CN206461765U - Service robot - Google Patents
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- CN206461765U CN206461765U CN201621451295.5U CN201621451295U CN206461765U CN 206461765 U CN206461765 U CN 206461765U CN 201621451295 U CN201621451295 U CN 201621451295U CN 206461765 U CN206461765 U CN 206461765U
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 59
- 239000003990 capacitor Substances 0.000 claims description 12
- 230000008030 elimination Effects 0.000 claims description 12
- 238000003379 elimination reaction Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 3
- 238000002955 isolation Methods 0.000 claims description 3
- 238000011946 reduction process Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001976 improved effect Effects 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 230000003321 amplification Effects 0.000 abstract 3
- 238000003199 nucleic acid amplification method Methods 0.000 abstract 3
- 238000010586 diagram Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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Abstract
The embodiment of the utility model discloses service robot, this service robot include a plurality of microphones, and these a plurality of microphones set to receive input speech signal from different directions. The service robot further comprises an analog-to-digital conversion circuit, a power amplification circuit, a loudspeaker and a main control chip, wherein the power amplification circuit provides an output voice signal for the loudspeaker, the analog-to-digital conversion circuit respectively carries out analog-to-digital conversion on an input voice signal received by a microphone and the output voice signal provided by the power amplification circuit and transmits the input voice signal and the output voice signal to the main control chip, and the main control chip carries out noise reduction processing on the input voice signal subjected to the analog-to-digital conversion by using the output voice signal subjected to the analog-to-digital conversion. By the mode, the service robot can receive voice signals from different directions, and the sound receiving effect of the service robot is further effectively improved through noise reduction processing.
Description
Technical field
The utility model embodiment is related to robot field, more particularly to a kind of service robot.
Background technology
With the development of science and technology service robot has been widely used for maintaining, repairing, transport, cleaning, guarantor
The numerous areas such as peace, rescue, monitoring, guiding, education, amusement and recreation.In order to improve the interactivity of service robot, in server
Microphone is generally provided with device people, to receive the input speech signal of user, and input speech signal is identified as accordingly
Control instruction, and then perform corresponding action.However, current service robot only sets wheat in the front of service robot
Gram wind, causes radio reception effect bad.Further, the input speech signal of reception is easily disturbed by loudspeaker.
Utility model content
The utility model embodiment provides a kind of service robot, bad to solve existing service robot radio reception effect
Problem.
In order to solve the above technical problems, the technical scheme that the utility model embodiment is used is：A kind of service is provided
Robot, the service robot includes multiple microphones, and the plurality of microphone is arranged to receive input voice letter from different directions
Number.The service robot further comprises analog to digital conversion circuit, power amplifier, loudspeaker and main control chip, wherein power amplifier electricity
Road direction loudspeaker provides output voice signal, input speech signal and power amplifier that analog to digital conversion circuit is respectively received microphone
The output voice signal that circuit is provided carries out analog-to-digital conversion, and transmits to main control chip, and main control chip is utilized after analog-to-digital conversion
Output voice signal to after analog-to-digital conversion input speech signal carry out noise reduction process.
Wherein, the service robot further comprises head shell, head shell be provided with it is multigroup enter sound hole, wherein every group
Enter sound hole and be correspondingly arranged a microphone.
Wherein, enter sound hole and be arranged at the top of head shell, and be divided into five groups, including be arranged at the top of head shell
The center at center enters sound hole and enters sound hole front side, rear side, left side and the right side with reference to being arranged at center with being oriented for head shell
Enter sound hole, rear side on front side of side and enter that sound hole, left side enter sound hole and right side enters sound hole.
Wherein, front side enters sound hole, rear side and enters that sound hole, left side enter sound hole and right side enters sound hole and is located at and enters sound hole in using center
On the heart and the same circumference of radius identical.
Wherein, loudspeaker includes being arranged on the left speaker and right speaker of the head shell left and right sides.
Wherein, service robot further comprises Harmonics elimination circuit, Harmonics elimination circuit be connected to several change-over circuits with
Between power amplifier, and eliminated for the harmonic components in the output voice signal that is provided power amplifier.
Wherein, power amplifier includes being used for the first differential data line of the first differential signal of offer and for providing second
Second differential data line of differential signal, wherein Harmonics elimination circuit include the first divider resistance, the second divider resistance and the 3rd
Divider resistance, the first end of the first divider resistance connects the first differential data line, the first end connection second of the second divider resistance
Differential data line, the first end of the 3rd divider resistance and the second end connect the second end and the second partial pressure of the first divider resistance respectively
Second end of resistance, the second end of the first divider resistance and the second end of the second divider resistance further connect analog-to-digital conversion respectively
Circuit.
Wherein, Harmonics elimination circuit further comprises the first filter capacitor and the second filter capacitor, wherein the first filtered electrical
Appearance is connected between the second end of the first divider resistance and analog to digital conversion circuit, and the second filter capacitor is connected to the second divider resistance
The second end and analog to digital conversion circuit between.
Wherein, analog to digital conversion circuit includes the first analog to digital conversion circuit and the second analog to digital conversion circuit, wherein the first modulus
Change-over circuit and the second analog to digital conversion circuit are respectively used to the input speech signal and/or work(that microphone is received connected
The output voice signal that electric discharge road is provided carries out analog-to-digital conversion into the first data signal and the second data signal, service robot
Further comprise FPGA circuitry, FPGA circuitry is connected to the first analog to digital conversion circuit and the second analog to digital conversion circuit and main control chip
Between, and for being inputted after the first data signal and the second data signal are merged into the 3rd data signal to main control chip.
Wherein, service robot further comprises first circuit board and second circuit board, and wherein main control chip is arranged at
On one circuit board, the first analog to digital conversion circuit, the second analog to digital conversion circuit and FPGA circuitry are arranged on second circuit board, and first
The isolation resistance for being connected between main control chip and FPGA circuitry is further provided with circuit board.
The beneficial effect of the utility model embodiment is：In the service robot that the utility model embodiment is provided,
Input speech signal is received by setting multiple microphones from different directions, the radio reception effect of service robot thus can be improved
Really.Further, the output voice signal provided using power amplifier carries out noise elimination to the input speech signal of collection, can subtract
Interference of the small loudspeaker to microphone.
Brief description of the drawings
Fig. 1 is the circuit diagram of the service robot according to the utility model first embodiment；
Fig. 2 is the structural representation of the service robot according to the utility model second embodiment；
Fig. 3 is the circuit diagram of the service robot according to the utility model 3rd embodiment；
Fig. 4 is the circuit diagram of the service robot according to the utility model fourth embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belongs to the scope of the utility model protection.
Shown in reference picture 1, Fig. 1 is according to the circuit diagram of the service robot of the utility model first embodiment.This reality
Applying the service robot of example includes multiple microphones 101,102,103,104,105, analog to digital conversion circuit 111,112, loudspeaker
121st, 122, power amplifier 131,132, FPGA circuitry (field programmable gate array) 14 and main control chip 15.
In the present embodiment, microphone 101-105 is arranged to receive input speech signal from different directions, it is possible thereby to have
Effect improves radio reception effect.
With further reference to shown in Fig. 2, Fig. 2 is according to the structural representation of the service robot of the utility model second embodiment
Figure.
Service robot further comprises head shell 20, head shell 20 be provided with it is multigroup enter sound hole 21-25, wherein
Enter every group in sound hole 21-25 and enter sound hole and be correspondingly arranged with one in microphone 101-105.
Specifically, enter sound hole 21-25 and be arranged at the top of head shell 20, and be divided into five groups, including be arranged at head
The center of the top center of portion's housing 20 enters sound hole 21 and is reference with the direction (direction shown in arrow D1) of head shell 20
The center of being arranged at, which enters to enter on front side of front side, rear side, left side and the right side of sound hole 21 sound hole 22, rear side and enters sound hole 23, left side, enters sound
Hole 24 and right side enter sound hole 25.Microphone 101-105 is arranged at the inside of head shell 20 and with center enters sound hole 21 respectively, preceding
Side enters sound hole 22, rear side and enters that sound hole 23, left side enter sound hole 24 and right side enters sound hole 25 and is correspondingly arranged, with cause through it is above-mentioned enter sound hole
The voice signal of input is gathered by microphone 101-105 and is converted into analog signal.In the present embodiment, front side enters sound hole
22nd, rear side enter sound hole 23, left side enter sound hole 24 and right side enter sound hole 25 be located at by center enter sound hole 21 centered on and radius is identical
Same circumference on.
Further, loudspeaker 121,122 is arranged on the left and right sides of head shell 20.In other embodiments, front side enters sound
Hole 22 and rear side, which enter the distance between sound hole 23, can also be set greater than that left side enters sound hole 24 and right side enters between sound hole 25
Distance, thus further reduction loudspeaker 121,122 couples of microphone 101-105 interference.Above-mentioned microphone 101-105's is specific
Quantity and set-up mode are only illustrative, in other embodiments, and the particular number and set-up mode of microphone can also roots
According to need change.
Further as shown in figure 1, power amplifier 131,132 provides output voice signal to loudspeaker 121,122, modulus turns
Change what circuit 111,112 was respectively provided the microphone 101-105 input speech signals received and power amplifier 131,132
Export voice signal and carry out analog-to-digital conversion, and transmit to main control chip 15.
Specifically, in the present embodiment, the connection of analog to digital conversion circuit 111 microphone 101-104, and by microphone 101-
104 input speech signals received carry out analog-to-digital conversion into the first data signal, the connection microphone of analog to digital conversion circuit 111
103 and power amplifier 131,132 and then the input speech signal and power amplifier 131,132 that are received microphone 103 carried
The output voice signal of confession carries out analog-to-digital conversion into the second data signal.FPGA circuitry 14 be connected to analog to digital conversion circuit 111,
Between 112 and main control chip 15, and it is defeated after the 3rd data signal for the first data signal and the second data signal to be merged into
Enter to main control chip 15.Wherein, the first data signal and the second data signal that analog to digital conversion circuit 111,112 is formed can
To be I2S or other kinds of data signals, FPGA circuitry 14 presses the first data signal received and the second data signal
Packed according to form is subscribed, and main control chip 15 is sent to after the 3rd data signal of formation.Main control chip 15 is according to predetermined
Packing form extracts corresponding output voice signal and input speech signal from the 3rd data signal, and utilization exports voice
Signal carries out noise reduction process to input speech signal.
Specifically, the voice signal that loudspeaker 121,122 is exported can be resurveyed and loaded by microphone 101-105
In the voice signal inputted to user, so that including one in the input speech signal of microphone 101-105 institutes actual acquisition
Determine the noise of degree.In order to eliminate above-mentioned noise, in the present embodiment, analog to digital conversion circuit 111,112 pairs of power amplifiers are utilized
131st, 132 it is supplied to the output voice signal of loudspeaker 121,122 to synchronize ground analog-to-digital conversion, main control chip 15 is again to modulus
Output voice signal after conversion carries out the displacement of certain time-delay and anti-phase, and carries out mould according to analog to digital conversion circuit 111,112
The amplitude of input speech signal after number conversion by displacement and it is anti-phase after the amplitude of output voice signal be adjusted, last general
Output voice signal after adjustment carries out logic add computing with input speech signal, thus eliminates the noise in input speech signal
Component, and then improve the degree of accuracy of subsequent speech recognition.
Main control chip 15 is also estimated (for example, signal to noise ratio is commented to the corresponding input speech signals of microphone 101-105
Estimate), and therefrom select optimal input speech signal to carry out speech recognition and follow-up action response according to assessment result.
With further reference to shown in Fig. 3, Fig. 3 illustrates according to the circuit of the service robot of the utility model 3rd embodiment
Figure.
In the present embodiment, service robot further sets Harmonics elimination circuit 16 on the basis of foregoing circuit, humorous
Ripple eliminates circuit 16 and is connected between analog to digital conversion circuit 112 and power amplifier 131, and for being provided power amplifier 131
Output voice signal in harmonic components eliminated.Certainly, in other embodiments, can be in analog to digital conversion circuit 112
Identical Harmonics elimination circuit 16 is set between power amplifier 132.
Specifically, power amplifier 131 includes being used for the first differential data line of the first differential signal of offer and is used for
Second differential data line of the second differential signal is provided.Harmonics elimination circuit 16 includes the first divider resistance 161, the second partial pressure electricity
The divider resistance 163 of resistance 162 and the 3rd, the first end of the first divider resistance 161 connects the first differential data line, the second divider resistance
162 first end connects the second differential data line, and the first end of the 3rd divider resistance 163 and the second end connect first point respectively
Second end of piezoresistance 161 and the second end of the second divider resistance 162, the second end of the first divider resistance 161 and the second partial pressure
Second end of resistance 162 further connects analog to digital conversion circuit 112 respectively.By setting the first divider resistance 161, the second partial pressure
Resistance 162 and the 3rd divider resistance 163 can effectively eliminate that the first differential data line and the second differential data line are exported
Harmonic components in one differential signal and the second differential signal.
Further, Harmonics elimination circuit 16 further comprises the first filter capacitor 164 and the second filter capacitor 165, wherein
First filter capacitor 164 is connected between the second end of the first divider resistance 161 and analog to digital conversion circuit 112, the second filtered electrical
Hold 165 to be connected between the second end of the second divider resistance 163 and analog to digital conversion circuit 112.By setting the first filter capacitor
164 and second filter capacitor 165 can effectively eliminate the DC component in the first differential signal and the second differential signal.
With further reference to shown in Fig. 4, Fig. 4 illustrates according to the circuit of the service robot of the utility model fourth embodiment
Figure.In the present embodiment, main control chip 15 is arranged on first circuit board 17, analog to digital conversion circuit 111,112 and FPGA circuitry
14 are arranged on second circuit board 18.Connected between first circuit board 17 and second circuit board 18 by wire, and in order to disappear
The noise introduced except signal in transmitting procedure.It is further provided with being used to be connected to main control chip 15 on first circuit board 17
Isolation resistance 191,192 between FPGA circuitry 14.By by main control chip 15 and analog to digital conversion circuit 111,112 and FPGA
Circuit 14 is respectively arranged on two circuit boards can be so that circuit layout more rationalizes, and can be further respectively by mutually solely
Vertical power supply is powered, and then avoids data of the main control chip 15 in the course of the work to analog to digital conversion circuit 111,112 from adopting
The influence of collection.
In summary, it should be readily apparent to one skilled in the art that the service robot provided in the utility model embodiment
In, input speech signal is received by setting multiple microphones from different directions, the radio reception of service robot thus can be improved
Effect.Further, the output voice signal provided using power amplifier carries out noise elimination to the input speech signal of collection, can
Reduce interference of the loudspeaker to microphone.
Embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited, it is all
It is the equivalent structure or equivalent flow conversion made using the utility model specification and accompanying drawing content, or directly or indirectly transports
Used in other related technical fields, similarly it is included in scope of patent protection of the present utility model.
Claims (10)
1. a kind of service robot, it is characterised in that the service robot includes multiple microphones, the multiple microphone is set
Be set to and receive input speech signal from different directions, the service robot further comprise analog to digital conversion circuit, power amplifier,
Loudspeaker and main control chip, wherein the power amplifier provides output voice signal, the analog-to-digital conversion to the loudspeaker
The output voice signal that the input speech signal and the power amplifier that circuit is respectively received the microphone are provided enters
Row analog-to-digital conversion, and transmit to the main control chip, the main control chip utilizes the output voice signal after analog-to-digital conversion to mould
Input speech signal after number conversion carries out noise reduction process.
2. service robot according to claim 1, it is characterised in that the service robot further comprises head shell
Body, the head shell be provided with it is multigroup enter sound hole, wherein every group enters sound hole and is correspondingly arranged microphone described in one.
3. service robot according to claim 2, it is characterised in that it is described enter sound hole be arranged at the head shell
Top, and be divided into five groups, including be arranged at the center of the top center of the head shell and enter sound hole and with the head
Housing is oriented to enter to enter sound hole, rear side on front side of sound hole front side, rear side, left side and right side and enter sound with reference to being arranged at the center
Hole, left side enter sound hole and right side enters sound hole.
4. service robot according to claim 3, it is characterised in that the front side enter sound hole, the rear side enter sound hole,
The left side enters sound hole and the right side enter sound hole be located at by the center enter sound hole centered on and the same circumference of radius identical
On.
5. service robot according to claim 3, it is characterised in that the loudspeaker includes being arranged on the head shell
The left speaker and right speaker of the body left and right sides.
6. service robot according to claim 1, it is characterised in that the service robot further comprises that harmonic wave disappears
Except circuit, the Harmonics elimination circuit is connected between several change-over circuits and the power amplifier, and for the work(
Harmonic components in the output voice signal that electric discharge road is provided are eliminated.
7. service robot according to claim 6, it is characterised in that the power amplifier includes poor for providing first
First differential data line of sub-signal and the second differential data line for providing the second differential signal, wherein the harmonic wave disappears
Except circuit includes the first divider resistance, the second divider resistance and the 3rd divider resistance, the first end of first divider resistance connects
First differential data line is connect, the first end of second divider resistance connects second differential data line, the described 3rd
The first end of divider resistance and the second end connect the second end of first divider resistance and second divider resistance respectively
Second end of the second end, the second end of first divider resistance and second divider resistance further connects the mould respectively
Number change-over circuit.
8. service robot according to claim 7, it is characterised in that the Harmonics elimination circuit further comprises first
Filter capacitor and the second filter capacitor, wherein first filter capacitor is connected to the second end and the institute of first divider resistance
State between analog to digital conversion circuit, second filter capacitor is connected to the second end of second divider resistance and the modulus turns
Change between circuit.
9. service robot according to claim 1, it is characterised in that analog-digital conversion circuit as described turns including the first modulus
Circuit and the second analog to digital conversion circuit are changed, wherein first analog to digital conversion circuit and second analog to digital conversion circuit are used respectively
The output voice letter that the input speech signal and/or the power amplifier received in the microphone connected is provided
Number carry out analog-to-digital conversion into the first data signal and the second data signal, the service robot further comprises FPGA circuitry,
The FPGA circuitry is connected between first analog to digital conversion circuit and the second analog to digital conversion circuit and the main control chip, and
Inputted for first data signal and the second data signal to be merged into after the 3rd data signal to the main control chip.
10. service robot according to claim 9, it is characterised in that the service robot further comprises first
Circuit board and second circuit board, wherein the main control chip is arranged on first circuit board, first analog to digital conversion circuit, institute
State the second analog to digital conversion circuit and the FPGA circuitry is arranged on second circuit board, further set on the first circuit board
There is the isolation resistance for being connected between the main control chip and the FPGA circuitry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621451295.5U CN206461765U (en) | 2016-12-27 | 2016-12-27 | Service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621451295.5U CN206461765U (en) | 2016-12-27 | 2016-12-27 | Service robot |
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| Publication Number | Publication Date |
|---|---|
| CN206461765U true CN206461765U (en) | 2017-09-01 |
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ID=59697507
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621451295.5U Active CN206461765U (en) | 2016-12-27 | 2016-12-27 | Service robot |
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| Country | Link |
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| CN (1) | CN206461765U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107071652A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Service robot |
-
2016
- 2016-12-27 CN CN201621451295.5U patent/CN206461765U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107071652A (en) * | 2016-12-27 | 2017-08-18 | 深圳市优必选科技有限公司 | Service robot |
| CN107071652B (en) * | 2016-12-27 | 2023-08-04 | 深圳市优必选科技有限公司 | Service robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province, China 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231208 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 22nd floor, building C1, Nanshan wisdom Park, 1001 Xueyuan Avenue, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |