CN107861515A - A kind of wired home robot control system and its control method - Google Patents
A kind of wired home robot control system and its control method Download PDFInfo
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- CN107861515A CN107861515A CN201711421854.7A CN201711421854A CN107861515A CN 107861515 A CN107861515 A CN 107861515A CN 201711421854 A CN201711421854 A CN 201711421854A CN 107861515 A CN107861515 A CN 107861515A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
Abstract
A kind of wired home robot control system, including the body circuit control system in machine human organism and n sensing data acquisition control system being connected with appliance switch, the body circuit control system includes microprocessor I, voice collecting circuit module, drive circuit module and wifi module I etc., the sensing data acquisition control system includes microprocessor II, pernicious gas detection module, wifi module II and Temperature and Humidity module etc..The present invention provides a kind of control method of wired home robot, when robot recognizes voice signal, robot is unlocked in a manner of Application on Voiceprint Recognition and control machine people advances, retreated, or remotely pass through client, robot is sent instructions to, robot controls the break-make of appliance switch by wifi again, moreover it is possible to the change of humiture, pernicious gas in the man of monitoring in real time, not only cost is cheap, and can make life it is more intelligent, conveniently, save the time, improve life efficiency.
Description
Technical field
The present invention relates to a kind of robot automatic control technology field, more particularly to a kind of control system of wired home robot
System and its control method.
Background technology
With the development in epoch, the raising of each field automaticity, the appearance of more and more robots so that Ren Menrong
Easily associate and robot is used for family life to facilitate respective demand, however, the universal cost of robot in the market
It is higher so that most people can not undertake the expense of robot, and present smart home robot mainly passes through two kinds of sides
Formula is unlocked, and the first is that the details for contrasting mankind difference fingerprint carry out authentication unblock, i.e. fingerprint recognition
Unblock；It is for second the face-image by gathering people, carries out com-parison and analysis face characteristic information and carry out identity differentiating unblock, i.e.,
Face recognition unlocks, and both the above unlocking manner has the following disadvantages applied to household robot：
1. fingerprint recognition unblock needs to gather fingerprint, the fingerprint of people easily wears, will be unable to unlock when fingerprint is worn；
2. though fingerprint recognition unblock is simple to operate, do not applied in the home scenarios of part, because fingerprint recognition unblock is to user
Environmental requirement residing for finger is higher, such as finger is in the environment too moistened, and unlocked by fingerprint will fail；
3. recognition of face unblock has non-reproduction, although safety coefficient is high, the change of visual intensity or user
Whether make up and the change of hair style can all have an impact to it, meanwhile, applied to domestic robot, recognition of face unblock exploitation
Cost is high, unactual；
4. recognition of face unblock needs to shine the face of people, fingerprint recognition unblock needs to touch fingerprint, and unlock all needs each time
Success could be unlocked by carrying out the contact in the closely short time with robot, and not only complex operation, can not also enter to robot
Row remote control.
Therefore, need badly and develop a kind of low cost and suitable for the robot of family.
The content of the invention
The technical problem to be solved in the present invention is：There is provided a kind of low cost, simultaneously energy is long-range using Application on Voiceprint Recognition solution lock control
Monitor family status, control the wired home robot control system of household appliances, to overcome existing for above-mentioned prior art not
Foot.
In order to solve the above technical problems, the present invention adopts the technical scheme that：A kind of wired home robot control system,
The control system includes body circuit control system and sensing data acquisition control system, and the body circuit control system is located at
In machine human organism, it is connected respectively by wireless network with client and sensing data acquisition control system, the sensing data
Acquisition control system has n, is connected respectively with the appliance switch in family, n≤15；
The body circuit control system is used for：
First, the command signal that client is sent is received；
2nd, receive the sound that scene is sent and robot and control machine human action are unlocked in a manner of Application on Voiceprint Recognition；
3rd, identify and match the command signal sent from client or the sound sensing data the to be controlled collection that scene is sent
Control system, the command signal of on-off switch is then sent to one or more sensing data acquisition control systems；
4th, the data that sensing data acquisition control system is sent are received and are shown；
5th, the data that sensing data acquisition control system is sent are sent to client；
The sensing data acquisition control system is used for：
First, the control signal that body circuit control system is sent is received, and controls corresponding appliance switch closure or disconnects；
2nd, the humiture and harmful gas concentration of air are detected, and detection Value Data is sent to body circuit control system, if
Detected value exceedes setting value, then alarm.
Its further technical scheme is：The body circuit control system includes microprocessor I, voice collecting circuit mould
Block, reset and crystal oscillating circuit module I, power module I, drive circuit module, wifi module I and display module I；
The microprocessor I with voice collecting circuit module, resets and crystal oscillating circuit module I, power module I, driving electricity respectively
Road module, wifi module I and display module I connect, and are also connected with LED light I, and the voice collecting circuit module is also distinguished
It is connected with microphone and loudspeaker, the drive circuit module is also connected with the wheel of robot；
The microprocessor I is the central controller of body circuit control system, is used for：
First, receive the data signal that voice collecting circuit module is sent and store into audio file, enter with the unblock sound of setting
Row contrast matching, if it fails to match, feedback signal is sent to display module I, if successful with default unblock Sound Match,
Unblock robot simultaneously carries out the matching with action order sound in next step：If 1. with sound " advance " or " retrogressing ", the match is successful,
Then corresponding movement command signal is sent to drive circuit module；If 2. with some the default sound of sensing data acquisition control system
The match is successful for sound signal, then sends control instruction signal to the sensing data acquisition control system by wifi module I；
2nd, the command signal sent from client and identification are received by wifi module I, after control instruction signal passed through into wifi
Module I is sent to corresponding sensing data acquisition control system；
3rd, the humiture sent from sensing data acquisition control system and pernicious gas data are received by wifi module I, sent
Sent to display module I, while by wifi module I to client；
4th, voice signal is sent to voice collecting circuit module；
The voice collecting circuit module is used for：First, the voice signal of microphone collection is received, and is changed after voice signal is filtered
Into data signal, send to microprocessor I and store；2nd, the voice signal that microprocessor I is sent is received, and drives loudspeaker to play；
The reset is used to send reset signal and clock signal to microprocessor I with crystal oscillating circuit module I, when microprocessor I
When there is abnormal or deadlock, reset and be sent to reset signal with crystal oscillating circuit module I, microprocessor I reset, transported again
OK；
The LED light I is used for the working condition for showing microprocessor I, when I normal work of microprocessor, LED light
I Chang Liang, when microprocessor I is abnormal, LED light I flashes；
The power module I is used to provide power supply to body circuit control system；
The drive circuit module is used to receive the movement command signal that microprocessor I is sent and drives wheel execute instruction；
The wifi module I is used for：First, realize that the double-direction radio between microprocessor I and sensing data acquisition control system leads to
Letter；2nd, the two-way wireless communication between microprocessor I and client is realized；
The display module I is used to receiving the signal that microprocessor I sends or data and shown.
Further：The n sensing data acquisition control system structure is identical, including microprocessor II, environmental abnormality
Alarm module, reset and crystal oscillating circuit module II, pernicious gas detection module, power module II, wifi module II, display module
II and Temperature and Humidity module；
The microprocessor II with environment abnormal alarm module, resets and crystal oscillating circuit module II, pernicious gas detection mould respectively
Block, power module II, wifi module II, display module II connect with Temperature and Humidity module, also with LED light II, solid-state
Relay with can plug matrix keyboard connect, the solid-state relay is also connected with appliance switch；
The microprocessor II is the central controller of sensing data acquisition control system, is used for：
First, the control instruction signal sent from the microprocessor I of body circuit control system is received by wifi module II, and controlled
Solid-state relay closure processed disconnects；
2nd, receive the harmful gas concentration value sent from pernicious gas detection module and send to display module II, while will have
Evil gas concentration value is sent to microprocessor I by wifi module II, if harmful gas concentration value exceedes pernicious gas preset value,
Then alarm signal is transmitted to environment abnormal alarm module；
3rd, the temperature value sent from Temperature and Humidity module is received with humidity value and transmission is to display module II, while by temperature
Value is sent to microprocessor I with humidity value by wifi module II, if temperature value or humidity value exceed preset value, by alarm signal
Number transmit to environment abnormal alarm module；
The LED light II is used for the working condition for showing microprocessor II, when II normal work of microprocessor, indicator lamp
II Chang Liang, when microprocessor II is abnormal, indicator lamp II flashes；
The environment abnormal alarm module is used to receive the alarm signal that microprocessor II transmits and be alarmed；
The reset is used to send reset signal and clock signal to microprocessor II with crystal oscillating circuit module II, works as microprocessor
When II appearance is abnormal or crashes, resets and be sent to reset signal with crystal oscillating circuit module II, microprocessor II is reset, again
Operation；
The pernicious gas detection module is used to detecting harmful gas concentration in air, and by harmful gas concentration value send to
Microprocessor II；
The power module II is used to provide power supply to microprocessor II；
The wifi module II is used to realize the two-way wireless communication between microprocessor II and microprocessor I；
The display module II is used to receive harmful gas concentration value, temperature value and humidity value that microprocessor II is sent, and shows
Show to come；
The closed and disconnected of the solid-state relay directly controls being switched on or switched off for appliance switch；
The Temperature and Humidity module is used to detecting temperature value and humidity value in air, and by temperature value and humidity value send to
Microprocessor II；
It is described can plug matrix keyboard be used for set indoor temperature, humidity and harmful gas concentration alarm threshold value and configuration wifi
Module networking pattern.
Further：The microprocessor I is stm32 controllers, and microprocessor II is S3C2440 controllers, institute's predicate
Sound acquisition circuit module is WM8978 speech chips, and the wifi module I and wifi module II are ESP8266 modules, described
Pernicious gas detection module is gas sensor MQ-135, and the Temperature and Humidity module is Temperature Humidity Sensor DHT11.
Further：The drive circuit module is L298N chips, and the display module I and display module II are LCD
Touch display module, the environment abnormal alarm module are buzzer.
Further：The client is computer or mobile phone.
Related another technical scheme is：A kind of control method of wired home robot, it is above-mentioned with the present invention
A kind of wired home robot control system realize the method for control machine people, comprise the following steps that：
s101：Microphone automatic data collection voice signal；
s102：Body circuit control system recognition of speech signals, and matched with the unblock sound set, if matching is lost
Lose, then into step s103, if the match is successful, into step s104；
s103：Microprocessor I, which sends feedback signal to display module I, to be shown and reminds user to unlock failure, returns to step
Rapid s102；
s104：Robot is unlocked, the action order voice signal set is matched, if the match is successful with sound " advance ", enters
Enter step s105, if the match is successful with sound " retrogressing ", into step s106, if with some sensing data acquisition control system
The match is successful for III default voice signal, then into step s107；
s105：Drive circuit module driving robot advances, into step s108；
s106：Drive circuit module driving robot retreats, into step s108；
s107：It is switched on or switched off the appliance switch of sensing data acquisition control system control, into step s108；
s108：User operates client and sends control instruction, and body circuit control system receives automatically；
s109：Microprocessor I identifies command signal, matches corresponding sensing data acquisition control system；
s110：It is switched on or switched off the appliance switch of sensing data acquisition control system control；
s111：Return.
The further technical scheme of the wired home robot control method is：It is micro- in the body circuit control system
The voice recognition processing of processor I and voice collecting circuit module comprises the following steps that：
s201：System energization；
s202：GUI display interfaces layout component is initialized；
s203：WM8978 speech chips are initialized, initialize audio information transmissions bus, configuration voice collecting circuit module is complete
Dual-mode；
s204：Setting sends and receives audio data buffer, configures corresponding interrupt function；
s205：Voice authentication pattern is set freely to say；
s206：Voice signal is filtered, abated the noise；
s207：Wav file is created in RAM card, preserves WAV forms head；
s208：DMA transfer is opened, receives and preserves voice data；
s209：News are called to fly Application on Voiceprint Recognition API, extraction vocal print carries out contrast matching, checking with registered vocal print, if matching is lost
Lose, then into step s210, if the match is successful, into step s211；
s210：Display module I shows matching error：Kernel exception, noise are excessive, sound is too short or similarity is too low, return to step
Rapid s209；
s211：Result parameter acquiring results are called, are succeeded in registration；
s212：Matching terminates, and returns.
Further：The specific step of the principal function processing operation of microprocessor II in the sensing data acquisition control system
It is rapid as follows：
s301：System energization；
s302：Temperature threshold, humidity threshold, pernicious gas threshold value are set, define relay control switch number；
s303：System clock initializes, and serial ports 1, serial ports 2 initialize, the interruption configuration of configuration serial ports 1, serial ports 2 and serial ports；
s304：Can the configuration of plug matrix keyboard keys interrupt, the triggering of button trailing edge is set, initializes Temperature Humidity Sensor
DHT11, gas sensor MQ-135, LED light II is initialized, setting LED light II is low level, is lighted；
s305：Wifi initialization of (a) serial ports, data initialization, configuration wifi module II are client mode, couple in router；
s306：Whether detection serial ports 2 has data, if so, then entering step s307, if it is not, then entering step s310；
s307：Whether legal data are detected, if so, then entering step s308, if it is not, then entering step s310；
s308：Data decode, and extract the solid-state relay control signal in data, that is, carry out the extraction of switching signal 1,0；
s309：Judge control signal, if 1, then solid-state relay closure is controlled, if 0, then configure solid-state relay and disconnect,
Into step s310；
s310：Key scan, whether detection button is pressed, if button 1 is pressed, into step s311, and if button 2 is pressed,
Into step s312, if being pressed without button, into step s314；
s311：Wifi module II is resetted, into step s314；
s312：Configuration wifi module II is reception pattern, receives the wifi account number cipher information that client is sent；
s313：Wifi is connected, into step s314；
s314：Simultaneously storage temperature, humidity data, gas sensor MQ-135 are gathered and preserved for Temperature Humidity Sensor DHT11 collections
Harmful gas concentration data；
s315：The data collected are contrasted with the threshold value set in step s302, if being more than threshold value, into step
S316, if being less than threshold value, into step s317；
s316：Buzzer warning, return to step s306；
s317：Data are sent to wifi module II by serial ports 2, and carry out packing in wifi module II and be uploaded to body circuit
Control system, return to step s306, is circulated with this.
Due to using above structure, a kind of wired home robot control system and its control method of the present invention with
Lower beneficial effect：
1. because the body circuit control system of the present invention uses the cooperation of microprocessor I and voice collecting circuit module, with sound
Line is known otherwise to unlock robot, is advanced or retreated come control machine people using the matching of phonetic order, and control indirectly
Appliance switch processed switches on and off, and realizes automatically controlling for robot, and not only cost is low, effect is good, simple to operate, for
For having the family of child and old man in family, it is relatively beneficial to them and learns to use, it is the most practical in the family, it is easy to spread；
2. because the body circuit control system and sensing data acquisition control system of the present invention use ESP8266 chip conducts
Wifi module, it is cheap to realize remote transmission and remote control, robot cost is reduced, ruck is possessed consumption
Ability；
3. the present invention includes multiple sensing data acquisition control systems, a sensing data acquisition control system controls a household electrical appliances
Switch, the function of remote control domestic electrical equipment can not only be realized, moreover it is possible to pernicious gas and humiture in the man of monitoring in real time, undoubtedly make life
It is living more intelligent, conveniently, moreover it is possible to save the time, improve life efficiency.
With reference to the accompanying drawings and examples to a kind of wired home robot control system and its control method of the present invention
Technical characteristic be further described.
Brief description of the drawings
Fig. 1：A kind of system block diagram of wired home robot control system of the present invention；
Fig. 2：The circuit block diagram of " the body circuit control system " of a kind of wired home robot control system of the present invention；
Fig. 3：The circuit block diagram of " the sensing data acquisition control system " of a kind of wired home robot control system of the present invention；
Fig. 4：A kind of control method operational flowchart of wired home robot of the embodiment of the present invention two；
Fig. 5：In a kind of control method of wired home robot of the embodiment of the present invention two, microprocessor I and voice collecting electricity
The voice recognition processing operational flowchart of road module；
Fig. 6：In a kind of control method of wired home robot of the embodiment of the present invention two, the principal function processing of microprocessor II
Operational flowchart；
Fig. 7：In a kind of control method of wired home robot of the embodiment of the present invention two, the operational flowchart of system startup.
In figure：
I-client, II-body circuit control system, III-sensing data acquisition control system；
1-microprocessor I, 2-voice collecting circuit module, 21-microphone, 22-loudspeaker, 3-reset and crystal oscillating circuit module
I, 4-LED light I, 5-power module I, 6-drive circuit module, 7-wifi module I, 8-display module I；
9-microprocessor II, 10-LED light II, 11-environment abnormal alarm module, 12-reset and crystal oscillating circuit module
II, 13-pernicious gas detection module, 14-power module II, 15-wifi module II, 16-display module II, 17-solid-state
Relay, 18-Temperature and Humidity module, 19-can plug matrix keyboard.
Embodiment
Embodiment one
A kind of wired home robot control system, as shown in figure 1, the control system includes body circuit control system II and passed
Feel data acquisition control system III, the body circuit control system II passes through wireless network respectively in machine human organism
Be connected with client I and sensing data acquisition control system III, the sensing data acquisition control system III has n, respectively with
Appliance switch connection in family, n≤15；
The body circuit control system II is used for：
First, the command signal that client I is sent is received；
2nd, receive the sound that scene is sent and robot and control machine human action are unlocked in a manner of Application on Voiceprint Recognition；
3rd, identify and match that the command signal sent from client I or the live sound sensing data to be controlled sent are adopted
Collect control system III, the command signal of on-off switch is then sent to one or more sensing data acquisition control systems III；
4th, the data that sensing data acquisition control system III is sent are received and are shown；
5th, the data that sensing data acquisition control system III is sent are sent to client I；
The sensing data acquisition control system III is used for：
First, the control signal that body circuit control system II is sent is received, and controls corresponding appliance switch closure or disconnects；
2nd, the humiture and harmful gas concentration of air are detected, and detection Value Data is sent to body circuit control system II,
If detected value exceedes setting value, alarm.
As shown in Fig. 2 the body circuit control system II includes microprocessor I 1, voice collecting circuit module 2, reset
With crystal oscillating circuit module I 3, power module I 5, drive circuit module 6, wifi module I 7 and display module I 8；
The microprocessor I 1 with voice collecting circuit module 2, resets and crystal oscillating circuit module I 3, power module I 5, drive respectively
Dynamic circuit module 6, wifi module I 7 and display module I 8 connect, and are also connected with LED light I 4, the voice collecting circuit mould
Block 2 is also connected with microphone 21 and loudspeaker 22 respectively, and the drive circuit module 6 is also connected with the wheel of robot；
The microprocessor I 1 is the central controller of body circuit control system II, is used for：
First, receive the data signal that voice collecting circuit module 2 is sent and store into audio file, enter with the unblock sound of setting
Row contrast matching, if it fails to match, feedback signal is sent to display module I 8, if successful with default unblock Sound Match,
Then unlock robot and carry out the matching with action order sound in next step：If 1. matched into sound " advance " or " retrogressing "
Work(, then corresponding movement command signal is sent to drive circuit module 6；It is if 2. pre- with some sensing data acquisition control system III
If voice signal the match is successful, then control instruction signal is passed through into wifi module I 7 sends to the sensing data acquisition control system
System III；
2nd, the command signal sent from client I and identification are received by wifi module I 7, after control instruction signal is passed through
Wifi module I 7 is sent to corresponding sensing data acquisition control system III；
3rd, the humiture and pernicious gas data sent from sensing data acquisition control system III are received by wifi module I 7,
Send to display module I 8, while sent by wifi module I 7 to client I；
4th, voice signal is sent to voice collecting circuit module 2；
The voice collecting circuit module 2 is used for：First, the voice signal that microphone 21 gathers is received, and after voice signal is filtered
Data signal is converted into, sends to microprocessor I 1 and stores；2nd, the voice signal that microprocessor I 1 is sent is received, and drives loudspeaker
22 broadcastings；
The reset is used to send reset signal and clock signal to microprocessor I 1 with crystal oscillating circuit module I 3, works as microprocessor
I 1 occur abnormal or when crashing, and reset and are sent to reset signal with crystal oscillating circuit module I 3, microprocessor I 1 is reset, again
Operation；
The LED light I 4 is used for the working condition for showing microprocessor I 1, and when I 1 normal work of microprocessor, LED refers to
Show the Chang Liang of lamp I 4, when microprocessor I 1 is abnormal, LED light I 4 flashes；
The power module I 5 is used to provide power supply to body circuit control system II；
The drive circuit module 6 is used to receive the movement command signal that microprocessor I 1 is sent and drives wheel execute instruction；
The wifi module I 7 is used for：First, the two-way nothing between microprocessor I 1 and sensing data acquisition control system III is realized
Line communicates；2nd, the two-way wireless communication between microprocessor I 1 and client I is realized；
The display module I 8 is used to receiving the signal that microprocessor I 1 sends or data and shown.
As shown in figure 3, III structure of the n sensing data acquisition control system is identical, including microprocessor II 9, environment
Abnormal alarm module 11, reset and crystal oscillating circuit module II 12, pernicious gas detection module 13, power module II 14, wifi moulds
Block II 15, display module II 16 and Temperature and Humidity module 18；
The microprocessor II 9 with environment abnormal alarm module 11, resets and crystal oscillating circuit module II 12, pernicious gas inspection respectively
Module 13 is surveyed, power module II 14, wifi module II 15, display module II 16 and Temperature and Humidity module 18 connect, and also and LED
Indicator lamp II 10, solid-state relay 17 and can plug matrix keyboard 19 connect, the solid-state relay 17 also with appliance switch connect
Connect；
The microprocessor II 9 is the central controller of sensing data acquisition control system III, is used for：
First, the control instruction sent from the microprocessor I 1 of body circuit control system II is received by wifi module II 15 to believe
Number, and control solid-state relay 17 to close or disconnect；
2nd, receive the harmful gas concentration value sent from pernicious gas detection module 13 and send to display module II 16, simultaneously
Harmful gas concentration value is sent to microprocessor I 1 by wifi module II 15, if harmful gas concentration value exceedes pernicious gas
Preset value, then alarm signal is transmitted to environment abnormal alarm module 11；
3rd, the temperature value sent from Temperature and Humidity module 18 and humidity value are received and is sent to display module II 16, simultaneously will
Temperature value is sent to microprocessor I 1 with humidity value by wifi module II 15, if temperature value or humidity value exceed preset value,
Alarm signal is transmitted to environment abnormal alarm module 11；
The LED light II 10 is used for the working condition for showing microprocessor II 9, when II 9 normal work of microprocessor, refers to
Show the Chang Liang of lamp II 10, when microprocessor II 9 is abnormal, indicator lamp II 10 flashes；
The environment abnormal alarm module 11 is used to receive the alarm signal that microprocessor II 9 transmits and be alarmed；
The reset is used to send reset signal and clock signal to microprocessor II 9 with crystal oscillating circuit module II 12, when micro- place
When managing the abnormal appearance of device II 9 or deadlock, reset and be sent to reset signal with crystal oscillating circuit module II 12, make microprocessor II 9
Reset, rerun；
The pernicious gas detection module 13 is used to detect the harmful gas concentration in air, and harmful gas concentration value is sent
To microprocessor II 9；
The power module II 14 is used to provide power supply to microprocessor II 9；
The wifi module II 15 is used to realize the two-way wireless communication between microprocessor II 9 and microprocessor I 1；
The display module II 16 is used to receive harmful gas concentration value, temperature value and humidity value that microprocessor II 9 is sent, and
Show；
The closed and disconnected of the solid-state relay 17 directly controls being switched on or switched off for appliance switch；
The Temperature and Humidity module 18 is used to detect the temperature value and humidity value in air, and temperature value and humidity value are sent
To microprocessor II 9；
It is described can plug matrix keyboard 19 be used for indoor temperature, humidity and harmful gas concentration alarm threshold value and configuration are set
Wifi module networking pattern.
The microprocessor I 1 is stm32 controllers, and microprocessor II 9 is S3C2440 controllers, the voice collecting electricity
Road module 2 is WM8978 speech chips, and the wifi module I 7 and wifi module II 15 are ESP8266 modules, described harmful
Gas detection module 13 is gas sensor MQ-135, and the Temperature and Humidity module 18 is Temperature Humidity Sensor DHT11.
The drive circuit module 6 is L298N chips, and the display module I 8 and display module II 16 are that LCD is touched
Display module, the environment abnormal alarm module 11 are buzzer.
The client I is computer or mobile phone.
Embodiment two
A kind of control method of wired home robot, it is with a kind of wired home robot control described in embodiment one
System realizes the method for control machine people：
First, as shown in fig. 7, system starting step is as follows：
s401：Start；
s402：System break configuration initialization；
s403：System hardware initializes；
s404：Operating system initialization；
s405：Task initialization；
s406：System starts；
As shown in figure 4, the control machine people method comprises the following steps that：
s101：Microphone automatic data collection voice signal；
s102：Body circuit control system recognition of speech signals, and matched with the unblock sound set, if matching is lost
Lose, then into step s103, if the match is successful, into step s104；
s103：Microprocessor I, which sends feedback signal to display module I, to be shown and reminds user to unlock failure, returns to step
Rapid s102；
s104：Robot is unlocked, the action order voice signal set is matched, if the match is successful with sound " advance ", enters
Enter step s105, if the match is successful with sound " retrogressing ", into step s106, if with some sensing data acquisition control system
The match is successful for III default voice signal, then into step s107；
s105：Drive circuit module driving robot advances, into step s108；
s106：Drive circuit module driving robot retreats, into step s108；
s107：It is switched on or switched off the appliance switch of sensing data acquisition control system control, into step s108；
s108：User operates client and sends control instruction, and body circuit control system receives automatically；
s109：Microprocessor I identifies command signal, matches corresponding sensing data acquisition control system；
s110：It is switched on or switched off the appliance switch of sensing data acquisition control system control；
s111：Return.
As shown in figure 5, the voice of microprocessor I 1 and voice collecting circuit module 2 in the body circuit control system II
Identifying processing comprises the following steps that：
s201：System energization；
s202：GUI display interfaces layout component is initialized；
s203：WM8978 speech chips are initialized, initialize audio information transmissions bus, configuration voice collecting circuit module is complete
Dual-mode；
s204：Setting sends and receives audio data buffer, configures corresponding interrupt function；
s205：Voice authentication pattern is set freely to say；
s206：Voice signal is filtered, abated the noise；
s207：Wav file is created in RAM card, preserves WAV forms head；
s208：DMA transfer is opened, receives and preserves voice data；
s209：News are called to fly Application on Voiceprint Recognition API, extraction vocal print carries out contrast matching, checking with registered vocal print, if matching is lost
Lose, then into step s210, if the match is successful, into step s211；
s210：Display module I shows matching error：Kernel exception, noise are excessive, sound is too short or similarity is too low, return to step
Rapid s209；
s211：Result parameter acquiring results are called, are succeeded in registration；
s212：Matching terminates, and returns.
As shown in fig. 6, the tool that the principal function processing of microprocessor II 9 operates in the sensing data acquisition control system III
Body step is as follows：
s301：System energization；
s302：Temperature threshold, humidity threshold, pernicious gas threshold value are set, define relay control switch number；
s303：System clock initializes, and serial ports 1, serial ports 2 initialize, the interruption configuration of configuration serial ports 1, serial ports 2 and serial ports；
s304：Can the configuration of plug matrix keyboard keys interrupt, the triggering of button trailing edge is set, initializes Temperature Humidity Sensor
DHT11, gas sensor MQ-135, LED light II is initialized, setting LED light II is low level, is lighted；
s305：Wifi initialization of (a) serial ports, data initialization, configuration wifi module II are client mode, couple in router；
s306：Whether detection serial ports 2 has data, if so, then entering step s307, if it is not, then entering step s310；
s307：Whether legal data are detected, if so, then entering step s308, if it is not, then entering step s310；
s308：Data decode, and extract the solid-state relay control signal in data, that is, carry out the extraction of switching signal 1,0；
s309：Judge control signal, if 1, then solid-state relay closure is controlled, if 0, then configure solid-state relay and disconnect,
Into step s310；
s310：Key scan, whether detection button is pressed, if button 1 is pressed, into step s311, and if button 2 is pressed,
Into step s312, if being pressed without button, into step s314；
s311：Wifi module II is resetted, into step s314；
s312：Configuration wifi module II is reception pattern, receives the wifi account number cipher information that client is sent；
s313：Wifi is connected, into step s314；
s314：Simultaneously storage temperature, humidity data, gas sensor MQ-135 are gathered and preserved for Temperature Humidity Sensor DHT11 collections
Harmful gas concentration data；
s315：The data collected are contrasted with the threshold value set in step s302, if being more than threshold value, into step
S316, if being less than threshold value, into step s317；
s316：Buzzer warning, return to step s306；
s317：Data are sent to wifi module II by serial ports 2, and carry out packing in wifi module II and be uploaded to body circuit
Control system, return to step s306, is circulated with this.
Above example is only presently preferred embodiments of the present invention, and structure of the invention is not limited to what above-described embodiment was enumerated
Form, any modification made within the spirit and principles of the invention, equivalent substitution etc., it should be included in the guarantor of the present invention
Within the scope of shield.
Claims (9)
- A kind of 1. wired home robot control system, it is characterised in that：The control system includes body circuit control system （Ⅱ）With sensing data acquisition control system（Ⅲ）, the body circuit control system（Ⅱ）In machine human organism, respectively Pass through wireless network and client（Ⅰ）With sensing data acquisition control system（Ⅲ）Connection, the sensing data acquisition control system System（Ⅲ）There are n, be connected respectively with the appliance switch in family, n≤15；The body circuit control system（Ⅱ）For：First, client is received（Ⅰ）The command signal sent；2nd, receive the sound that scene is sent and robot and control machine human action are unlocked in a manner of Application on Voiceprint Recognition；3rd, identify and match from client（Ⅰ）The sound sensing data to be controlled that the command signal or scene sent are sent Acquisition control system（Ⅲ）, then to one or more sensing data acquisition control systems（Ⅲ）Send the instruction of on-off switch Signal；4th, sensing data acquisition control system is received（Ⅲ）The data sent simultaneously are shown；5th, by sensing data acquisition control system（Ⅲ）The data sent are sent to client（Ⅰ）；The sensing data acquisition control system（Ⅲ）For：First, body circuit control system is received（Ⅱ）The control signal sent, and control corresponding appliance switch closure or disconnect；2nd, the humiture and harmful gas concentration of air are detected, and detection Value Data is sent to body circuit control system （Ⅱ）If detected value exceedes setting value, alarm.
- A kind of 2. wired home robot control system as claimed in claim 1, it is characterised in that：The body circuit control System（Ⅱ）Including microprocessor I（1）, voice collecting circuit module（2）, reset and crystal oscillating circuit module I（3）, power module I （5）, drive circuit module（6）, wifi module I（7）With display module I（8）；The microprocessor I（1）Respectively with voice collecting circuit module（2）, reset and crystal oscillating circuit module I（3）, power module Ⅰ（5）, drive circuit module（6）, wifi module I（7）With display module I（8）Connection, also with LED light I（4）Connection, institute Predicate sound acquisition circuit module（2）Also respectively with microphone（21）And loudspeaker（22）Connection, the drive circuit module（6）Also with machine The wheel connection of device people；The microprocessor I（1）For body circuit control system（Ⅱ）Central controller, be used for：First, voice collecting circuit module is received（2）The data signal sent simultaneously is stored into audio file, the unblock sound with setting Contrast matching is carried out, if it fails to match, feedback signal is sent to display module I（8）If with it is default unblock Sound Match into Work(, then unlock robot and carry out the matching with action order sound in next step：If 1. matched with sound " advance " or " retrogressing " Success, then send corresponding movement command signal to drive circuit module（6）；If 2. with some sensing data acquisition control system （Ⅲ）The match is successful for default voice signal, then control instruction signal is passed through into wifi module I（7）Send to the sensing data and adopt Collect control system（Ⅲ）；2nd, wifi module I is passed through（7）Receive from client（Ⅰ）The command signal sent and identification, after control instruction signal is led to Cross wifi module I（7）Send to corresponding sensing data acquisition control system（Ⅲ）；3rd, wifi module I is passed through（7）Receive from sensing data acquisition control system（Ⅲ）The humiture and pernicious gas number sent According to sending to display module I（8）, while pass through wifi module I（7）Send to client（Ⅰ）；4th, voice signal is sent to voice collecting circuit module（2）；The voice collecting circuit module（2）For：First, microphone is received（21）The voice signal of collection, and voice signal is filtered Data signal is converted into after ripple, is sent to microprocessor I（1）Storage；2nd, microprocessor I is received（1）The voice signal sent, And drive loudspeaker（22）Play；The reset and crystal oscillating circuit module I（3）For to microprocessor I（1）Reset signal and clock signal are sent, when micro- place Manage device I（1）When there is abnormal or deadlock, reset and crystal oscillating circuit module I（3）Reset signal is sent to, makes microprocessor I （1）Reset, rerun；The LED light I（4）For showing microprocessor I（1）Working condition, when microprocessor I（1）During normal work, LED light I（4）Chang Liang, when microprocessor I（1）When abnormal, LED light I（4）Flicker；The power module I（5）For giving body circuit control system（Ⅱ）Power supply is provided；The drive circuit module（6）For receiving microprocessor I（1）The movement command signal sent simultaneously drives wheel to perform to refer to Order；The wifi module I（7）For：First, microprocessor I is realized（1）With sensing data acquisition control system（Ⅲ）Between Two-way wireless communication；2nd, microprocessor I is realized（1）With client（Ⅰ）Between two-way wireless communication；The display module I（8）For receiving microprocessor I（1）The signal or data sent simultaneously are shown.
- A kind of 3. wired home robot control system as claimed in claim 2, it is characterised in that：The n sensing data Acquisition control system（Ⅲ）Structure is identical, including microprocessor II（9）, environment abnormal alarm module（11）, reset and crystal oscillator electricity Road module II（12）, pernicious gas detection module（13）, power module II（14）, wifi module II（15）, display module II （16）With Temperature and Humidity module（18）；The microprocessor II（9）Respectively with environment abnormal alarm module（11）, reset and crystal oscillating circuit module II（12）, it is harmful to Gas detection module（13）, power module II（14）, wifi module II（15）, display module II（16）With Temperature and Humidity module （18）Connection, also with LED light II（10）, solid-state relay（17）With can plug matrix keyboard（19）Connection, the solid-state Relay（17）Also it is connected with appliance switch；The microprocessor II（9）For sensing data acquisition control system（Ⅲ）Central controller, be used for：First, wifi module II is passed through（15）Receive from body circuit control system（Ⅱ）Microprocessor I（1）The control sent refers to Signal is made, and controls solid-state relay（17）Closure disconnects；2nd, receive from pernicious gas detection module（13）The harmful gas concentration value sent simultaneously is sent to display module II（16）, Harmful gas concentration value is passed through into wifi module II simultaneously（15）Send to microprocessor I（1）If harmful gas concentration value exceedes Pernicious gas preset value, then alarm signal is transmitted to environment abnormal alarm module（11）；3rd, receive from Temperature and Humidity module（18）The temperature value sent and humidity value are simultaneously sent to display module II（16）, together When temperature value and humidity value passed through into wifi module II（15）Send to microprocessor I（1）If temperature value or humidity value exceed pre- If value, then transmit alarm signal to environment abnormal alarm module（11）；The LED light II（10）For showing microprocessor II（9）Working condition, when microprocessor II（9）Normal work When making, indicator lamp II（10）Chang Liang, when microprocessor II（9）When abnormal, indicator lamp II（10）Flicker；The environment abnormal alarm module（11）For receiving microprocessor II（9）The alarm signal that transmits simultaneously is alarmed；The reset and crystal oscillating circuit module II（12）For to microprocessor II（9）Reset signal and clock signal are sent, when Microprocessor II（9）When there is abnormal or deadlock, reset and crystal oscillating circuit module II（12）Reset signal is sent to, makes micro- place Manage device II（9）Reset, rerun；The pernicious gas detection module（13）Sent out for detecting the harmful gas concentration in air, and by harmful gas concentration value Deliver to microprocessor II（9）；The power module II（14）For to microprocessor II（9）Power supply is provided；The wifi module II（15）For realizing microprocessor II（9）With microprocessor I（1）Between two-way wireless communication；The display module II（16）For receiving microprocessor II（9）Harmful gas concentration value, temperature value and the humidity sent Value, and show；The solid-state relay（17）Closed and disconnected directly control being switched on or switched off for appliance switch；The Temperature and Humidity module（18）Sent out for detecting temperature value and humidity value in air, and by temperature value and humidity value Deliver to microprocessor II（9）；It is described can plug matrix keyboard（19）For setting indoor temperature, humidity and harmful gas concentration alarm threshold value and configuration Wifi module networking pattern.
- A kind of 4. wired home robot control system as claimed in claim 3, it is characterised in that：The microprocessor I（1） For stm32 controllers, microprocessor II（9）For S3C2440 controllers, the voice collecting circuit module（2）For WM8978 languages Sound chip, the wifi module I（7）With wifi module II（15）It is ESP8266 modules, the pernicious gas detection module （13）For gas sensor MQ-135, the Temperature and Humidity module（18）For Temperature Humidity Sensor DHT11.
- A kind of 5. wired home robot control system as claimed in claim 4, it is characterised in that：The drive circuit module （6）For L298N chips, the display module I（8）With display module II（16）It is LCD touch display modules, the environment is different Normal alarm module（11）For buzzer.
- A kind of 6. wired home robot control system as claimed in claim 5, it is characterised in that：The client（Ⅰ）For Computer or mobile phone.
- A kind of 7. control method of wired home robot, it is characterised in that：It is with one kind intelligence described in claim 6 Domestic robot control system realizes the method for control machine people, comprises the following steps that：s101：Microphone automatic data collection voice signal；s102：Body circuit control system recognition of speech signals, and matched with the unblock sound set, if matching is lost Lose, then into step s103, if the match is successful, into step s104；s103：Microprocessor I, which sends feedback signal to display module I, to be shown and reminds user to unlock failure, returns to step Rapid s102；s104：Robot is unlocked, the action order voice signal set is matched, if the match is successful with sound " advance ", enters Enter step s105, if the match is successful with sound " retrogressing ", into step s106, if with some sensing data acquisition control system The match is successful for III default voice signal, then into step s107；s105：Drive circuit module driving robot advances, into step s108；s106：Drive circuit module driving robot retreats, into step s108；s107：It is switched on or switched off the appliance switch of sensing data acquisition control system control, into step s108；s108：User operates client and sends control instruction, and body circuit control system receives automatically；s109：Microprocessor I identifies command signal, matches corresponding sensing data acquisition control system；s110：It is switched on or switched off the appliance switch of sensing data acquisition control system control；s111：Return.
- A kind of 8. control method of wired home robot as claimed in claim 7, it is characterised in that：The body circuit control System processed（Ⅱ）Middle microprocessor I（1）With voice collecting circuit module（2）Voice recognition processing comprise the following steps that：s201：System energization；s202：GUI display interfaces layout component is initialized；s203：WM8978 speech chips are initialized, initialize audio information transmissions bus, configuration voice collecting circuit module is complete Dual-mode；s204：Setting sends and receives audio data buffer, configures corresponding interrupt function；s205：Voice authentication pattern is set freely to say；s206：Voice signal is filtered, abated the noise；s207：Wav file is created in RAM card, preserves WAV forms head；s208：DMA transfer is opened, receives and preserves voice data；s209：News are called to fly Application on Voiceprint Recognition API, extraction vocal print carries out contrast matching, checking with registered vocal print, if matching is lost Lose, then into step s210, if the match is successful, into step s211；s210：Display module I shows matching error：Kernel exception, noise are excessive, sound is too short or similarity is too low, return to step Rapid s209；s211：Result parameter acquiring results are called, are succeeded in registration；s212：Matching terminates, and returns.
- A kind of 9. control method of wired home robot as claimed in claim 8, it is characterised in that：The sensing data is adopted Collect control system（Ⅲ）Middle microprocessor II（9）Principal function processing operation comprise the following steps that：s301：System energization；s302：Temperature threshold, humidity threshold, pernicious gas threshold value are set, define relay control switch number；s303：System clock initializes, and serial ports 1, serial ports 2 initialize, the interruption configuration of configuration serial ports 1, serial ports 2 and serial ports；s304：Can the configuration of plug matrix keyboard keys interrupt, the triggering of button trailing edge is set, initializes Temperature Humidity Sensor DHT11, gas sensor MQ-135, LED light II is initialized, setting LED light II is low level, is lighted；s305：Wifi initialization of (a) serial ports, data initialization, configuration wifi module II are client mode, couple in router；s306：Whether detection serial ports 2 has data, if so, then entering step s307, if it is not, then entering step s310；s307：Whether legal data are detected, if so, then entering step s308, if it is not, then entering step s310；s308：Data decode, and extract the solid-state relay control signal in data, that is, carry out the extraction of switching signal 1,0；s309：Judge control signal, if 1, then solid-state relay closure is controlled, if 0, then configure solid-state relay and disconnect, Into step s310；s310：Key scan, whether detection button is pressed, if button 1 is pressed, into step s311, and if button 2 is pressed, Into step s312, if being pressed without button, into step s314；s311：Wifi module II is resetted, into step s314；s312：Configuration wifi module II is reception pattern, receives the wifi account number cipher information that client is sent；s313：Wifi is connected, into step s314；s314：Simultaneously storage temperature, humidity data, gas sensor MQ-135 are gathered and preserved for Temperature Humidity Sensor DHT11 collections Harmful gas concentration data；s315：The data collected are contrasted with the threshold value set in step s302, if being more than threshold value, into step S316, if being less than threshold value, into step s317；s316：Buzzer warning, return to step s306；s317：Data are sent to wifi module II by serial ports 2, and carry out packing in wifi module II and be uploaded to body circuit Control system, return to step s306, is circulated with this.
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