CN107065665A - The control circuit and control method of a kind of intelligent Dancing Robot - Google Patents
The control circuit and control method of a kind of intelligent Dancing Robot Download PDFInfo
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- CN107065665A CN107065665A CN201710226884.6A CN201710226884A CN107065665A CN 107065665 A CN107065665 A CN 107065665A CN 201710226884 A CN201710226884 A CN 201710226884A CN 107065665 A CN107065665 A CN 107065665A
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- 238000000034 method Methods 0.000 title claims description 12
- 238000002955 isolation Methods 0.000 claims description 36
- 230000008878 coupling Effects 0.000 claims description 26
- 238000010168 coupling process Methods 0.000 claims description 26
- 238000005859 coupling reaction Methods 0.000 claims description 26
- 238000012549 training Methods 0.000 claims description 24
- 230000005611 electricity Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000003990 capacitor Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 239000013078 crystal Substances 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 abstract 1
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 230000009916 joint effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 16
- 230000006872 improvement Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000001914 filtration Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- 229910052710 silicon Inorganic materials 0.000 description 1
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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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21004—Microprocessor plus electromechanical, cam control for output
Abstract
The invention discloses a kind of control circuit of intelligent Dancing Robot, for controlling Dancing Robot joint motor to operate, including：Sensing system；Motor-drive circuit；Control system；Speech recognition system；Wherein, there is mode of learning and mode of operation in control system.The control circuit of the intelligent Dancing Robot of the present invention, the joint action state of robot just can effectively be collected by the setting of sensing system, just can effectively drive robot motor to operate by the setting of motor-drive circuit causes robot to swing corresponding action, pass through the setting of speech recognition system, the identification of voice can just be realized, finally by the setting of control system, the control and study of Robot dancing just can be effectively provided, compared to the Dancing Robot of prior art, it is recreational stronger, it is wider using scope.
Description
Technical field
The present invention relates to a kind of Dancing Robot, more particularly to a kind of control circuit of intelligent Dancing Robot
And control method.
Background technology
With the progress and the continuous improvement of living standard of society, people generate to traditional entertainment way to be weary of, right
Amusement there has also been new understanding and higher pursuit.In order to meet the demand of people, the people that anthropomorphic robot can particularly dance
Anthropomorphic robot becomes one of study hotspot of robot field.The robot that can be danced it can not only fill up the sky of the old men
It is empty with it is boring, the curiosity of young and children is more met, while can also excite their understanding and recreation to new science and technology.
Modern anthropomorphic robot is a kind of intelligent robot, is configured with up to more than ten in each turning joint of machine
Servomechanism, with multiple frees degree, spy makes its presence or power felt work, can more complete to put 90 degree of exceedingly difficult movements after such as arm.It is also equipped with
The control system of excellent in design, entire exercise just can be automatically completed by itself intelligent programming software.On the market or
The anthropomorphic robot worked out can dance with music, walk, rising and retiring, martial arts performance, the acrobatics such as turn a somersault and the various Olympic Games are competing
Match is acted, but the various actions of above-mentioned robot be all it is prior be encased in using program in robot, thus robot exists
During dancing, it is merely able to constantly repeat the dance movement for being previously charged into robot interior, it is impossible to realize
The effect of dancing is practised, thus realization is merely able to per a robot and jumps several dancings, and can not be changed, so on the one hand
The recreational of Dancing Robot greatly reduces, has on the other hand also limited to the use of Dancing Robot.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the invention to provide a kind of intelligence with independent learning ability
The control circuit and control method of Dancing Robot.
To achieve the above object, the invention provides following technical scheme：A kind of control circuit of intelligent Dancing Robot,
For controlling Dancing Robot joint motor to operate, it is characterised in that：Including：
On sensing system, the position for being arranged on external mechanical person joint, the positional information for detecting joint of robot,
Wherein, sensing system includes data processor, transmitter and receiver, and the transmitter and receiver are separately positioned on machine
On two arms of person joint, and coupled with data processor, the transmitter launches signal, receiver receives signal, when
When receiver receives the signal that transmitter is launched, data processor output induced signal；
Motor-drive circuit, is coupled to external robots motor, to drive robot motor to operate；
Control system, is coupled to sensing system, is further coupled to motor-drive circuit, for receiving data processor output
Induced signal, and send motor drive signal to motor-drive circuit；
Speech recognition system, is coupled to control system, for gathering the voice signal in the external world, and voice signal is converted into
It is input to after speech signal in control system；
Wherein, there is mode of learning and mode of operation in control system, when control system is in mode of learning, control system
System receives the speech signal of the induced signal of sensing system output and the output of speech recognition system output simultaneously, by this moment
Induced signal and voice signal be packaged as one group, stored as motor drive signal, the motor at multiple moment driven
Signal forms the dancing signal of a period of time according to moment sequence integration, when control system is in mode of operation, speech recognition
The extraneous voice signal of system acquisition is converted into voice signal and is input in control system, and control system is according to language in dancing signal
Adjust in the corresponding induced signal of message number, output drive signal to motor-drive circuit, motor rotating band mobile robot joint
It is whole on the corresponding position of induced signal.
As a further improvement on the present invention, the control system includes：
Governor circuit, the governor circuit include single-chip microcomputer U3, single-chip microcomputer U3 have reset pin, vibration input pin and
Multiple I/O pins, the reset pin is coupled with after resistance R17 and is grounded, and has been also coupled to after electric capacity be coupled to power supply, the electric capacity
SR KB1 is parallel with, the vibration input pin has two, has been respectively coupled to be grounded after electric capacity C2 and electric capacity C3, and
Crystal oscillator XTAL1 is also coupled between two vibration input pins, the I/O pins are used for and sensing system, motor driving electricity
Road and speech recognition system communication；Isolation circuit, the isolation circuit includes input isolation circuit and output isolation circuit, described defeated
Enter isolation circuit to be coupled between single-chip microcomputer U3 I/O pins and speech recognition system, the output isolation circuit is coupled to list
Between piece machine U3 I/O pins and motor-drive circuit, the input isolation circuit and output isolation circuit include multiple electricity
Resistance, multiple light emitting diodes and multiple light coupling relays, wherein, a resistance, a light emitting diode and an optocoupler relay
Device is serially connected into one group of isolation group, and an one group of isolation group correspondence single-chip microcomputer U3 I/O draws connection；
Register circuit, the register circuit is coupled between single-chip microcomputer U3 I/O pins and output isolation circuit, register circuit
Including register U1 and register U2, the register U1 and register U2 be respectively provided with the open pin of output, input and latch pin,
Displacement resets pin, shift clock pin and serial type data-out pin, and the output of the register U1 and register U2 are opened
Pin is grounded, with single-chip microcomputer U3 after the input and latch pin coupling of the input and latch pin and register U2 of the register U1
The coupling of an I/O pin, the displacement that the displacement of the register U1 resets pin and register U2 resets pin and connects power supply,
The shift clock pin of the register U1 and register U2 shift clock pin are mutually coupled one afterwards with single-chip microcomputer U3
I/O pins are coupled, the serial type data-out pin of the register u1 and register U2 serial type data-out pin respectively with
Single-chip microcomputer U3 two I/O pins coupling.
As a further improvement on the present invention, the motor-drive circuit includes：
Multiple positive and negative rotation circuits, the multiple positive and negative rotation circuit, which is corresponded, is coupled to control system and external robots electricity
Machine, the plurality of positive and negative rotation circuit includes prograde circuit and circuit for reversing, and the prograde circuit and circuit for reversing include three poles
Pipe Q1, diode D1 and relay K1, the triode Q1 base stage are coupled to control system, grounded emitter, colelctor electrode coupling
Diode D1 anode is connected to, the relay K1 includes coiler part and switch sections, the diode D1 and coiler part
Parallel with one another, described switch sections one end is coupled to power supply, and the other end is coupled to after motor and is grounded, and its repeat circuit K1 is solid-state
Relay, coiler part is input circuit, and switch sections are output circuit.
As a further improvement on the present invention, the speech recognition system include single-chip microcomputer, speech chip, serial chip,
Microphone input circuit and DAC-circuit, the single-chip microcomputer are 51 single-chip microcomputers, described thereon with multiple input/output interfaces
The output on speech chip with input/output interface and speech chip on input pin and output pin, the single-chip microcomputer is drawn
Pin and input pin coupling, the input/output interface coupling of the serial chip and single-chip microcomputer, the serial chip and control system
System communication connection, to receive instruction that control system sends and send feedback command, the microphone input electricity to control system
Road is coupled between external microphone and the input pin of speech chip, and speech chip is input to after voice signal is filtered
Interior, the DAC-circuit is coupled between external loudspeaker and the output pin of speech chip, the numeral that speech chip is exported
Signal, which is transformed into after voice signal, to be output in external loudspeaker, makes loudspeaker sounding.
As a further improvement on the present invention, the microphone input circuit includes filter capacitor group and filter resistance group,
The filter capacitor group includes electric capacity CM1, electric capacity CM11, electric capacity CM13, electric capacity CM9 and electric capacity CM6, the filter resistance group bag
Include resistance RM1, resistance RM4, resistance RM5, resistance RM6 and resistance RM8, the electric capacity CM11 and electric capacity CM13 one end with
External microphone is coupled, and the other end is coupled with the input pin of speech chip, and it is low that one end of the electric capacity CM1 is coupled to power supply
Position end, the other end is coupled to the input pin that speech chip is coupled to after resistance RM1, is further coupled to be coupled to after resistance RM4 outside
Portion's microphone, one end of the resistance RM8 is coupled to power supply low order end, and the other end is coupled to external microphone, the electric capacity
CM11 is coupled to the input pin that speech chip is coupled to after resistance RM5, the electric capacity relative to the other end of external microphone
CM13 is coupled to the input pin that resistance RM5 and speech chip are coupled to after resistance RM6 relative to the other end of external microphone
Between, the electric capacity CM9 is parallel with one another in electric capacity CM6, and its one end in parallel is coupled to power supply low order end, and the other end is coupled to electricity
Hinder between RM5 and the input pin of speech chip.
As a further improvement on the present invention, the DAC-circuit includes operational amplifier UY2 and rheostat RY9, the fortune
Calculation amplifier UY2 in-phase input end, which is coupled with after electric capacity C23, is coupled to rheostat RY9 movable ends, and the one of the rheostat RY9
End is coupled to the output pin of speech chip, and the other end is coupled with the output pin that speech chip is coupled to after resistance R10, described
Electric capacity C25, the reverse input of the operational amplifier UY2 are also parallel between rheostat RY9 and the output pin of speech chip
End is coupled with electric capacity C26 and is followed by power supply low order end, and the cathode power supply end of the operational amplifier UY2 is coupled to power supply, is also coupled to
There are electric capacity C20 parallel with one another and electric capacity C21 to be followed by power supply low order end, the negative power supply termination electricity of the operational amplifier UY2
Source low order end, the output end of the operational amplifier UY2 is coupled to external loudspeaker.
Another aspect of the present invention provides a kind of control method, comprises the following steps：
1, single-chip microcomputer in single-chip microcomputer in control system and speech recognition system is initialized, robot is set to treating
Life state；
2, by speech recognition system recognition of speech signals, whether be start dancing signal, if opening if judging voice signal
Beginning dancing signal, control system is issued a signal in motor-drive circuit, and driving robot motor belt motor mobile robot carries out dancing,
Then terminate, if not starting dancing signal then carries out next step judgement；
Whether 3, it is dialogue signal to judge voice signal, if not dialogue signal then again through voice know by return to step 2
Other system identification voice signal, if dialogue signal then engages in the dialogue, starts dancing, control system is sent after dialogue is completed
Signal is in motor-drive circuit, and driving robot motor belt motor mobile robot carries out dancing, then terminates.
As the further improvement of the control method of the present invention, setting in the step 1 to the step of holding state such as
Under：
Step one, entirely circuit will be controlled to initialize；
Whether step 2, judge robot by training, if by training, control system enters mode of operation, loads language
Sound model, in case subsequently carrying out dancing action, if without training, control system enters mode of learning, receives training, has trained
Training result is preserved into later, control system enters mode of operation, in case subsequently carrying out dancing action；
Step 3, enters recognition mode by speech recognition system, and sound is identified to external world, determines whether identification knot
Really, then continue next step judgement without recognition result, there is recognition result then to judge whether recognition result is title, be that title then will
Mark of awaiting orders is put by robot, and return is re-recognized, if recognition result is not title, continuation judges whether recognition result is to await orders
State, be armed state then control system send signal drive motor drive circuit driving robot motor by robot be in treat
Life is acted, if not armed state, then return and re-recognize；
There is no the time of recognition result whether overtime in step 4, judgment step three, overtime then return to step three is known again
Not, if can not judge time-out, re -training is waited after clear pattern memory and resetted.
Beneficial effects of the present invention, each pass of robot just can be effectively detected by the setting of sensing system
The location status of section, just can so realize that the joint of driving robot rotates to the effect of some position, and pass through motor
The setting of drive circuit, it is possible to which the effective mode for realizing control system transmission drive signal carrys out motor, realizes motor
Joint of robot rotation is driven, realizes that joint of robot is rotated on the position specified, so robot outlet swing can be allowed many
Individual dance movement, realizes the effect of robot dancing, passes through the setting of speech recognition system, it is possible to the extraneous sound of identification
Message ceases, and can thus realize that Voice command robot dances, and carries out dance training to robot according to some music
Effect, when control system is mode of learning, extraneous music signal can be recognized by speech recognition system, is being known
While not extraneous music signal, human hand goes to swing the joint of robot so that when music is to which degree, robot
Which type of dance movement is swung, the dancing study effect of robot just can be so realized, such robot can just pass through
The mode of training jumps out diversified dancing, compared to existing Dancing Robot, possesses learning ability, enhances machine
People's is recreational, also make it that the use scope of robot is more extensive, on the other hand passes through the setting of control method, Ke Yishi
It is now able to good driving control system and speech recognition system cooperates and realizes what people's Voice command Dancing Robot was danced
Effect, and then add the recreational of Dancing Robot.
Brief description of the drawings
Fig. 1 is the module frame chart of the control circuit of the intelligent Dancing Robot of the present invention；
Fig. 2 is the circuit diagram of governor circuit in Fig. 1；
Fig. 3 is the circuit diagram of motor-drive circuit in Fig. 1；
Fig. 4 is the circuit diagram of the register circuit of control system in Fig. 1；
Fig. 5 is the circuit diagram of input isolation circuit in Fig. 1；
Fig. 6 is the module frame chart of speech recognition system in Fig. 1；
Fig. 7 be Fig. 4 in microphone input circuit circuit diagram；
Fig. 8 be Fig. 4 in DAC-circuit circuit diagram；
Fig. 9 is the flow chart of the control method of the intelligent Dancing Robot of the present invention；
Figure 10 arrives the flow chart of original state step to be set in Fig. 7.
Embodiment
The present invention is described in further detail below in conjunction with the embodiment given by accompanying drawing.
Referring to figs. 1 to shown in 10, the control circuit of a kind of intelligent Dancing Robot of the present embodiment, for controlling dancing machine
Device person joint motor is operated, including：
On sensing system 1, the position for being arranged on external mechanical person joint, for detecting that the position of joint of robot is believed
Breath, wherein, sensing system 1 includes data processor 13, transmitter 11 and receiver 12, the transmitter 11 and receiver 12
It is separately positioned on two arms of joint of robot, and is coupled with data processor 13, the transmitter 11 launches signal,
Receiver 12 receives signal, when receiver 12 receives the signal that transmitter 11 is launched, the output sensing of data processor 13
Signal；
Motor-drive circuit 2, is coupled to external robots motor, to drive robot motor to operate；
Control system 3, is coupled to sensing system 1, motor-drive circuit 2 is further coupled to, for receiving data processor
The induced signal of 13 outputs, and motor drive signal is sent to motor-drive circuit 2；
Speech recognition system 4, is coupled to control system 3, for gathering the voice signal in the external world, and voice signal is changed
It is input to after into speech signal in control system 3；
Wherein, there is mode of learning and mode of operation in control system 3, when control system 3 is in mode of learning, control
The speech signal for the output that the induced signal and speech recognition system 4 that system 3 receives the output of sensing system 1 simultaneously are exported, will
The induced signal and voice signal at this moment are packaged as one group, are stored as motor drive signal, by the electricity at multiple moment
Machine drive signal forms the dancing signal of a period of time according to moment sequence integration, when control system 3 is in mode of operation,
The voice signal that speech recognition system 4 gathers the external world is converted into voice signal and is input in control system 3, the basis of control system 3
The corresponding induced signal of voice signal in dancing signal, output drive signal to motor-drive circuit 2, motor rotation drives
Joint of robot is adjusted on the corresponding position of induced signal, during Dancing Robot use, first sets control system 3
Mode of learning is set to, by music and artificial mating reaction, music is trained into control system 3 with dance movement and remembered
Address book stored, is then adjusted to mode of operation by control system 3 again, and now extraneous to play music, speech recognition system 4 is recognized
Extraneous music, control system 3 just can be according to the dance movement trained before, and and then music is danced lightly together, so
Dancing Robot study and the effect danced are realized, is by playing one section of music, people during study in the present embodiment
Gone to swing the joint of robot according to music, when joint of robot is swung, between transmitter 11 and receiver 12 just
Constantly transmit signal so that data processor 13 exports a string signal, this signal is the dance movement letter of this section of music
Number, so effectively realize the effect of a study.
As a kind of improved embodiment, the control system 3 includes：
Governor circuit 31, the governor circuit 31 includes single-chip microcomputer U3, and there is the single-chip microcomputer U3 reset pin, vibration input to draw
Pin and multiple I/O pins, the reset pin are coupled with after resistance R17 and are grounded, and have been also coupled to after electric capacity be coupled to power supply, described
Electric capacity is parallel with SR KB1, and the vibration input pin has two, has been respectively coupled to electric capacity C2 and electric capacity C3 is followed by
Crystal oscillator XTAL1 is also coupled between ground, and two vibration input pins, the I/O pins are used for and sensing system 1, motor
Drive circuit 2 and speech recognition system 4 communicate；
Isolation circuit 32, the isolation circuit 32 includes input isolation circuit 321 and output isolation circuit 322, the input
Isolation circuit 321 is coupled between single-chip microcomputer U3 I/O pins and speech recognition system 4, and the output isolation circuit 322 is coupled
Between single-chip microcomputer U3 I/O pins and motor-drive circuit 2, the input isolation circuit 321 and output isolation circuit 322 are equal
Including multiple resistance, multiple light emitting diodes and multiple light coupling relays, wherein, resistance, a light emitting diode and one
Individual light coupling relay is serially connected into one group of isolation group, and an one group of isolation group correspondence single-chip microcomputer U3 I/O draws connection；
Register circuit 33, the register circuit 33 is coupled between single-chip microcomputer U3 I/O pins and output isolation circuit 322,
Register circuit 33 includes register U1 and register U2, and the register U1 and register U2 be respectively provided with the open pin of output, defeated
Enter to latch pin, displacement and reset pin, shift clock pin and serial type data-out pin, the register U1 and register U2
Output open pin and be grounded, the input and latch pin of the register U1 with after register U2 input and latch pin coupling
Coupled with a single-chip microcomputer U3 I/O pin, the displacement of the register U1 resets pin and register U2 displacement clearing is drawn
Pin connects power supply, and the shift clock pin of the register U1 and register U2 shift clock pin are mutually coupled rear and monolithic
Machine U3 I/O pin coupling, the serial type data-out pin of the register U1 and register U2 serial type data input
Pin is coupled with single-chip microcomputer U3 two I/O pins respectively, and single-chip microcomputer U3 pin voltage is general all smaller, thus is occurring
The problem of single-chip microcomputer U3 is easy to misoperation occur when interference signal, thus in the present embodiment using isolation circuit 32
Mode is isolated signal, the problem of can so avoiding single-chip microcomputer U3 misoperations, and by the way that isolation circuit is arranged into electricity
The setting of resistance, light emitting diode and light coupling relay just can realize filtering, light emitting diode indication signal, optocoupler using resistance
Relay realizes Phototube Coupling, just can so effectively filter out interference signal on signal, it is to avoid single-chip microcomputer U3 misoperation, and
By the setting of register circuit 33, the drive signal that single-chip microcomputer U3 is exported can be converted into multi-path digital signal to be driven to motor
Dynamic circuit 2, just can so realize and more accurately control the motor of motor-drive circuit 2, be posted while can utilize
The lock-bit deposit effect of circuit 33 is deposited, realizes that interim data are preserved, it is ensured that the company for the signal being transported in motor-drive circuit 2
Continuous property, the effect of intelligent robot just can be effectively controlled by arrangement above.
As a kind of improved embodiment, the motor-drive circuit 2 includes：
Multiple positive and negative rotation circuits 21, the multiple positive and negative rotation circuit 21, which is corresponded, is coupled to control system 3 and outside machine
Device people's motor, the plurality of positive and negative rotation circuit 21 includes prograde circuit 211 and circuit for reversing 212, the prograde circuit 211 and anti-
Shifting circuit 212 includes triode Q1, diode D1 and relay K1, and the base stage of the triode Q1 is coupled to control system 3,
Grounded emitter, colelctor electrode is coupled to diode D1 anode, and the relay K1 includes coiler part and switch sections, described
Diode D1 and coiler part are parallel with one another, and described switch sections one end is coupled to power supply, and the other end is coupled to after motor and is grounded,
Its repeat circuit K1 is solid-state relay, and coiler part is input circuit, and switch sections are output circuit, pass through positive and negative rotation circuit
21 setting, it is possible to the rotating of effective control machine people's motor, and by triode Q1 setting, can be by control
I is input in relay K1 after the signal of the output of system 3 is amplified, the K1 actions of driving relay, and then realizes the positive and negative of motor
Turn, and use and relay K1 is arranged to solid-state relay, solid-state relay (SSR) is that one kind does not have compared with electromechanical relay
Have mechanical movement, the relay without moving parts, but it have and electromechanical relay substantially identical function.SSR is one
The contactless switch element being all made up of solid state electrical components is planted, he utilizes the point of electronic component, and magnetically and optically characteristic has been come
Isolate into input with the reliable of output, utilize large power triode, power field effect pipe, individual event controllable silicon and bidirectional triode thyristor etc.
The switching characteristic of device, it is contactless to reach, controlled circuit is switched on and off to no-spark, with herein can be to control well
The rotating of motor processed, and the electric energy of consumption is few, it is adaptable to use battery-driven Dancing Robot.
As a kind of improved embodiment, the speech recognition system 4 includes single-chip microcomputer, speech chip, serial
Chip, microphone input circuit 41 and DAC-circuit 42, the single-chip microcomputer are 51 single-chip microcomputers, thereon with multiple input and output
There is the input/output interface and voice core on input pin and output pin, the single-chip microcomputer on interface, the speech chip
Output pin and the input pin coupling of piece, the input/output interface coupling of the serial chip and single-chip microcomputer, the serial core
Piece is communicated to connect with control system 3, described to receive instruction that control system 3 sends and send feedback command to control system 3
Microphone input circuit 41 is coupled between external microphone and the input pin of speech chip, defeated after voice signal is filtered
Enter into speech chip, the DAC-circuit 42 is coupled between external loudspeaker and the output pin of speech chip, by voice
The digital signal transition of chip output makes loudspeaker sounding, in speech recognition into being output in external loudspeaker after voice signal
During, the vibration of sound is transformed into electric signal first with microphone, electric signal will pass through microphone input circuit
41 are input in speech chip, and speech chip will be handled the electric signal, be transferred to afterwards in 51 single-chip microcomputers, passed through 51
It is transferred to after the processing of single-chip microcomputer by serial chip in control system 3, and when needing voluntarily to play music, first
51 single-chip microcomputers send play signal in speech chip, and speech chip will send play signal in DAC-circuit 42, utilization
Analog signal is input in loudspeaker by the digital signal transition that DAC-circuit 42 exports speech chip afterwards into analog signal,
Loudspeaker will sounding, so realize voluntarily play music effect, so just can effectively realize the sum of speech recognition
Sound is played.
As a kind of improved embodiment, the microphone input circuit 41 includes filter capacitor group and filtered electrical
Resistance group, the filter capacitor group includes electric capacity CM1, electric capacity CM11, electric capacity CM13, electric capacity CM9 and electric capacity CM6, the filtered electrical
Resistance group includes resistance RM1, resistance RM4, resistance RM5, resistance RM6 and resistance RM8, the one of the electric capacity CM11 and electric capacity CM13
End is coupled with external microphone, and the other end is coupled with the input pin of speech chip, and one end of the electric capacity CM1 is coupled to
Power supply low order end, the other end is coupled to the input pin that speech chip is coupled to after resistance RM1, is further coupled to coupling after resistance RM4
External microphone is connected to, one end of the resistance RM8 is coupled to power supply low order end, and the other end is coupled to external microphone, described
Electric capacity CM11 is coupled to the input pin that speech chip is coupled to after resistance RM5 relative to the other end of external microphone, described
Electric capacity CM13 is coupled to the input that resistance RM5 and speech chip are coupled to after resistance RM6 relative to the other end of external microphone
Between pin, the electric capacity CM9 is parallel with one another in electric capacity CM6, and its one end in parallel is coupled to power supply low order end, other end coupling
Between resistance RM5 and the input pin of speech chip, due to the unstability of external voice, thus microphone is converted
Various clutters will be carried in electric signal, thus are made here by the filtering of filter capacitor group and filter resistance group
With can be with the clutter on filtering electric signal, it is to avoid speech chip is influenceed the normal work of speech chip by noise signal.
As a kind of improved embodiment, the DAC-circuit includes operational amplifier UY2 and rheostat RY9, institute
The in-phase input end for stating operational amplifier UY2 is coupled with after electric capacity C23 and is coupled to rheostat RY9 movable ends, the rheostat RY9
One end be coupled to the output pin of speech chip, the other end is coupled with the output pin that speech chip is coupled to after resistance R10,
Electric capacity C25 is also parallel between the output pin of the rheostat RY9 and speech chip, the operational amplifier UY2's is reverse
Input is coupled with electric capacity C26 and is followed by power supply low order end, and the cathode power supply end of the operational amplifier UY2 is coupled to power supply, also
It is coupled with electric capacity C20 parallel with one another and electric capacity C21 is followed by power supply low order end, the negative electricity source of the operational amplifier UY2
Power supply low order end is connect, the output end of the operational amplifier UY2 is coupled to external loudspeaker, and existing loudspeaker is that needs are defeated
Sounding can be carried out well by entering analog signal, thus the present embodiment uses the setting of DAC-circuit, and speech chip is exported
Data signal is converted into analog signal, during signal is changed, and the signal of speech chip output passes through resistance R10 and electricity
Enter in rheostat RY9, reached after rheostat RY9 in operational amplifier UY2, operational amplifier UY2 is just after holding C25
Simulation trial can be carried out to signal, analog signal is exported finally by operational amplifier UY2 output end, it is above-mentioned to employ computing
Amplifier carries out the mode of simulation trial to realize digital-to-analogue conversion, can greatly simplify circuit structure, reduces circuit cost.
As another embodiment of the present invention, a kind of robot control method comprises the following steps：
1, single-chip microcomputer in single-chip microcomputer in control system 3 and speech recognition system 4 is initialized, robot is set and arrived
Armed state；
2, by the recognition of speech signals of speech recognition system 4, whether be start dancing signal, if opening if judging voice signal
Beginning dancing signal, control system 3 is issued a signal in motor-drive circuit 2, and driving robot motor belt motor mobile robot is waved
Step, then terminate, if not starting dancing signal then carries out next step judgement；
Whether 3, it is dialogue signal to judge voice signal, if not dialogue signal then again through voice know by return to step 2
The other recognition of speech signals of system 4, if dialogue signal then engages in the dialogue, starts dancing, control system 3 is sent out after dialogue is completed
Go out signal in motor-drive circuit 2, driving robot motor belt motor mobile robot carries out dancing, then terminates, using step 1,
The effect of step 2 and step 3, it is possible to robot is set and arrives armed state, allows robot to be recognized according to speech recognition system 4
Voice signal, robot is operated, just can so realize sound control robot dance effect, add machine
Device people's is recreational and interactive.
As a kind of improved embodiment, the step of setting in the step 1 is to holding state is as follows：
Step one, entirely circuit will be controlled to initialize；
Whether step 2, judge robot by training, if by training, control system 3 enters mode of operation, loads language
Sound model, in case subsequently carrying out dancing action, if without training, control system 3 enters mode of learning, receives training, training
Training result is preserved after completing, control system 3 enters mode of operation, in case subsequently carrying out dancing action；
Step 3, enters recognition mode by speech recognition system 4, and sound is identified to external world, determines whether identification
As a result, then continue without recognition result next step judgement, there is recognition result then to judge whether recognition result is title, be title then
Robot is put to mark of awaiting orders, and return is re-recognized, if recognition result is not title, continuation judges whether recognition result is to treat
Life state, is that then control system 3 sends the driving robot motor of signal drive motor drive circuit 2 by robot to armed state
In action of awaiting orders, if not armed state, then return and re-recognize；
There is no the time of recognition result whether overtime in step 4, judgment step three, overtime then return to step three is known again
Not, if can not judge time-out, re -training is waited after clear pattern memory and resetted, by Step 1: Step 2: step
Three and the setting of step 4, it is possible to what the effective mode of learning using speech recognition system 4 and control system 3 cooperated
Effect, realizes in the dance training corresponding to music to robot, is then arrived training by the mode of operation of control system 3
The effect that nautch in robot comes out, so can be good at realizing the learning functionality of robot, adds robot
It is recreational, add the use scope of robot.
In summary, the control circuit and control method of intelligent Dancing Robot of the invention, can effectively utilize language
The mutual cooperation effect of sound identifying system 4 and control system 3, realizes Dancing Robot and the interactive voice of outside people, and then
The recreational of Dancing Robot is added, the scope of application of Dancing Robot is added.
Described above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art
Those of ordinary skill for, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of control circuit of intelligent Dancing Robot, for controlling Dancing Robot joint motor to operate, it is characterised in that：
Including：
On sensing system (1), the position for being arranged on external mechanical person joint, the positional information for detecting joint of robot,
Wherein, sensing system (1) include data processor (13), transmitter (11) and receiver (12), the transmitter (11) and
Receiver (12) is separately positioned on two arms of joint of robot, and is coupled with data processor (13), the transmitter
(11) signal is launched, receiver (12) receives signal, when receiver (12) receives the signal that transmitter (11) is launched,
Data processor (13) exports induced signal；
Motor-drive circuit (2), is coupled to external robots motor, to drive robot motor to operate；
Control system (3), is coupled to sensing system (1), motor-drive circuit (2) is further coupled to, for receiving data processing
The induced signal of device (13) output, and motor drive signal is sent to motor-drive circuit (2)；Speech recognition system (4), coupling
In control system (3), the voice signal for gathering the external world, and voice signal is converted into be input to control system after speech signal
Unite in (3)；
Wherein, there is mode of learning and mode of operation in control system (3), when control system (3) is in mode of learning, control
System (3) is while receive the language letter of the induced signal of sensing system (1) output and the output of speech recognition system (4) output
Number, the induced signal and voice signal at this moment are packaged as one group, stored as motor drive signal, by multiple moment
Motor drive signal according to moment sequence integration, the dancing signal of a period of time is formed, when control system (3) is in Working mould
During formula, the extraneous voice signal of speech recognition system (4) collection is converted into voice signal and is input in control system (3), control
System (3) is driven according to the corresponding induced signal of voice signal in dancing signal, output drive signal to motor-drive circuit (2)
Dynamic motor rotating band mobile robot joint is adjusted on the corresponding position of induced signal.
2. the control circuit of intelligent Dancing Robot according to claim 1, it is characterised in that：The control system (3)
Including：
Governor circuit (31), the governor circuit (31) includes single-chip microcomputer U3, and there is the single-chip microcomputer U3 reset pin, vibration input to draw
Pin and multiple I/O pins, the reset pin are coupled with after resistance R17 and are grounded, and have been also coupled to after electric capacity be coupled to power supply, described
Electric capacity is parallel with SR KB1, and the vibration input pin has two, has been respectively coupled to electric capacity C2 and electric capacity C3 is followed by
Crystal oscillator XTAL1 is also coupled between ground, and two vibration input pins, the I/O pins are used for and sensing system (1), electricity
Drive circuit (2) and speech recognition system (4) communication；
Isolation circuit (32), the isolation circuit (32) includes input isolation circuit (321) and output isolation circuit (322), described
Input isolation circuit (321) is coupled between single-chip microcomputer U3 I/O pins and speech recognition system (4), the output isolation electricity
Road (322) is coupled between single-chip microcomputer U3 I/O pins and motor-drive circuit (2), the input isolation circuit (321) and defeated
Going out isolation circuit (322) includes multiple resistance, multiple light emitting diodes and multiple light coupling relays, wherein, resistance, one
Individual light emitting diode and a light coupling relay are serially connected into one group of isolation group, one of one group of isolation group correspondence single-chip microcomputer U3
I/O draws connection；
Register circuit (33), the register circuit (33) be coupled to single-chip microcomputer U3 I/O pins and output isolation circuit (322) it
Between, register circuit (33) includes register U1 and register U2, the register U1 and register U2 are respectively provided with output opening and drawn
Pin, input and latch pin, displacement reset pin, shift clock pin and serial type data-out pin, the register U1 and post
Storage U2 output opens pin and is grounded, the input and latch pin of the register U1 and register U2 input and latch pin
An I/O pin after coupling with single-chip microcomputer U3 is coupled, and the displacement of the register U1 resets pin and register U2 displacement
Reset pin and connect power supply, after the shift clock pin of the register U1 and register U2 shift clock pin are mutually coupled
Coupled with a single-chip microcomputer U3 I/O pin, the serial type data-out pin of the register U1 and register U2 serial type number
Two I/O pins according to input pin respectively with single-chip microcomputer U3 are coupled.
3. the control circuit of intelligent Dancing Robot according to claim 1 or 2, it is characterised in that：The motor driving
Circuit (2) includes：
Multiple positive and negative rotation circuits (21), the multiple positive and negative rotation circuit (21), which corresponds, is coupled to control system (3) and outside
Robot motor, the plurality of positive and negative rotation circuit (21) includes prograde circuit (211) and circuit for reversing (212), described to rotate forward electricity
Road (211) and circuit for reversing (212) include triode Q1, diode D1 and relay K1, the base stage coupling of the triode Q1
Control system (3), grounded emitter are connected to, colelctor electrode is coupled to diode D1 anode, and the relay K1 includes coil portion
Divide and switch sections, the diode D1 and coiler part are parallel with one another, and described switch sections one end is coupled to power supply, the other end
It is coupled to after motor and is grounded, its repeat circuit K1 is solid-state relay, coiler part is input circuit, and switch sections are output electricity
Road.
4. the control circuit of intelligent Dancing Robot according to claim 1 or 2, it is characterised in that：The speech recognition
System (4) includes single-chip microcomputer, speech chip, serial chip, microphone input circuit (41) and DAC-circuit (42), the list
Piece machine is 51 single-chip microcomputers, thereon with multiple input/output interfaces, has input pin and output pin on the speech chip,
Output pin and the input pin coupling of input/output interface and speech chip on the single-chip microcomputer, the serial chip and list
The input/output interface coupling of piece machine, the serial chip is communicated to connect with control system (3), to receive control system (3) hair
The instruction that goes out and send feedback command to control system (3), the microphone input circuit (41) be coupled to external microphone with
Between the input pin of speech chip, it is input to after voice signal is filtered in speech chip, DAC-circuit (42) coupling
Between external loudspeaker and the output pin of speech chip, the digital signal transition that speech chip is exported is into voice signal
After be output in external loudspeaker, make loudspeaker sounding.
5. the control circuit of intelligent Dancing Robot according to claim 4, it is characterised in that：The microphone input electricity
Road (41) includes filter capacitor group and filter resistance group, and the filter capacitor group includes electric capacity C1, electric capacity C11, electric capacity C13, electricity
Hold C9 and electric capacity C6, the filter resistance group includes resistance R1, resistance R4, resistance R5, resistance R6 and resistance R8, the electric capacity
C11 and electric capacity C13 one end are coupled with external microphone, and the other end is coupled with the input pin of speech chip, the electricity
The one end for holding C1 is coupled to power supply low order end, and the other end is coupled to the input pin that speech chip is coupled to after resistance R1, goes back coupling
It is connected to after resistance R4 and is coupled to external microphone, one end of the resistance R8 is coupled to power supply low order end, and the other end is coupled to outer
Portion's microphone, the electric capacity C11 is coupled to after resistance R5 relative to the other end of external microphone and is coupled to the defeated of speech chip
Enter pin, the electric capacity C13 is coupled to after resistance R6 relative to the other end of external microphone and is coupled to resistance R5 and voice core
Between the input pin of piece, the electric capacity C9 is parallel with one another in electric capacity C6, and its one end in parallel is coupled to power supply low order end, another
End is coupled between resistance R5 and the input pin of speech chip.
6. the control circuit of intelligent Dancing Robot according to claim 4, it is characterised in that：The DAC-circuit (42)
In-phase input end including operational amplifier UY2 and rheostat RY9, the operational amplifier UY2 is coupled with after electric capacity C23 and coupled
In rheostat RY9 movable ends, one end of the rheostat RY9 is coupled to the output pin of speech chip, and the other end is coupled with electricity
It is coupled between the output pin of speech chip, the output pin of the rheostat RY9 and speech chip and is also parallel with after resistance R10
Electric capacity C25, the operational amplifier UY2 reverse input end are coupled with electric capacity C26 and are followed by power supply low order end, the operation amplifier
Device UY2 cathode power supply end is coupled to power supply, is also coupled to electric capacity C20 parallel with one another and electric capacity C21 is followed by power supply low order end,
The negative power supply termination power low order end of the operational amplifier UY2, the output end of the operational amplifier UY2 is coupled to outside
Loudspeaker.
7. a kind of robot control method based on claim 1 to 6 any one control circuit, it is characterised in that：Including such as
Lower step：
1, control system (3) interior single-chip microcomputer and speech recognition system (4) interior single-chip microcomputer are initialized, robot is set and arrived
Armed state；
2, by speech recognition system (4) recognition of speech signals, whether be start dancing signal, if starting if judging voice signal
Dancing signal, control system (3) is issued a signal in motor-drive circuit (2), and driving robot motor belt motor mobile robot is carried out
Dancing, then terminates, if not starting dancing signal then carries out next step judgement；
3, judge voice signal whether be dialogue signal, if not dialogue signal then return to step 2 again through speech recognition system
System (4) recognition of speech signals, if dialogue signal then engages in the dialogue, starts dancing, control system (3) hair after dialogue is completed
Go out signal interior to motor-drive circuit (2), driving robot motor belt motor mobile robot carries out dancing, then terminates.
8. robot control method according to claim 7, it is characterised in that：Setting in the step 1 is to standby shape
The step of state, is as follows：
Step one, entirely circuit will be controlled to initialize；
Whether step 2, judge robot by training, if by training, control system (3) enters mode of operation, loads voice
Model, in case subsequently carrying out dancing action, if without training, control system (3) enters mode of learning, receives training, training
Training result is preserved after completing, control system (3) enters mode of operation, in case subsequently carrying out dancing action；
Step 3, enters recognition mode, sound is identified to external world by speech recognition system (4), determines whether identification knot
Really, then continue next step judgement without recognition result, there is recognition result then to judge whether recognition result is title, be that title then will
Mark of awaiting orders is put by robot, and return is re-recognized, if recognition result is not title, continuation judges whether recognition result is to await orders
State, is that then control system (3) sends signal drive motor drive circuit (2) driving robot motor by robot to armed state
In action of awaiting orders, if not armed state, then return and re-recognize；
There is no the time of recognition result whether overtime in step 4, judgment step three, overtime then return to step three is re-recognized, if
Time-out can not be judged, then re -training, wait and resetting after clear pattern memory.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113359534A (en) * | 2021-06-29 | 2021-09-07 | 中国石油大学胜利学院 | Celestial body simulated motion demonstration circuit and demonstration device |
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| CN202191696U (en) * | 2010-12-22 | 2012-04-18 | 山东大陆科技有限公司 | Dance robot |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN205928678U (en) * | 2016-08-23 | 2017-02-08 | 温州乐享科技信息有限公司 | Dancing machine people |
| CN206029909U (en) * | 2016-08-16 | 2017-03-22 | 管存忠 | Dance robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202191696U (en) * | 2010-12-22 | 2012-04-18 | 山东大陆科技有限公司 | Dance robot |
| CN105881550A (en) * | 2016-05-17 | 2016-08-24 | 洪炳镕 | Advanced humanoid dancing robot |
| CN206029909U (en) * | 2016-08-16 | 2017-03-22 | 管存忠 | Dance robot |
| CN205928678U (en) * | 2016-08-23 | 2017-02-08 | 温州乐享科技信息有限公司 | Dancing machine people |
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