse from the Time Calculation for being issued to reception.
The problems such as in order to solve the directionality difference produced by single-sensor, the present embodiment uses many sonacs and many
Sensor fusion techniques carry out ranging.Meanwhile, in order to predict the position of barrier in complicated, unknown mobile environment, adopt
With the FUZZY ALGORITHMS FOR CONTROL with very strong fault tolerance and robustness, the fuzzy relation of the position and direction of barrier is set up, and
The correct path of planning robot.Because ultrasonic velocity is relevant with temperature, therefore the present embodiment uses simple ds18b20 thermal detectors
Temperature of the part to external world in environment is perceived, influence with compensation temperature to ultrasonic velocity, the accuracy and reality for realizing ranging
Shi Xing.The avoiding obstacles by supersonic wave module design of ultrasonic sensor is as shown in Figure 3.
Fig. 4 is the avoiding obstacles by supersonic wave flow chart of the present embodiment.
Speech recognition technology for smart home is the speech recognition technology of unspecified person.Its speech recognition process is such as
Shown in Fig. 5.The voice signal of input, first passes around pretreatment, for example：Amplification, filtering etc., then extract effective voice letter
Number, to the speech signal analysis signal characteristic of extraction, voice command template is generated, and be stored in inside ATL.
When carrying out speech recognition, i.e., it is compared using the signal characteristic parameter of extraction and the test template storehouse of training.And by matching
Command sequence number is exported to control unit, finally exports recognition result.
Fig. 5 is the speech recognition process figure of the present embodiment.
Speech recognition control system is made up of sound identification module, signal processing circuit and controller etc..Speech recognition control
The structure of system processed is as shown in Figure 6.
It is small vocabulary, the voice recognition chip of isolated word that sound identification module in figure, which uses the VP1002 chips,
With good anti-error recognition capability.Single-chip microcomputer uses SPCE061A, and the single-chip microcomputer has full duplex standard
UART interface, for completing the serial communication between other external equipments.Signal conditioning circuit includes automatic gain
Control circuit and anti-aliased bandwidth-limited circuit.The intensity of signal is with propagation distance when being propagated in atmosphere due to voice signal
Be added to index decreased, but if with the amplifying circuit of a larger multiple, be likely to cause signal when closer to the distance
Amplitude is excessive and the situation of cut ridge occurs.In order to avoid such case, automatic gain control circuit can be used, voice signal
Control is in an appropriate scope.The voice signal of people is mainly distributed in the range of 300HZ-3.4K HZ, therefore can be introduced
Anti-aliased bandpass filter removes noise, to obtain more preferable recognition effect.
Speech recognition control system uses identification of the SPCE061A chip microcontrollers to voice command, and this chip has special
Door is used for the MIC-IN passages that voice signal is inputted, and inside is potential signal amplifier and AGC automatic gain amplifying circuits, in addition
Also built-in A/D change-over circuits, realize the preprocessing process to voice signal well.The basic flow sheet of speech recognition principle
As shown in Figure 7.
Audio recognition method sets up ATL after voice signal exactly is carried out into pretreatment and feature extraction, special according to voice
The voice signal for levying the identification of part band is matched with ATL, here it is the general principle of speech recognition technology.
The technological thought of embodiment above only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is all
It is any change done on the basis of technical scheme according to technological thought proposed by the present invention, each falls within present invention protection model
Within enclosing.The technology that the present invention is not directed to can be realized by existing technology.
Claims (8)
1. a kind of intelligent interaction service robot, it includes mechanical car body and hardware control circuit, it is characterised in that：The machinery
Vehicle bottom is provided with road wheel, the mechanical car body and is provided with sound pick-up, when the sound pick-up on car body receives instruction letter
Number when, automatically moved to by the road wheel of hardware control circuit control machinery car body at where user；The hardware controls
Circuit, including Power Management Design module, dsp controller, sound identification module, auditory localization module, motor drive module, ultrasonic wave
Avoidance module and signal processing module.
2. intelligent interaction service robot according to claim 1, it is characterised in that：
Intelligent interaction service robot is using TMS32OF28O12 as core controller, using sound pick-up as sound transducer, adopts
Delay Estima-tion method is used, realizes the real-time detection to customer location with voluntarily judging；Realized and hided automatically using avoiding obstacles by supersonic wave module
The obstacle kept away in traveling process, is accurate to up to user location；Meanwhile, realized using sound identification module and the various voices of user are referred to
The identification shown, so that smart home robot has acoustic control barrier avoiding function, energy " at someone's beck and call ".
3. intelligent interaction service robot according to claim 1, it is characterised in that：
The motor drive module uses H according to the operation of the control signal motor of dsp controller, the drive circuit of motor
Bridge drive circuit, the H-bridge drive circuit constitutes four bridge arms by tetra- triodes of Q1, Q2, Q3, Q4, Q1 and mono- group of Q4, Q2 and
Mono- group of Q3, Q5 control Q2, Q3 conducting and disconnection, and Q6 controls Q1 and Q4 conducting and disconnection；Because Q5, Q6 are by dsp controller
GPIO mouths control, the low and high level exported by I/0 controls the conducting and shut-off of four bridge arms, so that controlled motor
Running status, and then the moving direction of control machinery car body.
4. intelligent interaction service robot according to claim 1, it is characterised in that：
The avoiding obstacles by supersonic wave module, ultrasonic ranging is realized by echo method, and selection is by radiating circuit transmitting working frequency
40kHz ultrasonic waves, run into and are returned to again by amplifying device in receiving circuit after barrier reflection, ARM is by measuring ultrasonic arteries and veins
Punching goes out the distance between robot and barrier from the Time Calculation for being issued to reception.
5. intelligent interaction service robot according to claim 4, it is characterised in that：
The avoiding obstacles by supersonic wave module carries out ranging using many sonacs and multi-sensor fusion technology, while using having
Very the FUZZY ALGORITHMS FOR CONTROL of strong fault tolerance and robustness, sets up the fuzzy relation of the position and direction of barrier, and plans machine
The correct path of people；Because ultrasonic velocity is relevant with temperature, perceived using the temperature in temperature measuring device to external world environment, with
Influence of the compensation temperature to ultrasonic velocity, the accuracy and real-time for realizing ranging.
6. intelligent interaction service robot according to claim 1, it is characterised in that：
The sound identification module is made up of voice recognition chip, signal processing circuit and controller, the voice signal of input, first
Pretreatment is first passed through, effective voice signal is extracted after amplification, filtering, to the speech signal analysis signal characteristic of extraction, generation
Voice command template, and be stored in inside ATL；When carrying out speech recognition, that is, utilize the signal characteristic ginseng extracted
The test template storehouse of number and training is compared, and the command sequence number of matching is exported to control unit, finally output identification knot
Really.
7. intelligent interaction service robot according to claim 6, it is characterised in that：
The voice recognition chip uses small vocabulary, the VP1002 voice recognition chips of isolated word, with good anti-misrecognition
Ability；The controller uses SPCE061A single-chip microcomputers, and the single-chip microcomputer has the UART interface of a full duplex standard, for complete
Serial communication between other external equipments；The signal processing circuit includes automatic gain control circuit and anti-aliased band logical
Filter circuit.
8. intelligent interaction service robot according to claim 7, it is characterised in that：
The SPCE061A single-chip microcomputers have dedicated for voice signal input MIC-IN passages, inside be potential signal amplification
Device and AGC automatic gain amplifying circuits, built-in A/D change-over circuits realize the preprocessing process to voice signal.
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| CN107643753A (en) * | 2017-09-14 | 2018-01-30 | 广东格兰仕集团有限公司 | A kind of intelligent robot positions addressing method |
| CN107796403A (en) * | 2017-10-24 | 2018-03-13 | 深圳市沃特沃德股份有限公司 | Moving method, device and the robot of robot |
| CN109227535A (en) * | 2018-08-15 | 2019-01-18 | 北京云迹科技有限公司 | Voice calls robot |
| CN109345696A (en) * | 2018-08-31 | 2019-02-15 | 深兰科技（上海）有限公司 | Vending machine people |
| CN109571504A (en) * | 2019-01-02 | 2019-04-05 | 河南师范大学 | A kind of household service and early warning robot |
| CN111142512A (en) * | 2019-11-22 | 2020-05-12 | 珠海格力电器股份有限公司 | Equipment control method, following equipment and storage medium |
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Application publication date: 20170815 |
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