CN112571419A - Control method of sign language manipulator - Google Patents

Control method of sign language manipulator Download PDF

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Publication number
CN112571419A
CN112571419A CN202011507783.4A CN202011507783A CN112571419A CN 112571419 A CN112571419 A CN 112571419A CN 202011507783 A CN202011507783 A CN 202011507783A CN 112571419 A CN112571419 A CN 112571419A
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Prior art keywords
resistor
steering engine
pin
chip
capacitor
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CN202011507783.4A
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Chinese (zh)
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CN112571419B (en
Inventor
缪文南
容晓凤
敖天浩
李政岚
傅凯铨
朱俊杰
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Guangzhou City University of Technology
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Guangzhou College of South China University of Technology
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Priority to CN202011507783.4A priority Critical patent/CN112571419B/en
Publication of CN112571419A publication Critical patent/CN112571419A/en
Priority to PCT/CN2021/125541 priority patent/WO2022127365A1/en
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Publication of CN112571419B publication Critical patent/CN112571419B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; 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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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Fuzzy Systems (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Computational Linguistics (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Manipulator (AREA)

Abstract

A control method of a sign language manipulator comprises the steps that the sign language manipulator comprises a control circuit, a steering engine and a manipulator device, wherein the steering engine is used for driving the manipulator, and the manipulator device is used for driving the manipulator, and the control circuit comprises a single chip microcomputer chip U1, a voice recognition module, a first steering engine control module, a second steering engine control module, a terminal P1, a first power supply and a voltage stabilizing module; the single chip microcomputer chip, the voice recognition module, the first steering engine control module for controlling the steering engine of the manipulator arm and the second steering engine control module for controlling the finger steering engine of the manipulator are respectively connected with the first power supply, and the terminal P1 is respectively connected with the voice recognition module and the first power supply; the single chip microcomputer chip is respectively connected with the first steering engine control module and the second steering engine control module; the invention can drive the steering engine to do corresponding sign language actions by recognizing the voice signals.

Description

Control method of sign language manipulator
Technical Field
The invention relates to the technical field of robot control circuits, in particular to a control method of a sign language bionic manipulator.
Background
At present, the basic number of people who cannot hear the hearing impairment is large, but people who know the opponent's language are rarely known and educational appliances for people who cannot hear the hearing impairment in special education are scarce according to investigation. Today, the national support for the development of special education and the vigorous promotion of the adversary with the adversary translator bring development opportunities. The bionic intelligent manipulator just meets the requirements of educational appliances of the disabled listening crowd, converts the language into sign language actions through voice recognition, has certain interestingness, can guide people to promote interest in the sign language, and improves sign language popularization degree. The bionic intelligent manipulator plays a certain role in promoting people to pay attention to hearing-impaired people and promoting barrier-free construction of cities, for example, the prior art has a Chinese patent application number of CN201520743955.6 and a bulletin date of 2016.01.20, and discloses a voice gesture conversion device based on an FPGA (field programmable gate array), which specifically comprises a voice input device, a voice coding and decoding chip, an FPGA module, a storage module and a display module, wherein the voice input device is connected with the voice coding and decoding chip, the FPGA module is provided with an input end and an output end, the voice coding and decoding chip is connected with the input end, the FPGA module is provided with a processor for voice chip identification and conversion, the storage module is connected with the FPGA module, the output end is connected with the display module, the display module comprises a character display module and a gesture display module, and the technical problem solved is that a person with speech disorder is difficult to communicate with an external person, the method specifically comprises the steps of firstly encoding and decoding after voice input, then performing voice recognition mode matching through an FPGA (field programmable gate array), and then converting the voice input into a gesture, is low in voice matching efficiency, can only convert voice into the gesture and then display the gesture on a display screen, cannot perform gesture demonstration through an entity, and is lack of vividness.
Disclosure of Invention
The invention provides a control method of a sign language manipulator, which can drive a steering engine to do corresponding sign language actions only by recognizing voice signals, and has the advantages of simple operation method and high voice recognition efficiency.
In order to achieve the purpose, the technical scheme of the invention is as follows: a control method of a sign language manipulator, the sign language manipulator comprises a control circuit, a steering engine for driving the manipulator and a manipulator device, and is characterized in that: the control circuit comprises a single chip microcomputer chip U1, a voice recognition module, a first steering engine control module, a second steering engine control module, a terminal P1, a first power supply and a voltage stabilizing module; the single chip microcomputer chip, the voice recognition module, a first steering engine control module for controlling an arm steering engine of the manipulator device and a second steering engine control module for controlling a finger steering engine of the manipulator are respectively connected with a first power supply, and a terminal P1 is respectively connected with the single chip microcomputer chip U1, the voice recognition module and the first power supply; the single chip U1 is respectively connected with the first steering engine control module and the second steering engine control module; the input end of the voltage stabilizing module is connected with a first power supply, the output end of the voltage stabilizing module is a second power supply, and the voice recognition module, the first steering engine control module and the second steering engine control module are respectively connected with the second power supply; a pin fifty one of the singlechip chip U1 is connected with a pin three of the terminal P1, and a pin fifty two of the singlechip chip U1 is connected with a pin four of the terminal P1; the first steering engine module is connected with a pin ninety-two and a pin ninety-three of the singlechip chip U1, and the second steering engine module is connected with a pin twenty-five and a pin twenty-six of the singlechip chip; a pin I of the terminal P1 is connected with a first power supply, and a pin II of the terminal P1 is connected with a ground wire;
the voltage stabilizing module comprises a voltage stabilizing chip U5, a capacitor C2, a capacitor C3, a capacitor C4 and a capacitor C5, wherein one ends of the capacitor C2 and the capacitor C3 are connected with a first power supply, the other ends of the capacitor C2 and the capacitor C3 are connected with a ground wire, one ends of the capacitor C4 and the capacitor C5 are connected with the output end of the voltage stabilizing chip U5, and the other ends of the capacitor C4 and the capacitor C5 are connected with the ground wire; the input end of the voltage stabilizing chip U5 is connected with a first power supply;
the voice recognition module comprises a voice recognition chip U2, a voice chip filter circuit, a voice signal circuit, a voice display circuit, a switch circuit, a voice processing circuit and a reference voltage circuit, and a second power supply is connected with a power supply end of the voice recognition chip U2; the switch circuit is respectively connected with the second power supply, the voice processing circuit is connected with the voice recognition chip U2, the voice recognition chip U2 is connected with the switch circuit, the switch circuit is connected with the single chip microcomputer chip U1 through a terminal P1, one end of the voice display circuit is connected with the first power supply, the other end of the voice display circuit is connected with a ground wire, one end of the reference voltage circuit is grounded, and the other end of the reference voltage circuit is connected with the voice recognition chip U2; a seventh pin, a first pin and a thirty-two pin of the voice chip U2 are externally connected with a second power supply; pins eight, thirty-three and forty-nine of the voice chip U2 are grounded;
the voice signal circuit comprises a microphone, a resistor R2, a resistor R3, a capacitor C6 and a capacitor C7, wherein one end of the resistor R2 is connected with a pin twelve of a voice recognition chip U3, the other end of the resistor R2 is connected with one end of the capacitor C6 and one end of the microphone, the other end of the resistor R3 is connected with a ground wire, one end of a resistor R3 is connected with one end of the microphone and one end of the capacitor C7, the other end of the capacitor C6 is connected with a pin nine of the voice recognition chip U2, and the other end of the capacitor C7 is connected with a pin ten of the voice recognition chip U2; a twelve pin of the voice recognition chip U2 is also connected with a voice filter circuit;
the voice display circuit comprises a resistor R1, a capacitor C1 and a display diode D2, one end of the resistor R1 is connected with a first power supply, the other end of the resistor R1 is connected with one end of the display diode D2, the other end of the display diode D2 is connected with a pin twenty-nine of a voice recognition chip U2, one end of the capacitor C1 is connected with the first power supply, and the other end of the capacitor C1 is connected with a ground wire;
the switch circuit comprises a KEY switch KEY1, a resistor R6, a resistor R7, a resistor R8, a display diode D3 and a switch chip U3, wherein one end of the resistor R6 is connected with a first power supply, the other end of the resistor R6 is connected with a pin twelve of the switch chip U3, and a pin twelve of the switch chip U3 is connected with a pin three of a terminal P1; one end of the resistor R7 is connected with a first power supply, the other end of the resistor R7 is connected with a pin eleven and a pin nine of the switch chip, and the pin eleven of the switch chip is connected with a pin IV of the terminal P1; one end of the resistor R8 is connected with the second power supply, the other end of the resistor R8 is connected with one end of the display diode D3, and the other end of the display diode D3 is connected with a pin fourteen of the switch chip U3; one end of the key switch is connected with the ground wire, and the other end of the key switch is connected with a pin thirteen of the switch chip U3; a pin four of the switch chip U3 is connected with a pin forty-one of the voice recognition chip U2, and a pin five of the switch chip U3 is connected with a pin forty of the voice recognition chip U2; pin seven of the switch chip U3 is connected with pin thirty-nine of the voice recognition chip U2;
the voice processing circuit comprises a capacitor C11, a capacitor C13, a resistor R4 and a resistor R5, wherein one end of the capacitor C11 is connected with a pin twenty of a voice recognition chip U2, the other end of the capacitor C11 is connected with one end of a resistor R4, the other end of the resistor R4 is connected with a pin twenty-one of a voice recognition chip U2, one ends of the resistor R5 and the capacitor C13 are both connected with the resistor R4, and the other ends of the resistor R5 and the capacitor C13 are connected and connected with a pin twenty-two of the voice recognition chip U2;
the voice chip filter circuit comprises a capacitor C16, a capacitor C17, an inductor L1 and a capacitor C18, wherein one end of the capacitor C18 is connected with a second power supply, the other end of the capacitor C18 is connected with a ground wire, one end of an inductor L1 is connected with the second power supply, the other end of the inductor L1 is respectively connected with a pin nineteen and a pin twenty-three of the voice recognition chip U3, one ends of a capacitor C16 and the capacitor C17 are both connected with a pin nineteen and a pin twenty-three of the voice recognition chip U2, and the other ends of the capacitor C16 and the capacitor C17 are both connected with;
the reference voltage circuit comprises a capacitor C14 and a capacitor C15, one end of the capacitor C14 and one end of the capacitor C15 are connected with an eighteen pin of a voice recognition chip U2 in parallel, and the other ends of the capacitor C14 and the capacitor C15 are connected with a ground wire;
the first steering engine control module comprises a first steering engine driving chip U4a, a terminal J1a, a terminal J2a, a steering engine power supply, a capacitor E1a, a first steering engine chip current limiting circuit, an anti-interference circuit and a first steering engine display circuit, wherein one end of the first steering engine display circuit is connected with the terminal J1a, the other end of the first steering engine display circuit is connected with a ground wire, one end of the terminal J2a is connected with the first power supply, and the other end of the terminal J2a is connected with the ground wire; one end of the capacitor E1a is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J1a is connected with a steering engine power supply, and a pin II of the terminal J1a is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the first steering engine driving chip U4a are respectively connected with a steering engine for controlling fingers of the manipulator; a resistor R5a is connected between a pin six of the first steering engine driving chip U4a and a steering engine for controlling a manipulator finger, a resistor R6a is connected between a pin seven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R7a is connected between a pin eight of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R8a is connected between a pin nine of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R9a is connected between a pin ten of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R16a is connected between a pin eleven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R17a is connected between a pin twelve of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, and a resistor R18a is connected between a pin thirteen of the first steering engine driving chip U4a and the manipulator finger, a resistor R19a is connected between a pin fifteen of the first steering engine driving chip U4a and a steering engine for controlling the fingers of the manipulator, and a resistor R20a is connected between a pin sixteen of the first steering engine driving chip U4a and the steering engine for controlling the fingers of the manipulator; pins fourteen and twenty-five of the first steering engine driving chip U4a are grounded, and pins twenty-eight of the first steering engine driving chip U4a are connected with a first power supply;
the first steering engine chip current limiting circuit comprises a resistor R2a, a resistor R3a and a resistor R4a, one end of the resistor R2a is connected with a pin III of a terminal J1a, and the other end of the resistor R2a is connected with a pin twenty-three of a first steering engine driving chip U4 a; one end of a resistor R3a is connected with a pin IV of a terminal J1a, the other end of the resistor R3a is connected with a pin twenty-six of a first steering engine driving chip U4a, one end of a resistor R4a is connected with a pin V of a terminal J1a, and the other end of the resistor R4a is connected with a pin twenty-seven of a first steering engine driving chip U4 a;
the first anti-interference circuit comprises a resistor R10a, a resistor R11a, a resistor R12a, a resistor R13a, a resistor R14a, a resistor R15a, a resistor R27a, a resistor R28a, a resistor R29a, a resistor R30a, a resistor R31a and a resistor R32a, one end of the resistor R10a is connected with a second power supply, and the other end of the resistor R10a is connected with a first pin of the first steering engine driving chip U4 a; one end of the resistor R11a is connected with a second power supply, and the other end of the resistor R11a is connected with a second pin of the first steering engine driving chip U4 a; one end of the resistor R12a is connected with a second power supply, and the other end of the resistor R12a is connected with a pin III of the first steering engine driving chip U4 a; one end of the resistor R13a is connected with a second power supply, and the other end of the resistor R13a is connected with a pin IV of the first steering engine driving chip U4 a; one end of the resistor R14a is connected with a second power supply, and the other end of the resistor R14a is connected with a pin V of the first steering engine driving chip U4 a; one end of the resistor R15a is connected with a second power supply, and the other end of the resistor R15a is connected with twenty-four pins of the first steering engine driving chip U4 a; one end of the resistor R27a is connected with the other end of the resistor R10a, and the other end of the resistor R27a is connected with the ground wire; one end of the resistor R28a is connected with the other end of the resistor R11a, and the other end of the resistor R28a is connected with the ground wire; one end of the resistor R29a is connected with the other end of the resistor R12a, and the other end of the resistor R29a is connected with the ground wire; one end of the resistor R30a is connected with the other end of the resistor R13a, and the other end of the resistor R30a is connected with the ground wire; one end of the resistor R31a is connected with the other end of the resistor R14a, and the other end of the resistor R31a is connected with the ground wire; one end of the resistor R32a is connected with the other end of the resistor R15a, and the other end of the resistor R32a is connected with the ground wire;
the first steering engine display circuit comprises a first steering engine display diode D1a and a resistor R1a, one end of the first steering engine display diode D1a is connected with a pin II of the terminal J1a, the other end of the steering engine display lamp D1a is connected with one end of a resistor R1a, and the other end of the resistor R1a is connected with a ground wire;
the second steering engine control module comprises a second steering engine driving chip U4b, a terminal J2b, a terminal J3b, a steering engine power supply, a capacitor E1b, a second steering engine chip current limiting circuit, a second anti-interference circuit and a second steering engine display circuit, one end of the second steering engine display circuit is connected with the terminal J3b, the other end of the second steering engine display circuit is connected with a ground wire, one end of the terminal J2b is connected with the steering engine power supply, and the other end of the terminal J2b is connected with the ground wire; one end of the capacitor E1b is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J3b is connected with a steering engine power supply, and a pin 2 of the terminal J3b is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the second steering engine driving chip U4b are respectively connected with a steering engine for controlling the manipulator arm; a resistor R5b is connected between a pin six of the second steering engine driving chip U4b and a steering engine for controlling the mechanical arm, a resistor R6b is connected between a pin seven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R7b is connected between a pin eight of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R8b is connected between a pin nine of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R9b is connected between a pin ten of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R16b is connected between a pin eleven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R17b is connected between a pin twelve of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, and a resistor R18b is connected between a pin thirteen of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R19b is connected between a pin fifteen of the second steering engine driving chip U4b and a steering engine for controlling the manipulator arm, and a resistor R20b is connected between a pin sixteen of the second steering engine driving chip U4b and the steering engine for controlling the manipulator arm; pins fourteen and twenty-five of the second steering engine driving chip U4b are grounded, and pins twenty-eight of the first steering engine driving chip U4b are connected with a first power supply;
twenty-seven pins of a second steering engine driving chip U4b are respectively connected with a third pin of a terminal J3b, twenty-six pins of a second steering engine driving chip U4b are respectively connected with a fourth pin of a terminal J3b, and twenty-three pins of a second steering engine driving chip U4b are respectively connected with a fifth pin of a terminal J3 b;
the second steering engine chip current limiting circuit comprises a resistor R2b, a resistor R3b, a resistor R4b and a resistor R2b, wherein one end of the resistor R2b is connected with a pin III of a terminal J3b, and the other end of the resistor R2b is connected with a pin twenty-three of a second steering engine driving chip U4 b; one end of a resistor R3b is connected with a pin IV of a terminal J3, the other end of the resistor R3b is connected with a pin twenty-six of a second steering engine driving chip U4b, one end of a resistor R4b is connected with a pin V of a terminal J3b, and the other end of the resistor R4b is connected with a pin twenty-seven of a second steering engine driving chip U4 b;
the second anti-interference circuit comprises a resistor R10b, a resistor R11b, a resistor R12b, a resistor R13b, a resistor R14b, a resistor R15b, a resistor R27b, a resistor R28b, a resistor R29b, a resistor R30b, a resistor R31b and a resistor R32b, wherein one end of the resistor R10b is connected with a second power supply, and the other end of the resistor R10b is connected with a first pin of a second steering engine driving chip U4 b; one end of the resistor R11b is connected with a second power supply, and the other end of the resistor R11b is connected with a second pin of the second steering engine driving chip U4 b; one end of the resistor R12b is connected with a second power supply, and the other end of the resistor R12b is connected with a pin III of the second steering engine driving chip U4 b; one end of the resistor R13b is connected with a second power supply, and the other end of the resistor R is connected with a pin IV of the second steering engine driving chip U4 b; one end of the resistor R14b is connected with a second power supply, and the other end of the resistor R14b is connected with a pin V of the second steering engine driving chip U4 b; one end of the resistor R15b is connected with a second power supply, and the other end of the resistor R15b is connected with twenty-four pins of a second steering engine driving chip U4 b; one end of the resistor R27b is connected with the other end of the resistor R10b, and the other end of the resistor R27b is connected with the ground wire; one end of the resistor R28b is connected with the other end of the resistor R11b, and the other end of the resistor R28b is connected with the ground wire; one end of the resistor R29b is connected with the other end of the resistor R12b, and the other end of the resistor R29b is connected with the ground wire; one end of the resistor R30b is connected with the other end of the resistor R13b, and the other end of the resistor R30b is connected with the ground wire; one end of the resistor R31b is connected with the other end of the resistor R14b, and the other end of the resistor R31b is connected with the ground wire; one end of the resistor R32b is connected with the other end of the resistor R15b, and the other end of the resistor R32b is connected with the ground wire;
the second steering engine display circuit comprises a second steering engine display diode D1b and a resistor R1b, one end of the second steering engine display diode D1b is connected with a pin II of the terminal J3b, the other end of the steering engine display lamp D1b is connected with one end of a resistor R1b, and the other end of the resistor R1b is connected with a ground wire;
the manipulator device comprises arm parts and finger parts, wherein the finger parts comprise ten fingers, each finger is connected with a steering engine for controlling the manipulator finger, the tail end and the starting end of each finger are connected with the steering engines for controlling the manipulator finger through connecting wires, the steering engines rotate to drive the fingers to move, the arm parts comprise two, each arm part comprises five arm joint parts, and each arm joint part is connected with one steering engine for controlling the manipulator arm;
the control method comprises the following steps:
(1) the switch KEY1 of the switch circuit is pressed, the switch circuit inputs a control signal to the voice recognition module and controls the voice recognition module to work, voice is recorded through the microphone, the voice recognition module converts the input voice into a voice signal, and the voice signal is sent to the single chip U1 through the switch circuit;
(2) the singlechip chip converts the received voice signal into a gesture action signal and sends a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal;
(3) the first steering engine control module is used for controlling a steering engine for controlling the finger part to rotate according to the control signal and is used for controlling the finger part steering engine to rotate to drive a connecting line on the finger part to move so as to realize the movement of the finger part; and the second steering engine control module is used for controlling the steering engine of the arm part to rotate according to the control signal and controlling the steering engine of the arm part to rotate so as to drive the arm part to move.
In the method, a pin fifty-one and a pin fifty-two of a singlechip chip send electrical levels to a voice recognition module, a key switch on a switch circuit is pressed to enable a pin thirteen on the switch chip to be a low electrical level, the switch circuit sends a control signal to the voice recognition module through a pin four and a pin five to turn on a voice recognition function, a microphone on a voice signal circuit recognizes a voice signal and then inputs the voice signal to the voice chip, the voice signal is received and is output through pins EQ1 and EQ3, the voice signal is filtered through a filter circuit consisting of a resistor and a capacitor and then is input into the voice chip from a pin EQ2 to be recognized, high fidelity of the received voice signal is ensured, the voice signal recognized by the voice chip is returned to the singlechip through the switch circuit and a terminal P1, if the voice recognition module does not recognize a preset instruction, the electrical levels on the singlechip chip are not changed, if the voice recognition module recognizes a preset instruction, the voice module display diode D2 is conducted, an appointed signal is returned to the singlechip chip, the voice and the action of the manipulator are recognized inside the singlechip chip, the processed signal is sent to the first steering engine chip and the second steering engine chip through the singlechip chip, and signals are sent to the first steering engine driving chip through a pin ninety-two and a pin ninety-three of the singlechip chip and are sent to the first steering engine driving chip through a pin twenty-seven and a pin twenty-six of the first steering engine driving chip; a twenty-five pin and a twenty-six pin of the single chip microcomputer chip send signals to a second steering engine driving chip through a twenty-seven pin and a twenty-six pin on the second steering engine driving chip; the anti-interference circuit is used for limiting the current transmitted by the voltage stabilizing module, a pull-down resistor is further connected in the anti-interference circuit, and an anti-interference effect is achieved on a pin I, a pin II, a pin III, a pin IV, a pin V and a pin Twenty IV of the first steering engine driving chip; after being processed by the first steering engine driving chip, the PWM signal is output to control a manipulator arm steering engine to realize preset command action through a first steering engine current-limiting output circuit; after being processed by the second steering engine driving chip, the PWM signal is output to control the manipulator finger steering engine to realize preset command action through a second steering engine current-limiting output circuit; the first steering engine driving chip controls the steering engine for controlling the fingers of the manipulator to rotate according to the finger actions after receiving the finger actions so as to drive the fingers to act, the second steering engine driving chip controls the steering engine for controlling the arms of the manipulator to rotate according to the arm actions after receiving the finger actions so as to drive the arms to act, voice is recorded when a key is pressed, then preset sign language work is performed through the voice control manipulator, the operation method is simple, voice can be recorded only when the key is pressed, misoperation is prevented, the accuracy is good, because the voice recognition module is provided with the voice signal circuit and the voice processing circuit, voice input is more reliable, meanwhile, the voice module is powered by the voltage stabilizing circuit so that the voice module has good working stability, and the single chip is connected through a terminal P1, and the single chip module is connected with the first steering engine module and the second steering engine control module through terminals J1a and J3b, make the simple structure of circuit, and can control the corresponding gesture show of manipulator through typeeing pronunciation.
Further, the power supply circuit is provided, the power supply circuit outputs a first power supply and a second power supply, the power supply circuit includes a power supply chip UP1, a switch SW3, a zener diode D10C, a fuse F1, an electrolytic capacitor C56C, a capacitor C2C, an electrolytic capacitor C3C, a capacitor C1C, a diode D1C and a resistor R3C, a 2-terminal external power supply of the switch 3W3, a first pin and a fifth pin of the switch SW3 are grounded, a third pin of the switch SW3 is connected to one terminal of the zener diode D10C and one terminal of the fuse F1, the other terminal of the zener diode D10C is grounded, one terminal of the fuse F1 is connected to one terminal of the electrolytic capacitor C56C and an UP terminal of the first power supply, one terminal of the capacitor C2C and a third pin of the power supply chip 1, the other terminal of the electrolytic capacitor C56C and the other terminal of the capacitor C2C are grounded, a first pin of the power supply chip 1 is connected to a ground, a fourth pin of the power supply chip 1 and a fourth pin C, one end of a capacitor C1C, the output end of a second power supply and one end of a resistor R3C are connected, the other end of an electrolytic capacitor C2C and the other end of the capacitor C1C are grounded, the other end of the resistor R3C is grounded through a diode D1C, the circuit is connected with an external power supply, then a stable first power supply is output after voltage stabilization of a voltage stabilizing diode and a fuse, and the first power supply has good output stability after filtering of the electrolytic capacitor C56a and the capacitor C2C, in addition, the second power supply is output after voltage stabilization of the first power supply through voltage reduction of a power chip UP1, and is filtered through the electrolytic capacitor C3C and the capacitor C1, so that the second power supply has good output stability, and stable output of the second power supply is displayed through the diode D1C, the circuit structure stability is good, two stable output power supplies can be provided for the whole circuit, and only the external power supply is needed.
Furthermore, a pin twenty-eight of the first steering engine driving chip U4a is also connected with one end of a capacitor C1 a; the other end of the capacitor C1a is grounded; a pin twenty-eight of the second steering engine driving chip U4b is also connected with one end of a capacitor C1 b; the other end of capacitor C1b ground connection, above setting, through setting up the power input end access electric capacity C1C at first steering wheel drive chip for input power's stability is good.
Further, the connecting wire includes elastic wire and fixed line, the back that the one end of elastic wire was fixed at the finger is close to wrist part position, the end at the finger back is fixed to the other end of elastic wire, the positive end at the finger is fixed to the one end of fixed line, the other end of fixed line passes through the guide and links to each other with the steering wheel, above setting, openly set up the fixed line through setting up the elastic wire at the back, and the fixed line links to each other with the steering wheel after leading through the guide, thereby it removes and provides the activity space for finger motion under the effect of elastic wire to drive the fixed line when the steering wheel rotates, make the motion reliability good.
Furthermore, the model of the voice recognition chip U3 is LD3320, and the chip has a Flash chip, a RAM chip and an AD chip which do not need any auxiliary devices to complete the voice recognition function.
Furthermore, the model of the switch chip is STC8F1K08S2_ SOP16, and the chip has the functions of high performance, high compatibility, easy development, low power consumption, low working voltage and real-time and digital signal processing.
Furthermore, the models of the first steering engine driving chip U4a and the second steering engine driving chip U4b are PCA9685, and the chip peripheral circuit is simple in structure and good in reliability.
Further, the step (1) of converting the input voice into the voice signal by the voice recognition module includes converting the input voice signal into a voice digital signal by the voice recognition module; the transmission is convenient.
Further, the step (2) of converting the received voice signal into a gesture action signal by the singlechip chip includes comparing the received voice signal with a gesture action signal corresponding to a preset voice signal by the singlechip chip and determining a gesture action; and in the step (2), 'sending a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal,' which comprises a start byte, a fixed instruction byte, a channel number byte, a steering engine low byte and a steering engine high byte, can conveniently realize the transmission of the steering engine speed and the steering engine channel number through five bytes, and has high transmission efficiency and reliability.
Further, the step (3) for controlling the steering engine of the finger part to rotate to drive the connecting line on the finger part to move to realize the motion of the finger part comprises the steps of determining the corresponding relation (1-1) between the wrist rotation angle of the arm part and the pull-out length of the connecting line according to the gesture action signal to obtain the pull-out length of the connecting line,
L2=（1.4+sinA*2.15）2+（3.3-cosA*2.15）2+2.32（1-1）
determining a rotation angle for controlling the finger part steering engine according to the pull-out length of the connecting wire, and controlling the finger part steering engine to rotate according to the rotation angle of the finger part steering engine so as to drive the connecting wire to move to realize the movement of the finger part; according to the method, the pulling-out length of the connecting wire can be calculated through the formula through the rotation angle of the wrist, then the pulling-out length of the connecting wire is equal to the radius of the rope which is used for controlling the steering engine of the finger part, and the pulling-out length of the connecting wire is further calculated according to the product of the rotation angle and the radius of the steering engine which is used for controlling the finger part, so that the rotation angle of the steering engine which is used for controlling the finger part is more reliable.
Drawings
Fig. 1 is a schematic block diagram of the connection relationship of the control circuit of the present invention.
Fig. 2 is a schematic diagram of the connection relationship of the speech recognition module 11 according to the present invention.
Fig. 3 is a schematic diagram of the connection relationship of the first rudder control module 12 according to the present invention.
Fig. 4 is a schematic diagram of the connection relationship of the second rudder control module 13 according to the present invention.
Fig. 5 is a schematic diagram of a single chip U1 in the present invention.
Fig. 6 is a schematic diagram of a first steering engine driving chip in a first steering engine control module according to the present invention.
Fig. 7 is a schematic diagram of a second steering engine driving chip in a second steering engine control module according to the present invention.
FIG. 8 is a diagram of a speech recognition chip according to the present invention.
FIG. 9 is a schematic diagram of the connection of the switch circuit of the present invention.
Fig. 10 is a schematic connection diagram of the voltage regulator module according to the present invention.
FIG. 11 is a schematic diagram of the connection of the voice display circuit according to the present invention.
Fig. 12 is a schematic view of a terminal P1 according to the present invention.
FIG. 13 is a schematic diagram of the connection of the power circuit of the present invention.
Fig. 14 is a connection diagram of the reset circuit in the present invention.
FIG. 15 is a schematic diagram of the connection of the crystal oscillator circuit according to the present invention.
Fig. 16 is a schematic view showing the structure of the finger part of the robot hand according to the present invention.
Fig. 17 is a schematic view of a robot in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 17, a sign language manipulator comprises a control circuit 1, a steering engine 2 for driving the manipulator and a manipulator device 3, wherein the control circuit 1 comprises a single chip microcomputer chip U1, a voice recognition module 11, a first steering engine control module 12, a second steering engine control module 13, a terminal P1, a first power supply and a voltage stabilizing module; the single chip microcomputer chip, the voice recognition module, a first steering engine control module for controlling an arm steering engine of the manipulator and a second steering engine control module for controlling a finger steering engine of the manipulator are respectively connected with a first power supply, and a terminal P1 is respectively connected with the single chip microcomputer chip U1, the voice recognition module and the first power supply; the single chip U1 is respectively connected with the first steering engine control module and the second steering engine control module; the input end of the voltage stabilizing module is connected with a first power supply, the output end of the voltage stabilizing module is a second power supply, and the voice recognition module, the first steering engine control module and the second steering engine control module are respectively connected with the second power supply; a pin fifty one of the singlechip chip U1 is connected with a pin three of the terminal P1, and a pin fifty two of the singlechip chip U1 is connected with a pin four of the terminal P1; the first steering engine module is connected with a pin ninety-two and a pin ninety-three of the singlechip chip U1, and the second steering engine module is connected with a pin twenty-five and a pin twenty-six of the singlechip chip; a pin I of the terminal P1 is connected with a first power supply, and a pin II of the terminal P1 is connected with a ground wire;
the voltage stabilizing module comprises a voltage stabilizing chip U5, a capacitor C2, a capacitor C3, a capacitor C4 and a capacitor C5, wherein one ends of the capacitor C2 and the capacitor C3 are connected with a first power supply, the other ends of the capacitor C2 and the capacitor C3 are connected with a ground wire, one ends of the capacitor C4 and the capacitor C5 are connected with the output end of the voltage stabilizing chip U5, and the other ends of the capacitor C4 and the capacitor C5 are connected with the ground wire; the input end of the voltage stabilizing chip U5 is connected with a first power supply;
the voice recognition module 11 comprises a voice recognition chip U2, a voice chip filter circuit, a voice signal circuit, a voice display circuit, a switch circuit, a voice processing circuit and a reference voltage circuit, and a second power supply is connected with a power supply end of the voice recognition chip U2; the switch circuit is respectively connected with the second power supply, the voice processing circuit is connected with the voice recognition chip U2, the voice recognition chip U2 is connected with the switch circuit, the switch circuit is connected with the single chip microcomputer chip U1 through a terminal P1, one end of the voice display circuit is connected with the first power supply, the other end of the voice display circuit is connected with a ground wire, one end of the reference voltage circuit is grounded, and the other end of the reference voltage circuit is connected with the voice recognition chip U2; a seventh pin, a first pin and a thirty-two pin of the voice chip U2 are externally connected with a second power supply; pins eight, thirty-three and forty-nine of the voice chip U2 are grounded;
the voice signal circuit comprises a microphone, a resistor R2, a resistor R3, a capacitor C6 and a capacitor C7, wherein one end of the resistor R2 is connected with a pin twelve of a voice recognition chip U3, the other end of the resistor R2 is connected with one end of the capacitor C6 and one end of the microphone, the other end of the resistor R3 is connected with a ground wire, one end of a resistor R3 is connected with one end of the microphone and one end of the capacitor C7, the other end of the capacitor C6 is connected with a pin nine of the voice recognition chip U2, and the other end of the capacitor C7 is connected with a pin ten of the voice recognition chip U2; a twelve pin of the voice recognition chip U2 is also connected with a voice filter circuit; the working principle of the circuit is as follows: the microphone inputs the voice signal into the voice recognition chip U2 after filtering through the resistor R3 and the capacitor C7.
The voice display circuit comprises a resistor R1, a capacitor C1 and a display diode D2, one end of the resistor R1 is connected with a first power supply, the other end of the resistor R1 is connected with one end of the display diode D2, the other end of the display diode D2 is connected with a pin twenty-nine of a voice recognition chip U2, one end of the capacitor C1 is connected with the first power supply, and the other end of the capacitor C1 is connected with a ground wire; the working principle of the circuit is as follows: the voice recognition chip U2 inputs a signal to the voice display circuit to turn on the diode D2, thereby displaying the working condition of the voice driving chip U2.
The switch circuit comprises a KEY switch KEY1, a resistor R6, a resistor R7, a resistor R8, a display diode D3 and a switch chip U3, wherein one end of the resistor R6 is connected with a first power supply, the other end of the resistor R6 is connected with a pin twelve of the switch chip U3, and a pin twelve of the switch chip U3 is connected with a pin three of a terminal P1; one end of the resistor R7 is connected with a first power supply, the other end of the resistor R7 is connected with a pin eleven and a pin nine of the switch chip, and the pin eleven of the switch chip is connected with a pin IV of the terminal P1; one end of the resistor R8 is connected with the second power supply, the other end of the resistor R8 is connected with one end of the display diode D3, and the other end of the display diode D3 is connected with a pin fourteen of the switch chip U3; one end of the key switch is connected with the ground wire, and the other end of the key switch is connected with a pin thirteen of the switch chip U3; a pin four of the switch chip U3 is connected with a pin forty-one of the voice recognition chip U2, and a pin five of the switch chip U3 is connected with a pin forty of the voice recognition chip U2; pin seven of the switch chip U3 is connected with pin thirty-nine of the voice recognition chip U2; the working principle of the circuit is as follows: when the KEY1 is pressed, the switch chip U3 has signal input, then the switch chip U3 sends control signals through the four and five pins to control the voice control chip U2 to record voice, and the recorded voice signals are input into the singlechip chip U1 through the eleven and twelve pins of the switch chip U3 to be processed.
The voice processing circuit comprises a capacitor C11, a capacitor C13, a resistor R4 and a resistor R5, wherein one end of the capacitor C11 is connected with a pin twenty of a voice recognition chip U2, the other end of the capacitor C11 is connected with one end of a resistor R4, the other end of the resistor R4 is connected with a pin twenty-one of a voice recognition chip U2, one ends of the resistor R5 and the capacitor C13 are both connected with the resistor R4, and the other ends of the resistor R5 and the capacitor C13 are connected and connected with a pin twenty-two of the voice recognition chip U2; the working principle of the circuit is as follows: the recorded voice is filtered from the pins twenty and twenty-two through resistors and capacitors by the voice control chip U2 and then input to the voice control chip U2 from the pin twenty-one.
The voice chip filter circuit comprises a capacitor C16, a capacitor C17, an inductor L1 and a capacitor C18, wherein one end of the capacitor C18 is connected with a second power supply, the other end of the capacitor C18 is connected with a ground wire, one end of an inductor L1 is connected with the second power supply, the other end of the inductor L1 is respectively connected with a pin nineteen and a pin twenty-three of the voice recognition chip U3, one ends of a capacitor C16 and the capacitor C17 are both connected with a pin nineteen and a pin twenty-three of the voice recognition chip U2, and the other ends of the capacitor C16 and the capacitor C17 are both connected with; the working principle of the circuit is as follows: the second power supply is input into the voice control chip U2 after being filtered by the capacitor and the inductor.
The reference voltage circuit comprises a capacitor C14 and a capacitor C15, one end of the capacitor C14 and one end of the capacitor C15 are connected with an eighteen pin of a voice recognition chip U2 in parallel, and the other ends of the capacitor C14 and the capacitor C15 are connected with a ground wire; the working principle of the circuit is as follows: the reference voltage is filtered through the capacitor C14 and the capacitor C15, so that the stability of the reference voltage is good.
The first steering engine control module comprises a first steering engine driving chip U4a, a terminal J1a, a terminal J2a, a steering engine power supply, a capacitor E1a, a first steering engine chip current limiting circuit, an anti-interference circuit and a first steering engine display circuit, wherein one end of the first steering engine display circuit is connected with the terminal J1a, the other end of the first steering engine display circuit is connected with a ground wire, one end of the terminal J2a is connected with the first power supply, and the other end of the terminal J2a is connected with the ground wire; one end of the capacitor E1a is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J1a is connected with a steering engine power supply, and a pin II of the terminal J1a is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the first steering engine driving chip U4a are respectively connected with a steering engine for controlling fingers of the manipulator; a resistor R5a is connected between a pin six of the first steering engine driving chip U4a and a steering engine for controlling a manipulator finger, a resistor R6a is connected between a pin seven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R7a is connected between a pin eight of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R8a is connected between a pin nine of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R9a is connected between a pin ten of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R16a is connected between a pin eleven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R17a is connected between a pin twelve of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, and a resistor R18a is connected between a pin thirteen of the first steering engine driving chip U4a and the manipulator finger, a resistor R19a is connected between a pin fifteen of the first steering engine driving chip U4a and a steering engine for controlling the fingers of the manipulator, and a resistor R20a is connected between a pin sixteen of the first steering engine driving chip U4a and the steering engine for controlling the fingers of the manipulator; pins fourteen and twenty-five of the first steering engine driving chip U4a are grounded, and pins twenty-eight of the first steering engine driving chip U4a are connected with a first power supply; in this embodiment, the steering engine power is V +, and the voltage value is 7V.
The first steering engine chip current limiting circuit comprises a resistor R2a, a resistor R3a and a resistor R4a, one end of the resistor R2a is connected with a pin III of a terminal J1a, and the other end of the resistor R2a is connected with a pin twenty-three of a first steering engine driving chip U4 a; one end of a resistor R3a is connected with a pin IV of a terminal J1a, the other end of the resistor R3a is connected with a pin twenty-six of a first steering engine driving chip U4a, one end of a resistor R4a is connected with a pin V of a terminal J1a, and the other end of the resistor R4a is connected with a pin twenty-seven of a first steering engine driving chip U4 a; the working principle of the circuit is as follows: the first power supply is shunted by the resistor R2a, the resistor R3a and the resistor R4a to prevent the current output from the first steering engine chip from being overlarge.
The first anti-interference circuit comprises a resistor R10a, a resistor R11a, a resistor R12a, a resistor R13a, a resistor R14a, a resistor R15a, a resistor R27a, a resistor R28a, a resistor R29a, a resistor R30a, a resistor R31a and a resistor R32a, one end of the resistor R10a is connected with a second power supply, and the other end of the resistor R10a is connected with a first pin of the first steering engine driving chip U4 a; one end of the resistor R11a is connected with a second power supply, and the other end of the resistor R11a is connected with a second pin of the first steering engine driving chip U4 a; one end of the resistor R12a is connected with a second power supply, and the other end of the resistor R12a is connected with a pin III of the first steering engine driving chip U4 a; one end of the resistor R13a is connected with a second power supply, and the other end of the resistor R13a is connected with a pin IV of the first steering engine driving chip U4 a; one end of the resistor R14a is connected with a second power supply, and the other end of the resistor R14a is connected with a pin V of the first steering engine driving chip U4 a; one end of the resistor R15a is connected with a second power supply, and the other end of the resistor R15a is connected with twenty-four pins of the first steering engine driving chip U4 a; one end of the resistor R27a is connected with the other end of the resistor R10a, and the other end of the resistor R27a is connected with the ground wire; one end of the resistor R28a is connected with the other end of the resistor R11a, and the other end of the resistor R28a is connected with the ground wire; one end of the resistor R29a is connected with the other end of the resistor R12a, and the other end of the resistor R29a is connected with the ground wire; one end of the resistor R30a is connected with the other end of the resistor R13a, and the other end of the resistor R30a is connected with the ground wire; one end of the resistor R31a is connected with the other end of the resistor R14a, and the other end of the resistor R31a is connected with the ground wire; one end of the resistor R32a is connected with the other end of the resistor R15a, and the other end of the resistor R32a is connected with the ground wire; the working principle of the circuit is as follows: the pull-up and pull-down resistors are formed by a plurality of resistors to remove the interference of the voice signal.
The first steering engine display circuit comprises a first steering engine display diode D1a and a resistor R1a, one end of the first steering engine display diode D1a is connected with a pin II of the terminal J1a, the other end of the steering engine display lamp D1a is connected with one end of a resistor R1a, and the other end of the resistor R1a is connected with a ground wire; the working principle of the circuit is as follows: when a second power supply is connected, the diode D1a is lightened to prompt the working condition of the first steering engine.
The second steering engine control module comprises a second steering engine driving chip U4b, a terminal J2b, a terminal J3b, a steering engine power supply, a capacitor E1b, a second steering engine chip current limiting circuit, a second anti-interference circuit and a second steering engine display circuit, one end of the second steering engine display circuit is connected with the terminal J3b, the other end of the second steering engine display circuit is connected with a ground wire, one end of the terminal J2b is connected with the steering engine power supply, and the other end of the terminal J2b is connected with the ground wire; one end of the capacitor E1b is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J3b is connected with a steering engine power supply, and a pin 2 of the terminal J3b is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the second steering engine driving chip U4b are respectively connected with a steering engine for controlling the manipulator arm; a resistor R5b is connected between a pin six of the second steering engine driving chip U4b and a steering engine for controlling the mechanical arm, a resistor R6b is connected between a pin seven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R7b is connected between a pin eight of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R8b is connected between a pin nine of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R9b is connected between a pin ten of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R16b is connected between a pin eleven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R17b is connected between a pin twelve of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, and a resistor R18b is connected between a pin thirteen of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R19b is connected between a pin fifteen of the second steering engine driving chip U4b and a steering engine for controlling the manipulator arm, and a resistor R20b is connected between a pin sixteen of the second steering engine driving chip U4b and the steering engine for controlling the manipulator arm; pins fourteen and twenty-five of the second steering engine driving chip U4b are grounded, and pins twenty-eight of the first steering engine driving chip U4b are connected with a first power supply;
twenty-seven pins of a second steering engine driving chip U4b are respectively connected with a third pin of a terminal J3b, twenty-six pins of a second steering engine driving chip U4b are respectively connected with a fourth pin of a terminal J3b, and twenty-three pins of a second steering engine driving chip U4b are respectively connected with a fifth pin of a terminal J3 b;
the second steering engine chip current limiting circuit comprises a resistor R2b, a resistor R3b, a resistor R4b and a resistor R2b, wherein one end of the resistor R2b is connected with a pin III of a terminal J3b, and the other end of the resistor R2b is connected with a pin twenty-three of a second steering engine driving chip U4 b; one end of a resistor R3b is connected with a pin IV of a terminal J3, the other end of the resistor R3b is connected with a pin twenty-six of a second steering engine driving chip U4b, one end of a resistor R4b is connected with a pin V of a terminal J3b, and the other end of the resistor R4b is connected with a pin twenty-seven of a second steering engine driving chip U4 b;
the second anti-interference circuit comprises a resistor R10b, a resistor R11b, a resistor R12b, a resistor R13b, a resistor R14b, a resistor R15b, a resistor R27b, a resistor R28b, a resistor R29b, a resistor R30b, a resistor R31b and a resistor R32b, wherein one end of the resistor R10b is connected with a second power supply, and the other end of the resistor R10b is connected with a first pin of a second steering engine driving chip U4 b; one end of the resistor R11b is connected with a second power supply, and the other end of the resistor R11b is connected with a second pin of the second steering engine driving chip U4 b; one end of the resistor R12b is connected with a second power supply, and the other end of the resistor R12b is connected with a pin III of the second steering engine driving chip U4 b; one end of the resistor R13b is connected with a second power supply, and the other end of the resistor R is connected with a pin IV of the second steering engine driving chip U4 b; one end of the resistor R14b is connected with a second power supply, and the other end of the resistor R14b is connected with a pin V of the second steering engine driving chip U4 b; one end of the resistor R15b is connected with a second power supply, and the other end of the resistor R15b is connected with twenty-four pins of a second steering engine driving chip U4 b; one end of the resistor R27b is connected with the other end of the resistor R10b, and the other end of the resistor R27b is connected with the ground wire; one end of the resistor R28b is connected with the other end of the resistor R11b, and the other end of the resistor R28b is connected with the ground wire; one end of the resistor R29b is connected with the other end of the resistor R12b, and the other end of the resistor R29b is connected with the ground wire; one end of the resistor R30b is connected with the other end of the resistor R13b, and the other end of the resistor R30b is connected with the ground wire; one end of the resistor R31b is connected with the other end of the resistor R14b, and the other end of the resistor R31b is connected with the ground wire; one end of the resistor R32b is connected with the other end of the resistor R15b, and the other end of the resistor R32b is connected with the ground wire;
the second steering engine display circuit comprises a second steering engine display diode D1b and a resistor R1b, one end of the second steering engine display diode D1b is connected with a pin II of the terminal J3b, the other end of the steering engine display lamp D1b is connected with one end of a resistor R1b, and the other end of the resistor R1b is connected with a ground wire.
The manipulator device 3 comprises an arm part 31 and a finger part 32, the finger part 32 comprises ten fingers 321, each finger 321 is connected with a steering engine 22 for controlling the manipulator finger, the tail end and the starting end of the finger 321 are connected with the steering engines 22 for controlling the manipulator finger through a connecting line 3211, the steering engines 22 rotate to drive the fingers 321 to move, the arm part 31 comprises two, each arm part 31 comprises five arm joint parts 311, and each arm joint part 311 is connected with one steering engine for controlling the manipulator arm.
In this embodiment, the connecting wire 3211 includes elastic wire 32111 and fixed wire 32112, the back that the back of finger 321 is close to the wrist part position is fixed to the one end of elastic wire 32111, the other end of elastic wire 32111 is fixed at the end at the finger back, the front end at the finger is fixed to the one end of fixed wire 32112, the other end of fixed wire 32112 passes through guide 320 and links to each other with steering wheel 22, in this embodiment, the fixed wire is the lines of fixed length, guide 320 is the guide ring, above setting, through set up the fixed wire in the back openly setting of elastic wire, and the fixed wire links to each other with the steering wheel after leading through the guide, thereby drive the fixed wire when the steering wheel rotates and remove and provide the activity space for the finger motion under the effect of elastic wire, make the motion reliability good.
With the above arrangement, pin fifty one and pin fifty two of the single chip microcomputer chip send electrical levels to the voice recognition module, a key switch on the switch circuit is pressed to enable pin thirteen on the switch chip to be at a low level, the switch circuit sends control signals to the voice recognition module through pin four and pin five to turn on the voice recognition function, a microphone on the voice signal circuit recognizes voice signals and then inputs the voice signals to the voice chip, then the voice signals which are recognized by the voice chip are received and output through pins EQ1 and EQ3, filtered through a filter circuit consisting of a resistor and a capacitor and then input into the voice chip from pin EQ2 for recognition, so as to ensure high fidelity of the received voice signals, the voice signals which are recognized by the voice chip are returned to the single chip microcomputer through the switch circuit and a terminal P1, if the voice recognition module does not recognize a preset instruction, the electrical levels on the single chip microcomputer chip are not changed, if the voice recognition module recognizes a preset instruction, the voice module display diode D2 is conducted, an appointed signal is returned to the singlechip chip, the voice and the action of the manipulator are recognized inside the singlechip chip, the processed signal is sent to the first steering engine chip and the second steering engine chip through the singlechip chip, and signals are sent to the first steering engine driving chip through a pin ninety-two and a pin ninety-three of the singlechip chip and are sent to the first steering engine driving chip through a pin twenty-seven and a pin twenty-six of the first steering engine driving chip; a twenty-five pin and a twenty-six pin of the single chip microcomputer chip send signals to a second steering engine driving chip through a twenty-seven pin and a twenty-six pin on the second steering engine driving chip; the anti-interference circuit is used for limiting the current transmitted by the voltage stabilizing module, a pull-down resistor is further connected in the anti-interference circuit, and an anti-interference effect is achieved on a pin I, a pin II, a pin III, a pin IV, a pin V and a pin Twenty IV of the first steering engine driving chip; after being processed by the first steering engine driving chip, the PWM signal is output to control a manipulator arm steering engine to realize preset command action through a first steering engine current-limiting output circuit; after being processed by the second steering engine driving chip, the PWM signal is output to control the manipulator finger steering engine to realize preset command action through a second steering engine current-limiting output circuit; the first steering engine driving chip controls the steering engine used for controlling the fingers of the manipulator to rotate according to the finger actions after receiving the finger actions so as to drive the fingers to act, the second steering engine driving chip controls the steering engine used for controlling the arms of the manipulator to rotate according to the arm actions after receiving the finger actions so as to drive the arms to act, thereby, the preset sign language work is made through the manipulator by recognizing voice signals, as the voice recognition module is provided with a voice signal circuit and a voice processing circuit, the voice input is more reliable, meanwhile, the voice module is provided with power through a voltage stabilizing circuit so that the voice module has good working stability, and the single chip microcomputer chip is connected through a terminal P1, the single chip microcomputer module is connected with the first steering engine control module and the second steering engine control module through terminals J1a and J3b, the structure of the circuit is simple, and the corresponding gesture of the manipulator can be controlled through inputting, the vitality is good.
The control circuit 1 further comprises a power circuit, the power circuit outputs a first power and a second power, the power circuit comprises a power chip UP1, a switch SW3, a zener diode D10C, a fuse F1, an electrolytic capacitor C56C, a capacitor C2C, an electrolytic capacitor C3C, a capacitor C1C, a diode D1C and a resistor R3C, the 2 terminal of the switch 3W3 is externally connected with a power supply, pin one and pin five of the switch SW3 are grounded, pin three of the switch SW3 is connected with one terminal of the zener diode D10C and one terminal of the fuse F1, the other terminal of the zener diode D10C is grounded, one terminal of the fuse F1 is connected with one terminal of the electrolytic capacitor C56C and the UP terminal of the first power, one terminal of the capacitor C2C and pin three of the power chip 1, the other terminal of the electrolytic capacitor C56C and the other terminal of the capacitor C2C are grounded, the first terminal of the power pin one terminal of the power chip 1 is connected with the UP terminal of the power chip 1 and the four terminals of the capacitor C2C, one end of a capacitor C1C, the output end of a second power supply and one end of a resistor R3C are connected, the other end of an electrolytic capacitor C2C and the other end of the capacitor C1C are grounded, the other end of the resistor R3C is grounded through a diode D1C, the circuit is connected with an external power supply, then a stable first power supply is output after voltage stabilization of a voltage stabilizing diode and a fuse, and the first power supply has good output stability after filtering of the electrolytic capacitor C56a and the capacitor C2C, in addition, the second power supply is output after voltage stabilization of the first power supply through voltage reduction of a power chip UP1, and is filtered through the electrolytic capacitor C3C and the capacitor C1, so that the second power supply has good output stability, and stable output of the second power supply is displayed through the diode D1C, the circuit structure stability is good, two stable output power supplies can be provided for the whole circuit, and only the external power supply is needed.
A pin twenty-eight of the first steering engine driving chip U4a is also connected with one end of a capacitor C1 a; the other end of the capacitor C1a is grounded; a pin twenty-eight of the second steering engine driving chip U4b is also connected with one end of a capacitor C1 b; the other end of capacitor C1b ground connection, above setting, through setting up the power input end access electric capacity C1C at first steering wheel drive chip for input power's stability is good.
The model of the voice recognition chip U3 is LD3320, and the chip has a Flash chip, an RAM chip and an AD chip which do not need any assistance to complete the voice recognition function.
The model of the switch chip is STC8F1K08S2_ SOP16, and the chip has the functions of high performance, high compatibility, easy development, low power consumption, low working voltage and real-time and digital signal processing.
The first steering engine driving chip U4a and the second steering engine driving chip U4b are PCA9685 in model number, and the chip peripheral circuit is simple in structure and good in reliability.
The voice signal circuit comprises a capacitor C8 and a capacitor C9, one end of the capacitor C8 and one end of the capacitor C9 are connected with a ground wire in parallel, the other ends of the capacitor C8 and the capacitor C9 are both connected with a pin twelve of a voice recognition chip U2, and in the circuit, two capacitors are arranged on the pin twelve for filtering and then biasing the microphone, so that a floating voltage is ensured to be output to the microphone.
The first pin of the terminal P1 is also connected with one end of a terminal display diode D1, the other end of the terminal display diode D1 is connected with a first power supply, and the terminal P1 is connected with a diode D1 to prompt the current situation of the terminal.
The control circuit further comprises a RESET circuit and a crystal oscillator circuit, the RESET circuit comprises a RESET switch RESET, a resistor R97 and a capacitor C9, a pin III and a pin IV of the RESET switch RESET are communicated and are connected with one end of the resistor R97 and one end of a pin fourteen and a capacitor C9 of the singlechip chip U1, the other end of the resistor R97 is connected with a second power supply, the other end of the capacitor C9 is grounded, a pin I and a pin II of the RESET switch RESET are grounded, and the working principle is as follows: and a RESET switch RESET is pressed, and a low-level signal is input to the single chip microcomputer U1 to carry out RESET operation.
The crystal oscillator circuit comprises a crystal oscillator tube Y1, a capacitor C10 and a capacitor C34, wherein two ends of the crystal oscillator tube Y1 are respectively connected with one end of a capacitor C34 and one end of a capacitor C10, the other end of a capacitor C34 and the other end of a capacitor C10 are grounded, two ends of the crystal oscillator tube Y1 are respectively connected with twelve and thirteen pins of a singlechip chip U1, and clock signals are input to the singlechip chip through the crystal oscillator tube.
The control method of the control system comprises the following steps:
(1) the switch KEY1 of the switch circuit is pressed, the switch circuit inputs a control signal to the voice recognition module and controls the voice recognition module to work, voice is recorded through the microphone, the voice recognition module converts the input voice into a voice signal, and the voice signal is sent to the single chip U1 through the switch circuit;
(2) the singlechip chip converts the received voice signal into a gesture action signal and sends a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal;
(3) the first steering engine control module is used for controlling a steering engine for controlling the finger part to rotate according to the control signal and is used for controlling the finger part steering engine to rotate to drive a connecting line on the finger part to move so as to realize the movement of the finger part; and the second steering engine control module is used for controlling the steering engine of the arm part to rotate according to the control signal and controlling the steering engine of the arm part to rotate so as to drive the arm part to move.
The step (1) of converting the input voice into the voice signal by the voice recognition module comprises the step of converting the input voice signal into a voice digital signal by the voice recognition module.
The step (2) of converting the received voice signal into the gesture action signal by the singlechip chip comprises the step of comparing the received voice signal with a preset gesture action signal corresponding to the voice signal by the singlechip chip and determining the gesture action, if the input voice is a finger guess and is a stone, and then the corresponding gesture action signal is that the finger part is locked, and the arm part rotates by a certain angle.
And in the step (2), 'sending a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal' includes a start byte, a fixed instruction byte, a channel number byte, a steering engine low byte and a steering engine high byte, wherein the start byte is 0xff, the fixed designated byte is a byte for setting the speed of the steering engine, the channel number byte is a transmission channel corresponding to the finger part and the arm part, and the steering engine low byte and the steering engine high byte are used for placing control signal data.
In the step (3), the step (1) for controlling the finger part steering engine to rotate to drive the connecting line on the finger part to move to realize the finger part movement comprises the step of obtaining the corresponding relation (1-1) between the wrist rotation angle of the arm part determined according to the gesture action signal and the pulling length of the connecting line to obtain the pulling length of the connecting line, determining the connecting line pulling length to be used for controlling the finger part steering engine to rotate, and controlling the finger part steering engine to rotate according to the finger part steering engine rotation angle to drive the connecting line to move to realize the finger part movement.
The corresponding relation between the wrist rotation angle of the arm part and the pull-out length of the connecting line is as follows:
L2=（1.4+sinA*2.15）2+（3.3-cosA*2.15）2+2.32
wherein L is the pull-out length of the connecting line, L is a positive number, and A is the rotation angle of the wrist.
The connecting wire pulling-out length can be calculated through the formula through the wrist rotation angle, then the connecting wire pulling-out length is equal to the radius used for controlling the steering engine rope winding of the finger part, the steering engine rotation angle used for controlling the finger part is further calculated for the connecting wire pulling-out length according to the product of the finger part steering engine rotation angle and the radius, and therefore the finger part steering engine rotation angle can be controlled more reliably.

Claims (10)

1. A control method of a sign language manipulator, the sign language manipulator comprises a control circuit, a steering engine for driving the manipulator and a manipulator device, and is characterized in that: the control circuit comprises a single chip microcomputer chip U1, a voice recognition module, a first steering engine control module, a second steering engine control module, a terminal P1, a first power supply and a voltage stabilizing module; the single chip microcomputer chip, the voice recognition module, a first steering engine control module for controlling an arm steering engine of the manipulator device and a second steering engine control module for controlling a finger steering engine of the manipulator are respectively connected with a first power supply, and a terminal P1 is respectively connected with the single chip microcomputer chip U1, the voice recognition module and the first power supply; the single chip U1 is respectively connected with the first steering engine control module and the second steering engine control module; the input end of the voltage stabilizing module is connected with a first power supply, the output end of the voltage stabilizing module is a second power supply, and the voice recognition module, the first steering engine control module and the second steering engine control module are respectively connected with the second power supply; a pin fifty one of the singlechip chip U1 is connected with a pin three of the terminal P1, and a pin fifty two of the singlechip chip U1 is connected with a pin four of the terminal P1; the first steering engine module is connected with a pin ninety-two and a pin ninety-three of the singlechip chip U1, and the second steering engine module is connected with a pin twenty-five and a pin twenty-six of the singlechip chip; a pin I of the terminal P1 is connected with a first power supply, and a pin II of the terminal P1 is connected with a ground wire;
the voltage stabilizing module comprises a voltage stabilizing chip U5, a capacitor C2, a capacitor C3, a capacitor C4 and a capacitor C5, wherein one ends of the capacitor C2 and the capacitor C3 are connected with a first power supply, the other ends of the capacitor C2 and the capacitor C3 are connected with a ground wire, one ends of the capacitor C4 and the capacitor C5 are connected with the output end of the voltage stabilizing chip U5, and the other ends of the capacitor C4 and the capacitor C5 are connected with the ground wire; the input end of the voltage stabilizing chip U5 is connected with a first power supply;
the voice recognition module comprises a voice recognition chip U2, a voice chip filter circuit, a voice signal circuit, a voice display circuit, a switch circuit, a voice processing circuit and a reference voltage circuit, and a second power supply is connected with a power supply end of the voice recognition chip U2; the switch circuit is respectively connected with the second power supply, the voice processing circuit is connected with the voice recognition chip U2, the voice recognition chip U2 is connected with the switch circuit, the switch circuit is connected with the single chip microcomputer chip U1 through a terminal P1, one end of the voice display circuit is connected with the first power supply, the other end of the voice display circuit is connected with a ground wire, one end of the reference voltage circuit is grounded, and the other end of the reference voltage circuit is connected with the voice recognition chip U2; a seventh pin, a first pin and a thirty-two pin of the voice chip U2 are externally connected with a second power supply; pins eight, thirty-three and forty-nine of the voice chip U2 are grounded;
the voice signal circuit comprises a microphone, a resistor R2, a resistor R3, a capacitor C6 and a capacitor C7, wherein one end of the resistor R2 is connected with a pin twelve of a voice recognition chip U3, the other end of the resistor R2 is connected with one end of the capacitor C6 and one end of the microphone, the other end of the resistor R3 is connected with a ground wire, one end of a resistor R3 is connected with one end of the microphone and one end of the capacitor C7, the other end of the capacitor C6 is connected with a pin nine of the voice recognition chip U2, and the other end of the capacitor C7 is connected with a pin ten of the voice recognition chip U2; a twelve pin of the voice recognition chip U2 is also connected with a voice filter circuit;
the voice display circuit comprises a resistor R1, a capacitor C1 and a display diode D2, one end of the resistor R1 is connected with a first power supply, the other end of the resistor R1 is connected with one end of the display diode D2, the other end of the display diode D2 is connected with a pin twenty-nine of a voice recognition chip U2, one end of the capacitor C1 is connected with the first power supply, and the other end of the capacitor C1 is connected with a ground wire;
the switch circuit comprises a KEY switch KEY1, a resistor R6, a resistor R7, a resistor R8, a display diode D3 and a switch chip U3, wherein one end of the resistor R6 is connected with a first power supply, the other end of the resistor R6 is connected with a pin twelve of the switch chip U3, and a pin twelve of the switch chip U3 is connected with a pin three of a terminal P1; one end of the resistor R7 is connected with a first power supply, the other end of the resistor R7 is connected with a pin eleven and a pin nine of the switch chip, and the pin eleven of the switch chip is connected with a pin IV of the terminal P1; one end of the resistor R8 is connected with the second power supply, the other end of the resistor R8 is connected with one end of the display diode D3, and the other end of the display diode D3 is connected with a pin fourteen of the switch chip U3; one end of the key switch is connected with the ground wire, and the other end of the key switch is connected with a pin thirteen of the switch chip U3; a pin four of the switch chip U3 is connected with a pin forty-one of the voice recognition chip U2, and a pin five of the switch chip U3 is connected with a pin forty of the voice recognition chip U2; pin seven of the switch chip U3 is connected with pin thirty-nine of the voice recognition chip U2;
the voice processing circuit comprises a capacitor C11, a capacitor C13, a resistor R4 and a resistor R5, wherein one end of the capacitor C11 is connected with a pin twenty of a voice recognition chip U2, the other end of the capacitor C11 is connected with one end of a resistor R4, the other end of the resistor R4 is connected with a pin twenty-one of a voice recognition chip U2, one ends of the resistor R5 and the capacitor C13 are both connected with the resistor R4, and the other ends of the resistor R5 and the capacitor C13 are connected and connected with a pin twenty-two of the voice recognition chip U2;
the voice chip filter circuit comprises a capacitor C16, a capacitor C17, an inductor L1 and a capacitor C18, wherein one end of the capacitor C18 is connected with a second power supply, the other end of the capacitor C18 is connected with a ground wire, one end of an inductor L1 is connected with the second power supply, the other end of the inductor L1 is respectively connected with a pin nineteen and a pin twenty-three of the voice recognition chip U3, one ends of a capacitor C16 and the capacitor C17 are both connected with a pin nineteen and a pin twenty-three of the voice recognition chip U2, and the other ends of the capacitor C16 and the capacitor C17 are both connected with;
the reference voltage circuit comprises a capacitor C14 and a capacitor C15, one end of the capacitor C14 and one end of the capacitor C15 are connected with an eighteen pin of a voice recognition chip U2 in parallel, and the other ends of the capacitor C14 and the capacitor C15 are connected with a ground wire;
the first steering engine control module comprises a first steering engine driving chip U4a, a terminal J1a, a terminal J2a, a steering engine power supply, a capacitor E1a, a first steering engine chip current limiting circuit, an anti-interference circuit and a first steering engine display circuit, wherein one end of the first steering engine display circuit is connected with the terminal J1a, the other end of the first steering engine display circuit is connected with a ground wire, one end of the terminal J2a is connected with the first power supply, and the other end of the terminal J2a is connected with the ground wire; one end of the capacitor E1a is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J1a is connected with a steering engine power supply, and a pin II of the terminal J1a is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the first steering engine driving chip U4a are respectively connected with a steering engine for controlling fingers of the manipulator; a resistor R5a is connected between a pin six of the first steering engine driving chip U4a and a steering engine for controlling a manipulator finger, a resistor R6a is connected between a pin seven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R7a is connected between a pin eight of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R8a is connected between a pin nine of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R9a is connected between a pin ten of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R16a is connected between a pin eleven of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, a resistor R17a is connected between a pin twelve of the first steering engine driving chip U4a and the steering engine for controlling the manipulator finger, and a resistor R18a is connected between a pin thirteen of the first steering engine driving chip U4a and the manipulator finger, a resistor R19a is connected between a pin fifteen of the first steering engine driving chip U4a and a steering engine for controlling the fingers of the manipulator, and a resistor R20a is connected between a pin sixteen of the first steering engine driving chip U4a and the steering engine for controlling the fingers of the manipulator; pins fourteen and twenty-five of the first steering engine driving chip U4a are grounded, and pins twenty-eight of the first steering engine driving chip U4a are connected with a first power supply;
the first steering engine chip current limiting circuit comprises a resistor R2a, a resistor R3a and a resistor R4a, one end of the resistor R2a is connected with a pin III of a terminal J1a, and the other end of the resistor R2a is connected with a pin twenty-three of a first steering engine driving chip U4 a; one end of a resistor R3a is connected with a pin IV of a terminal J1a, the other end of the resistor R3a is connected with a pin twenty-six of a first steering engine driving chip U4a, one end of a resistor R4a is connected with a pin V of a terminal J1a, and the other end of the resistor R4a is connected with a pin twenty-seven of a first steering engine driving chip U4 a;
the first anti-interference circuit comprises a resistor R10a, a resistor R11a, a resistor R12a, a resistor R13a, a resistor R14a, a resistor R15a, a resistor R27a, a resistor R28a, a resistor R29a, a resistor R30a, a resistor R31a and a resistor R32a, one end of the resistor R10a is connected with a second power supply, and the other end of the resistor R10a is connected with a first pin of the first steering engine driving chip U4 a; one end of the resistor R11a is connected with a second power supply, and the other end of the resistor R11a is connected with a second pin of the first steering engine driving chip U4 a; one end of the resistor R12a is connected with a second power supply, and the other end of the resistor R12a is connected with a pin III of the first steering engine driving chip U4 a; one end of the resistor R13a is connected with a second power supply, and the other end of the resistor R13a is connected with a pin IV of the first steering engine driving chip U4 a; one end of the resistor R14a is connected with a second power supply, and the other end of the resistor R14a is connected with a pin V of the first steering engine driving chip U4 a; one end of the resistor R15a is connected with a second power supply, and the other end of the resistor R15a is connected with twenty-four pins of the first steering engine driving chip U4 a; one end of the resistor R27a is connected with the other end of the resistor R10a, and the other end of the resistor R27a is connected with the ground wire; one end of the resistor R28a is connected with the other end of the resistor R11a, and the other end of the resistor R28a is connected with the ground wire; one end of the resistor R29a is connected with the other end of the resistor R12a, and the other end of the resistor R29a is connected with the ground wire; one end of the resistor R30a is connected with the other end of the resistor R13a, and the other end of the resistor R30a is connected with the ground wire; one end of the resistor R31a is connected with the other end of the resistor R14a, and the other end of the resistor R31a is connected with the ground wire; one end of the resistor R32a is connected with the other end of the resistor R15a, and the other end of the resistor R32a is connected with the ground wire;
the first steering engine display circuit comprises a first steering engine display diode D1a and a resistor R1a, one end of the first steering engine display diode D1a is connected with a pin II of the terminal J1a, the other end of the steering engine display lamp D1a is connected with one end of a resistor R1a, and the other end of the resistor R1a is connected with a ground wire;
the second steering engine control module comprises a second steering engine driving chip U4b, a terminal J2b, a terminal J3b, a steering engine power supply, a capacitor E1b, a second steering engine chip current limiting circuit, a second anti-interference circuit and a second steering engine display circuit, one end of the second steering engine display circuit is connected with the terminal J3b, the other end of the second steering engine display circuit is connected with a ground wire, one end of the terminal J2b is connected with the steering engine power supply, and the other end of the terminal J2b is connected with the ground wire; one end of the capacitor E1b is connected with a power supply of the steering engine, and the other end is connected with a ground wire; a pin I of the terminal J3b is connected with a steering engine power supply, and a pin 2 of the terminal J3b is connected with a second power supply; a pin six, a pin seven, a pin eight, a pin nine, a pin ten, a pin eleven, a pin twelve, a pin thirteen, a pin fifteen and a pin sixteen of the second steering engine driving chip U4b are respectively connected with a steering engine for controlling the manipulator arm; a resistor R5b is connected between a pin six of the second steering engine driving chip U4b and a steering engine for controlling the mechanical arm, a resistor R6b is connected between a pin seven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R7b is connected between a pin eight of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R8b is connected between a pin nine of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R9b is connected between a pin ten of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R16b is connected between a pin eleven of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R17b is connected between a pin twelve of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, and a resistor R18b is connected between a pin thirteen of the second steering engine driving chip U4b and the steering engine for controlling the mechanical arm, a resistor R19b is connected between a pin fifteen of the second steering engine driving chip U4b and a steering engine for controlling the manipulator arm, and a resistor R20b is connected between a pin sixteen of the second steering engine driving chip U4b and the steering engine for controlling the manipulator arm; pins fourteen and twenty-five of the second steering engine driving chip U4b are grounded, and pins twenty-eight of the first steering engine driving chip U4b are connected with a first power supply;
twenty-seven pins of a second steering engine driving chip U4b are respectively connected with a third pin of a terminal J3b, twenty-six pins of a second steering engine driving chip U4b are respectively connected with a fourth pin of a terminal J3b, and twenty-three pins of a second steering engine driving chip U4b are respectively connected with a fifth pin of a terminal J3 b;
the second steering engine chip current limiting circuit comprises a resistor R2b, a resistor R3b, a resistor R4b and a resistor R2b, wherein one end of the resistor R2b is connected with a pin III of a terminal J3b, and the other end of the resistor R2b is connected with a pin twenty-three of a second steering engine driving chip U4 b; one end of a resistor R3b is connected with a pin IV of a terminal J3, the other end of the resistor R3b is connected with a pin twenty-six of a second steering engine driving chip U4b, one end of a resistor R4b is connected with a pin V of a terminal J3b, and the other end of the resistor R4b is connected with a pin twenty-seven of a second steering engine driving chip U4 b;
the second anti-interference circuit comprises a resistor R10b, a resistor R11b, a resistor R12b, a resistor R13b, a resistor R14b, a resistor R15b, a resistor R27b, a resistor R28b, a resistor R29b, a resistor R30b, a resistor R31b and a resistor R32b, wherein one end of the resistor R10b is connected with a second power supply, and the other end of the resistor R10b is connected with a first pin of a second steering engine driving chip U4 b; one end of the resistor R11b is connected with a second power supply, and the other end of the resistor R11b is connected with a second pin of the second steering engine driving chip U4 b; one end of the resistor R12b is connected with a second power supply, and the other end of the resistor R12b is connected with a pin III of the second steering engine driving chip U4 b; one end of the resistor R13b is connected with a second power supply, and the other end of the resistor R is connected with a pin IV of the second steering engine driving chip U4 b; one end of the resistor R14b is connected with a second power supply, and the other end of the resistor R14b is connected with a pin V of the second steering engine driving chip U4 b; one end of the resistor R15b is connected with a second power supply, and the other end of the resistor R15b is connected with twenty-four pins of a second steering engine driving chip U4 b; one end of the resistor R27b is connected with the other end of the resistor R10b, and the other end of the resistor R27b is connected with the ground wire; one end of the resistor R28b is connected with the other end of the resistor R11b, and the other end of the resistor R28b is connected with the ground wire; one end of the resistor R29b is connected with the other end of the resistor R12b, and the other end of the resistor R29b is connected with the ground wire; one end of the resistor R30b is connected with the other end of the resistor R13b, and the other end of the resistor R30b is connected with the ground wire; one end of the resistor R31b is connected with the other end of the resistor R14b, and the other end of the resistor R31b is connected with the ground wire; one end of the resistor R32b is connected with the other end of the resistor R15b, and the other end of the resistor R32b is connected with the ground wire;
the second steering engine display circuit comprises a second steering engine display diode D1b and a resistor R1b, one end of the second steering engine display diode D1b is connected with a pin II of the terminal J3b, the other end of the steering engine display lamp D1b is connected with one end of a resistor R1b, and the other end of the resistor R1b is connected with a ground wire;
the manipulator device comprises arm parts and finger parts, wherein the finger parts comprise ten fingers, each finger is connected with a steering engine for controlling the manipulator finger, the tail end and the starting end of each finger are connected with the steering engines for controlling the manipulator finger through connecting wires, the steering engines rotate to drive the fingers to move, the arm parts comprise two, each arm part comprises five arm joint parts, and each arm joint part is connected with one steering engine for controlling the manipulator arm;
the control method comprises the following steps:
(1) the switch KEY1 of the switch circuit is pressed, the switch circuit inputs a control signal to the voice recognition module and controls the voice recognition module to work, voice is recorded through the microphone, the voice recognition module converts the input voice into a voice signal, and the voice signal is sent to the single chip U1 through the switch circuit;
(2) the singlechip chip converts the received voice signal into a gesture action signal and sends a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal;
(3) the first steering engine control module is used for controlling a steering engine for controlling the finger part to rotate according to the control signal and is used for controlling the finger part steering engine to rotate to drive a connecting line on the finger part to move so as to realize the movement of the finger part; and the second steering engine control module is used for controlling the steering engine of the arm part to rotate according to the control signal and controlling the steering engine of the arm part to rotate so as to drive the arm part to move.
2. The control method of a sign language manipulator according to claim 1, characterized in that: the power supply circuit outputs a first power supply and a second power supply, the power supply circuit comprises a power supply chip UP1, a switch SW3, a voltage stabilizing diode D10C, a fuse F1, an electrolytic capacitor C56C, a capacitor C2C, an electrolytic capacitor C3C, a capacitor C1C, a diode D1C and a resistor R3C, the 2 end of the switch 3W3 is externally connected with a power supply, the first pin and the fifth pin of the switch SW3 are grounded, the third pin of the switch SW3 is connected with one end of the voltage stabilizing diode D10C and one end of the fuse F1, the other end of the voltage stabilizing diode D10C is grounded, one end of the fuse F1 is connected with one end of the electrolytic capacitor C56C and the output end of the first power supply, one end of the capacitor C2 UP C and the pin of the power supply chip UP1, the other end of the electrolytic capacitor C56C is grounded, one end of the power supply chip UP C is connected with one end of the pin of the four pins C, and one end of the electrolytic capacitor C1C 72 is connected with one end of the power supply chip UP C, The output end of the second power supply is connected with one end of a resistor R3C, the other end of the electrolytic capacitor C2C and the other end of the capacitor C1C are grounded, and the other end of the resistor R3C is grounded through a diode D1C.
3. The control method of a sign language manipulator according to claim 2, characterized in that: a pin twenty-eight of the first steering engine driving chip U4a is also connected with one end of a capacitor C1 a; the other end of the capacitor C1a is grounded; a pin twenty-eight of the second steering engine driving chip U4b is also connected with one end of a capacitor C1 b; the other terminal of the capacitor C1b is connected to ground.
4. The control method of a sign language manipulator according to claim 1, characterized in that: the connecting wire includes elastic wire and fixed line, and the back that the back of finger is close to wrist part position is fixed to the one end of elastic wire, and the end at the finger back is fixed to the other end of elastic wire, and the front end at the finger is fixed to the one end of fixed line, and the other end of fixed line passes through the guide and links to each other with the steering wheel.
5. The control method of a sign language manipulator according to claim 1, characterized in that: the model of the voice recognition chip U3 is LD 3320.
6. The control method of a sign language manipulator according to claim 1, characterized in that: the model of the switch chip is STC8F1K08S 2.
7. The control method of a sign language manipulator according to claim 1, characterized in that: the first steering engine driving chip U4a and the second steering engine driving chip U4b are PCA9685 in model number.
8. The control method of a sign language manipulator according to claim 1, characterized in that: the step (1) of converting the input voice into the voice signal by the voice recognition module comprises the step of converting the input voice signal into a voice digital signal by the voice recognition module.
9. The control method of a sign language manipulator according to claim 1, characterized in that: the step (2) of converting the received voice signal into a gesture action signal by the singlechip chip comprises the steps of comparing the received voice signal with a gesture action signal corresponding to a preset voice signal by the singlechip chip and determining a gesture action; and in the step (2), 'sending a control signal to the first steering engine control module and the second steering engine control module according to the gesture action signal' comprises a start byte, a fixed instruction byte, a channel number byte, a steering engine low byte and a steering engine high byte.
10. The control method of a sign language manipulator according to claim 1, characterized in that: the step (3) for controlling the finger part steering engine to rotate to drive the connecting line on the finger part to move to realize the movement of the finger part comprises the steps of determining the corresponding relation (1-1) between the wrist rotation angle of the arm part and the pull-out length of the connecting line according to the gesture action signal to obtain the pull-out length of the connecting line,
L2=（1.4+sinA*2.15）2+（3.3-cosA*2.15）2+2.32（1-1）
and the control device is used for controlling the rotation angle of the finger part steering engine according to the pull-out length of the connecting wire, and then controlling the finger part steering engine to rotate according to the rotation angle of the finger part steering engine so as to drive the connecting wire to move and realize the movement of the finger part.
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