CN108806689A - Acoustic control self-balancing trolley and its control method - Google Patents
Acoustic control self-balancing trolley and its control method Download PDFInfo
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- CN108806689A CN108806689A CN201810852247.4A CN201810852247A CN108806689A CN 108806689 A CN108806689 A CN 108806689A CN 201810852247 A CN201810852247 A CN 201810852247A CN 108806689 A CN108806689 A CN 108806689A
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62M—RIDER PROPULSION OF WHEELED VEHICLES OR SLEDGES; POWERED PROPULSION OF SLEDGES OR SINGLE-TRACK CYCLES; TRANSMISSIONS SPECIALLY ADAPTED FOR SUCH VEHICLES
- B62M6/00—Rider propulsion of wheeled vehicles with additional source of power, e.g. combustion engine or electric motor
- B62M6/40—Rider propelled cycles with auxiliary electric motor
- B62M6/45—Control or actuating devices therefor
- B62M6/50—Control or actuating devices therefor characterised by detectors or sensors, or arrangement thereof
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L19/00—Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- Chemical & Material Sciences (AREA)
- Acoustics & Sound (AREA)
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Abstract
The present invention provides a kind of acoustic control self-balancing trolley and its control methods, including：Master controller, sensor, voice controller, speed measuring module encoder, motor driver, direct current generator, computer；Master controller is communicated to connect with sensor, voice controller, speed measuring module encoder, motor driver；Wherein：Sensor is sent to master controller for that will acquire signal；Voice controller after converting the voice signal that user sends to command signal for being sent to master controller；Speed measuring module encoder is sent to master controller after being encoded to speed signal for what will be detected；Master controller is used to generate the control signal for motor driver according to the acquisition signal that receives, command signal, the speed signal after coding；Motor driver drives body movement according to control signal control direct current generator.The present invention can carry out self-balancing trolley voice and remote control, and detection sensitivity is high, meets the balance demand for control under complex road condition.
Description
Technical field
The present invention relates to balance car technical fields, and in particular, to acoustic control self-balancing trolley and its control method.
Background technology
Balance car is also known as body-sensing vehicle, is a kind of special wheeled mobile robot, small, simple in structure, operation
Flexibly, suitable for running in a narrow space.And it can realize that the balance car of car body Equilibrium is referred to as from flat according to road conditions
Weigh vehicle.The body gravity of the Self-Balancing vehicle top vertical in two-wheeled connecting shaft center maintains car body by being rotated before and after wheel
Autonomic balance.
Currently, the detection method sensitivity that Self-Balancing vehicle balances car body is not high, the balance under complex road condition can not be adapted to
Demand for control.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of acoustic control self-balancing trolley and its controlling parties
Method.
In a first aspect, the embodiment of the present invention provides a kind of acoustic control self-balancing trolley, including：Master controller, sensor, voice
Controller, speed measuring module encoder, motor driver, direct current generator, computer；The master controller and sensor, voice control
Device processed, speed measuring module encoder, motor driver communication connection；Wherein：
The sensor is sent to the master controller for that will acquire signal；The acquisition signal includes：The reality of car body
When angle, angular acceleration；
The voice controller, the voice signal for sending user are sent to the master control after being converted into command signal
Device processed；
The speed measuring module encoder is sent to the main control after being encoded to speed ??signal for what will be detected
Device；
The master controller, for generating needle according to the acquisition signal that receives, command signal, the speed ??signal after coding
To the control signal of the motor driver；
The motor driver controls the direct current generator according to the control signal and drives body movement.
Optionally, further include：The bluetooth module being electrically connected with the master controller, the bluetooth module are used for and outside
The bluetooth module of terminal establishes communication link, so that user is grasped by the exterior terminal to the master controller sending direction
It instructs.
Optionally, the master controller also by communicate serial ports with calculate mechatronics so that the master controller to
Computer transmission data.
Optionally, the model STM32F103C8T6 of the master controller, master controller include：Clock oscillation circuit is answered
Position circuit, USB serial communication circuits and power supply circuit；
The model MPU6050 of the sensor；
The model TB6612FNG of the motor driver；
The model MW25 of the direct current generator.
Optionally, the model MT8870 of the voice controller, the voice controller include：Audio decoder and language
Sound module, voice controller remotely receive and process voice signal input by user, and the voice signal is compiled into instruction letter
The master controller is sent to after number.
Second aspect, the embodiment of the present invention provide a kind of control method of acoustic control self-balancing trolley, are applied to first aspect
Any one of described in acoustic control self-balancing trolley in；The method includes：
The master controller of acoustic control self-balancing trolley is initialized, and after the initialization is completed, car body is detected by sensor
Real-time angular, angular acceleration；
Judge the current angular of the car body whether within the scope of preset security standpoint；
If the current angular of the car body within the scope of preset security standpoint, receives the voice of voice controller transmission
The data that signal or exterior terminal are sent by bluetooth module start speed measuring module encoder, according to preset control strategy
Execute the self-balancing control of car body；
If the current angular of the car body judges vehicle not within the scope of preset security standpoint, according to the angular acceleration
Whether body topples over, out of service if toppling over；The current angular for after preset duration, rejudging the car body whether
Within the scope of preset security standpoint；It, will be by communicating serial ports to computer transmission data if not toppling over.
Optionally, real-time angular, the angular acceleration that car body is detected by sensor, including：
Convert the signal that sensor acquires to the voltage of the output of sensor, and according to the fluctuation feelings of the output voltage
Condition judges the current pose of car body；
The output voltage of current angular comprising car body and angular acceleration information is detected by Kalman filter,
Wherein, the reduction formula of sensor output voltage and the angular acceleration detected is that formula is as follows：
Wherein：Angular acceleration when G is car body current tilt, VoutFor the voltage exported when body movement, VoffestFor vehicle
Output voltage under body equilibrium state, VsenFor sensitivity, K is amplification coefficient.
The reduction formula of sensor output voltage and the angle of detection is as follows：
Wherein, A is the real-time angular of car body, VoThe voltage that ut is exported when being body movement, VoffestFor car body equilibrium state
Under output voltage, VsenFor sensitivity；By antitrigonometric function, obtain trolley gravity meaning angle.
Optionally, the self-balancing that car body is executed according to preset control strategy controls, including：
When car body balance exercise, using the angle of car body gravity meaning as the input of proportional integral differential PID controller,
Using the output Uout of the PID controller as the manipulation value of direct current generator, by reducing input voltage and reducing direct current generator
The mode of speed carries out rate controlling to car body, and the calculation formula of output voltage ut is as follows：
Uout=Kp*angle+Kd*angle_dot
Wherein, Kp is proportionality coefficient, and Kd is differential coefficient, and angle is the angle of tilting of car body, and angle_dot is car body
Inclined angular acceleration.
Optionally, further include：
Control subfunction by motor and give direct current generator setting speed, the rotating speed of direct current generator is set as straight line, turn left or
It turns right；If car body turns left, the rotating speed of car body revolver is changed to the 1/2 of right wheel；If car body is turned right, by car body
The rotating speed of right wheel is changed to the 1/2 of revolver.
Optionally, further include：
The control voice for car body is prerecorded and stored in voice controller, and the control voice is solved
Code and compiling；
When voice controller receives voice signal input by user, to the voice signal and pre-stored control
Voice carries out matching treatment, obtains matched control voice, and after the matched control voice is decoded and compile, turn
It is changed to corresponding command signal, so that the master controller executes the control to car body according to described instruction signal.
Compared with prior art, the present invention has following advantageous effect：
The present invention can carry out self-balancing trolley voice and remote control, and detection sensitivity is high, meets complex road condition
Under balance demand for control.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the theory structure schematic diagram of self-balancing trolley provided by the invention；
Fig. 2 is the circuit diagram of master controller in the present invention；
Fig. 3 is the circuit diagram of motor driver in the present invention；
Fig. 4 is the circuit diagram of sensor in the present invention；
Fig. 5 is the circuit diagram of voice controller in the present invention；
Fig. 6 is the flow diagram of the control method for the self-balancing trolley that one embodiment of the invention provides；
Fig. 7 is the practical inclination angle flow path switch figure of car body provided by the invention；
Fig. 8 is that PD algorithms provided by the invention control trolley self-balancing software flow pattern；
Fig. 9 is self-balancing control flow chart provided by the invention；
Figure 10 is voice control design flow diagram provided by the invention.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
Fig. 1 is the theory structure schematic diagram of self-balancing trolley provided by the invention, as shown in Figure 1, the self-balancing trolley
Including：Master controller 11, sensor 12, voice controller 13, speed measuring module encoder 14, motor driver 15, direct current generator
16, cell phone application 18, computer 20；The master controller 11 and sensor 12, voice controller 13, speed measuring module encoder
14, motor driver 15 communicates to connect；Wherein：The sensor 12 is sent to the master controller 11 for that will acquire signal；
The acquisition signal includes：Real-time angular, the angular acceleration of car body；The voice controller 13, the language for sending user
Sound signal is sent to the master controller 11 after being converted into command signal；The speed measuring module encoder 14, for what will be detected
The master controller 11 is sent to after being encoded to speed ??signal；The master controller 11, for according to the acquisition received
Speed ??signal after signal, command signal, coding generates the control signal for the motor driver 15；The motor driving
Device 15 controls the direct current generator 16 according to the control signal and drives body movement.
In a kind of optional embodiment, the self-balancing trolley in Fig. 1 further includes being electrically connected with the master controller 11
Bluetooth module 17, the bluetooth module 17 establishes communication link for the bluetooth module with exterior terminal, so that user is logical
The exterior terminal is crossed to 11 sending direction operational order of the master controller.
In a kind of optional embodiment, the master controller 11 of the self-balancing trolley in Fig. 1 is also gone here and there by communicating
Mouthfuls 19 are electrically connected with computer 20, so that the master controller 11 is to computer transmission data.
In a kind of optional embodiment, the model STM32F103C8T6 of the master controller 11, master controller
11 include：Clock oscillation circuit, reset circuit, USB serial communication circuits and power supply circuit；The model of the sensor 12
For MPU6050；The model TB6612FNG of the motor driver 15；The model MW25 of the direct current generator 16.Institute's predicate
The model MT8870 of sound controller 13, the voice controller 13 include：Audio decoder and voice module, voice controller
13 remotely receive and process voice signal input by user, and the voice signal is compiled into after command signal and is sent to the master
Controller 11.
Specifically, Fig. 2 is the circuit diagram of master controller in the present invention；Fig. 3 is the circuit diagram of motor driver in the present invention；
Fig. 4 is the circuit diagram of sensor in the present invention；Fig. 5 is the circuit diagram of voice controller in the present invention.As shown in Fig. 2, the master
Controller 11 is microcontroller, and model STM32F103C8T6, master controller 11 is as central master, including clock oscillation
Circuit, reset circuit, USB serial communication circuits and power supply circuit.
Specifically, master controller 11 can be substituted using microcontroller, interior only when microcontroller is in standby
Moment is reduced the input terminal of clock oscillation circuit by subordinate's pull-up resistor, and clock oscillation circuit will stop vibrating at once, final to realize
The purpose of using electricity wisely.The reset circuit of microcontroller after the power-up because capacitor is ceaselessly charging, reset state be in compared with
Low state leads to monolithic processor resetting, but when the capacitor is fully charged, then reset terminal just will produce high level, then monolithic
Machine begins to work.Microcontroller is equipped with the device controller compatible with full speed degree USB, the dedicated USB of clock of 48MHz be by
Internal PLL is directly generated.
As shown in figure 4, the model MPU6050 of the sensor 12, the sensor 12 is flat for detecting dynamic in real time
Real-time angular and angular acceleration during weighing apparatus.Gyroscope is combined by MPU6050 with accelerometer, is integrated, and is then allowed
ADC values obtain sextuple output valve by I2C buses.In addition, sensor sheet is as using IIC equipment persons to provide secondary interface.It is logical
Often, chip is connected to a digital compass, forms nine axis and transmits appearance model.Finally, which is an integrated DMP
Digital mobile processor directly can solve quaternary number by hardware, keep it easy to implement.Originally contain inside sensor 12 steady
Volt circuit, therefore can be compatible with 3.3V 5V supply voltages, selects newest DC filtering methods, can not only eliminate interference but also can
To improve precision.In the communications, MPU6050 possesses I2C interfaces, and advanced level user can be by carrying out the monitoring of bottom data
Sampling, processing, analysis etc..
As shown in figure 5, the model MT8870 of the voice controller 13, the voice controller 13 includes audio decoder
Device and voice module, voice controller 13 remotely receive and process data, are compiled into instruction, and instruction is passed to the master control
Device 11 processed.Voice control trolley is a completely new design, can save many troubles, can more easily go control certainly flat
The trolley that weighs carries out action or function accordingly, first achievees the effect that short distance voice control.One is designed to voice control
It is made as the module of core, using operations such as voice collecting, compiling, editor, execution, carrys out the comprehensive trolley that controls and is transported into Mobile state
Make.The specific sound that human hair goes out is recorded and stored using voice module, and the sound received is decoded, and is compiled into
Corresponding data-signal is sent to master controller, and then realizes the movement of closely manipulation trolley progress various forms.
Further, the speed measuring module encoder 14 is used to detect the movement velocity of trolley and is encoded.Want real
Speed is manipulated now rapider, more stablely, is added speed measuring module encoder thus to serve as the response circuit to speed, is selected
Pid algorithm controls the mode of speed control, prevents from excessively shaking due to disequilibrium because of car body.
As shown in figure 3, the model TB6612FNG of the motor driver 15, the model of the direct current generator 16
MW25, the motor driver 15 is for manipulating the direct current generator 16.Trolley itself is due to will be by wheel back and forth
It rotates to correct its balance, thus the motor selected will meet along inverse all rotatable.So being driven using TB6612FNG motors
Chip becomes the module of manipulation direct current generator, and its inside is better able to meet motor Double-directional rotary containing two groups of H-bridge circuits
Requirement, maximum output current can prevent MW25 direct current generators from will not be burnt caused by stall or debugging are improper up to 3.2A,
Change the speed of trolley by changing the PWM duty cycle of microcontroller output, trolley is finally made to reach balance.When power supply opening electricity
When machine powers on, electric current can become very big between an instant, this will cause all voltage instantaneous of system to be pulled low, and finally cause institute
There is modular circuit that cannot possess suitable voltage, and then can not work normally, so to give beside power supply plus large capacity
Filter capacitor.The bluetooth module 17 is used to acquire the dynamic data and control moving of car of trolley；The serial communication 19
For signal to be passed to computer 20.
It should be noted that the present embodiment does not limit the concrete kind of master controller 11, sensor 12, voice controller 13
Type, those skilled in the art can select the device of other models to realize above-mentioned each nuchinal organ in the present embodiment according to actual conditions
Function performed by part.
Further, the embodiment of the present invention also provides a kind of control method of acoustic control self-balancing trolley, is applied to above-mentioned
In acoustic control self-balancing trolley；The method includes：
S101, the master controller 11 for initializing acoustic control self-balancing trolley, and after the initialization is completed, pass through sensor
Real-time angular, the angular acceleration of 12 detection car bodies.
In the present embodiment, real-time angular, the angular acceleration of car body can be detected by sensor 12.Specifically, it will sense
The signal of device acquisition is converted into the voltage of the output of sensor, and judges car body according to the fluctuation situation of the output voltage
Current pose；The output voltage of current angular comprising car body and angular acceleration information is examined by Kalman filter
It surveys, wherein the reduction formula of sensor output voltage and the angular acceleration detected is that formula is as follows：
Wherein：Angular acceleration when G is car body current tilt, VoutFor the voltage exported when body movement, VoffestFor vehicle
Output voltage under body equilibrium state, VsenFor sensitivity, K is amplification coefficient.
The reduction formula of sensor output voltage and the angle of detection is as follows：
Wherein, A is the real-time angular of car body, VoutFor the voltage exported when body movement, VoffestFor car body equilibrium state
Under output voltage, VsenFor sensitivity；By antitrigonometric function, obtain trolley gravity meaning angle.
S102, judge the current angular of the car body whether within the scope of preset security standpoint.
If the current angular of S103, the car body within the scope of preset security standpoint, receives the hair of voice controller 13
The data that the voice signal or exterior terminal sent is sent by bluetooth module 17 start speed measuring module encoder 14, according to pre-
If control strategy execute car body self-balancing control.
In the present embodiment, when car body balance exercise, controlled the angle of car body gravity meaning as proportional integral differential PID
The input of device processed, using the output Uout of the PID controller as the manipulation value of direct current generator 16, by reduce input voltage and
The mode for reducing DC generator speed carries out rate controlling to car body, and the calculation formula of output voltage ut is as follows：
Uout=Kp*angle+Kd*angle_dot
Wherein, Kp is proportionality coefficient, and Kd is differential coefficient, and angle is the angle of tilting of car body, and angle_dot is car body
Inclined angular acceleration.
If the current angular of S104, the car body is not within the scope of preset security standpoint, according to the angular acceleration
Judge whether car body topples over, it is out of service if toppling over；Work as anterior angle after preset duration, rejudge the car body
Whether degree is within the scope of preset security standpoint；It, will be by communicating serial ports 19 to 20 transmission data of computer if not toppling over.
In the present embodiment, subfunction can also be controlled by motor and give direct current generator 16 setting speed, direct current generator 16
Rotating speed is set as straight line, left-hand rotation or right-hand rotation；If car body turns left, the rotating speed of car body revolver is changed to the 1/ of right wheel
2；If car body is turned right, the rotating speed of car body right wheel is changed to the 1/2 of revolver.
In the present embodiment, the control voice for car body can also be prerecorded and stored in voice controller 13, and
The control voice is decoded and is compiled；When voice controller 13 receives voice signal input by user, to described
Voice signal and pre-stored control voice carry out matching treatment, obtain matched control voice, and by the matched control
After voice processed is decoded and compiles, corresponding command signal is converted to, so that the master controller 11 is according to described instruction
Signal executes the control to car body.
Fig. 6 is the flow diagram of the control method for the self-balancing trolley that one embodiment of the invention provides, as shown in fig. 6,
After program operation, first has to initialize master controller, after initialization, be followed by into car body and vertically examine
It surveys subprogram and reads angular acceleration values, tilting of car body degree is then differentiated whether within the scope of manipulation security standpoint, if at it
In, so that it may vehicle body autonomic balance, variable motion, bluetooth remote control, infrared tracking and sound control are carried out to manipulate it, and
And detection data is continuously transmitted, then monitor the data that computer is uploaded to by USB port.At the same time, check whether car body inclines
?.Whether trolley vehicle-body inclination is more than certain controlled range, it can be determined that whether it topples over.It is just vertical if car body is toppled over
It carves and stops car body every operation, be then again introduced into car body balance and judge.
In practical applications, change small vehicle speed first with pid algorithm, add inspection of the sensor to trolley inclination angle
It surveys, to make trolley be in self-balancing state, then sets the order parameter of corresponding actions, when parameter changes, trolley
Motion state can also change correspondingly.There is sensor 12 in the present invention D/A converter module, the signal detected to turn
It is melted into sensor output voltage, judges that the posture of trolley is steady further according to the fluctuating of output voltage, to the data of sensor 12
Transmission converts, and so that the angle that angular acceleration and accelerometer detect is can be eventually transmitted to and carries out gyro in Kalman filter
Instrument detects.Theoretical according to Kalman filtering algorithm, being one kind having efficient autonomous Regressive filter.Its basic principle
It is respectively by carrying out valuation to form upper one second and finally calculating the form value appeared in the valuation of trolley form this moment.
Voice is enrolled and is stored using voice controller by the present invention, and is decoded and compiled, be then sent to master controller into
Row instruction encoding finally recycles master controller to send instructions to motor driver and executes command adapted thereto to control direct current generator
Action, final realization voice control self-balancing trolley are easy to control.
Only when manipulating duty ratio very little, dolly wheel generates static friction with ground, can just be powered at this time to motor.It is right
In the shaking interference that driving generates in the process, then will eventually be found super by calculating the driving manipulation of motor
The safe range of motor automatic control is gone out.So after calculating transmission by PD algorithms, it is known that either with or without can more than maximum
Manipulation value, if greatly, being set to maximum.As shown in figure 8, according to the current inclination of input, change of error is calculated, is gone forward side by side
Row PD operations：OUT=Err*KP+Def*KD, OUT are output voltage, and Err is current car body inclination angle, and KP is proportionality coefficient, Del
For car body change of error value, KD is differential coefficient, and * indicates multiplying.Then dead area compensation is utilized to it, sees capable of controlling for OUT
Range, if too low, motor is set as inverting；It is set as rotating forward on the contrary.
Desired realization manipulates speed rapider, more stablely, adds encoder thus to serve as the response time to speed
Road.Selecting separate PID algorithm controls the mode of speed control.Theoretically, manipulation speed then selects blind area pid algorithm most suitable not
It crosses.Using the pid algorithm of blind area time, prevent from excessively shaking due to disequilibrium because of car body.
Therefore, we change small vehicle speed using pid algorithm first, add detections of the MPU6050 to trolley inclination angle, from
And trolley is made to be in self-balancing state.Then the order parameter for setting corresponding actions, when parameter changes, the movement of trolley
State can also change correspondingly.Therefore, in velocity control period, the difference between two motors can be realized on a balanced basis
It is different.As shown in figure 9, giving motor setting speed, the rotating speed of motor to be set as straight line, left-hand rotation or the right side using motor control subfunction
Turn.In order to reduce the difficulty of the design, which selects：If trolley turns left, just by the rotating speed of its revolver
It is changed to the 1/2 of right wheel.Similarly, trolley turn right then with turn left on the contrary, left-right reversed just.For self-balancing trolley
Through the functions such as realizing some simple balance walking functions and some other infrared tracking and avoiding obstacles by supersonic wave and following, this
Outside, the design is exactly the realization that voice control self-balancing trolley carries out various functions also to which are added a kind of new functions, from
And reach without remote control, it is only necessary to which artificial voice control just, becomes more convenient.
Artificial voice is enrolled and stored using LD3320 speech control modules, and is decoded and compiled, is then sent out
It gives MCU system and carries out instruction encoding, finally microcontroller is recycled to send instructions to trolley drive module to control vehicle motor
Execute the action of command adapted thereto, the final mode for realizing voice control self-balancing trolley.As shown in Figure 10, pass through LD3320 first
The instruction voice that human hair goes out is received, is compiled, the form of digital signal is converted to, is in addition also needed some noises therefrom
It eliminates, and then the speech digit code being apparent from, then encodes to obtain the instruction of corresponding actions using microcontroller, will finally refer to
Order is sent to driving circuit, controls Self-Balancing vehicle dynamic equilibrium or dynamic motion, final to realize that short distance voice command is small
Vehicle does some instruction operations.
It should be noted that the step in the control method of the acoustic control self-balancing trolley provided by the invention, Ke Yili
It is achieved with corresponding module, device, unit etc. in the acoustic control self-balancing trolley, those skilled in the art are referred to institute
The technical solution for stating system realizes the step flow of the method, that is, the embodiment in the system can be regarded as described in realization
The preference of method, it will not be described here.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
And its other than each device, completely can by by method and step carry out programming in logic come so that system provided by the invention and its
Each device is in the form of logic gate, switch, application-specific integrated circuit, programmable logic controller (PLC) and embedded microcontroller etc.
To realize identical function.So system provided by the invention and its every device are considered a kind of hardware component, and it is right
The device for realizing various functions for including in it can also be considered as the structure in hardware component；It can also will be for realizing each
The device of kind function is considered as either the software module of implementation method can be the structure in hardware component again.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of acoustic control self-balancing trolley, which is characterized in that including：Master controller (11), sensor (12), voice controller
(13), speed measuring module encoder (14), motor driver (15), direct current generator (16), computer (20)；The master controller
(11) it is communicated to connect with sensor (12), voice controller (13), speed measuring module encoder (14), motor driver (15)；Its
In：
The sensor (12) is sent to the master controller (11) for that will acquire signal；The acquisition signal includes：Car body
Real-time angular, angular acceleration；
The voice controller (13), the voice signal for sending user are sent to the master control after being converted into command signal
Device (11) processed；
The speed measuring module encoder (14) is sent to the master controller after being encoded to speed ??signal for what will be detected
(11)；
The master controller (11), for generating needle according to the acquisition signal that receives, command signal, the speed ??signal after coding
To the control signal of the motor driver (15)；
The motor driver (15) controls the direct current generator (16) according to the control signal and drives body movement.
2. acoustic control self-balancing trolley according to claim 1, which is characterized in that further include：With the master controller (11)
The bluetooth module (17) of electrical connection, the bluetooth module (17), communication link is established for the bluetooth module with exterior terminal, with
So that user by the exterior terminal to the master controller (11) sending direction operational order.
3. acoustic control self-balancing trolley according to claim 1, which is characterized in that the master controller (11) also passes through communication
Serial ports (19) is electrically connected with computer (20), so that the master controller (11) is to computer transmission data.
4. acoustic control self-balancing trolley according to claim 1, which is characterized in that the model of the master controller (11)
STM32F103C8T6, master controller (11) include：Clock oscillation circuit, reset circuit, USB serial communication circuits and power supply
Circuit；
The model MPU6050 of the sensor (12)；
The model TB6612FNG of the motor driver (15)；
The model MW25 of the direct current generator (16).
5. acoustic control self-balancing trolley according to claim 1, which is characterized in that the model of the voice controller (13)
MT8870, the voice controller (13) include：Audio decoder and voice module, voice controller (13) remotely receive and locate
Voice signal input by user is managed, the voice signal is compiled into after command signal and is sent to the master controller (11).
6. a kind of control method of acoustic control self-balancing trolley, which is characterized in that be applied to described in any one of claim 1-5
In acoustic control self-balancing trolley；The method includes：
The master controller (11) of acoustic control self-balancing trolley is initialized, and after the initialization is completed, is detected by sensor (12)
Real-time angular, the angular acceleration of car body；
Judge the current angular of the car body whether within the scope of preset security standpoint；
If the current angular of the car body within the scope of preset security standpoint, receives the voice of voice controller (13) transmission
The data that signal or exterior terminal are sent by bluetooth module (17) start speed measuring module encoder (14), according to preset
Control strategy executes the self-balancing control of car body；
If the current angular of the car body judges that car body is not within the scope of preset security standpoint, according to the angular acceleration
It is no to topple over, it is out of service if toppling over；In the current angular for after preset duration, rejudging the car body whether pre-
If security standpoint within the scope of；It, will be by communicating serial ports (19) to computer (20) transmission data if not toppling over.
7. the control method of acoustic control self-balancing trolley according to claim 6, which is characterized in that described to pass through sensor
(12) real-time angular, the angular acceleration of car body are detected, including：
By sensor acquire signal be converted into sensor output voltage, and according to the fluctuation situation of the output voltage come
Judge the current pose of car body；
The output voltage of current angular comprising car body and angular acceleration information is detected by Kalman filter,
In, the reduction formula of sensor output voltage and the angular acceleration detected is that formula is as follows：
Wherein：Angular acceleration when G is car body current tilt, VoutFor the voltage exported when body movement, VoffestIt is flat for car body
Output voltage under weighing apparatus state, VsenFor sensitivity, K is amplification coefficient.
The reduction formula of sensor output voltage and the angle of detection is as follows：
Wherein, A is the real-time angular of car body, VoutFor the voltage exported when body movement, VoffestFor under car body equilibrium state
Output voltage, VsenFor sensitivity；By antitrigonometric function, obtain trolley gravity meaning angle.
8. the control method of acoustic control self-balancing trolley according to claim 7, which is characterized in that according to preset control plan
The self-balancing control of car body is slightly executed, including：
When car body balance exercise, using the angle of car body gravity meaning as the input of proportional integral differential PID controller, by institute
Manipulation values of the output Uout of PID controller as direct current generator (16) is stated, by reducing input voltage and reducing direct current generator
The mode of speed carries out rate controlling to car body, and the calculation formula of output voltage u (t) is as follows：
Uout=Kp*angle+Kd*angle_dot
Wherein, Kp is proportionality coefficient, and Kd is differential coefficient, and angle is the angle of tilting of car body, and angle_dot is tilting of car body
Angular acceleration.
9. the control method of acoustic control self-balancing trolley according to claim 8, which is characterized in that further include：
Controlling subfunction by motor gives direct current generator (16) setting speed, the rotating speed of direct current generator (16) to be set as straight line, a left side
Turn or turns right；If car body turns left, the rotating speed of car body revolver is changed to the 1/2 of right wheel；It, will if car body is turned right
The rotating speed of car body right wheel is changed to the 1/2 of revolver.
10. the control method of acoustic control self-balancing trolley according to claim 8, which is characterized in that further include：
The control voice for car body is prerecorded and stored in voice controller (13), and the control voice is solved
Code and compiling；
When voice controller (13) receives voice signal input by user, to the voice signal and pre-stored control
Voice carries out matching treatment, obtains matched control voice, and after the matched control voice is decoded and compile, turn
It is changed to corresponding command signal, so that the master controller (11) executes the control to car body according to described instruction signal.
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