CN207992809U - A kind of wired home robot control system - Google Patents

Abstract

A kind of wired home robot control system, include the body circuit control system in machine human organism and n sensing data acquisition control system being connect with appliance switch, the body circuit control system includes microprocessor I, voice collecting circuit module, drive circuit module and wifi module I etc., the sensing data acquisition control system includes microprocessor II, pernicious gas detection module, wifi module II and Temperature and Humidity module etc..When robot recognizes voice signal, the utility model, which is unlocked robot in a manner of Application on Voiceprint Recognition and controls robot, to be advanced, retreats, or remotely pass through client, send instructions to robot, robot controls the break-make of appliance switch by wifi again, the variation of humiture in family, pernicious gas can also be monitored in real time, it is not only of low cost, and can make life it is more intelligent, conveniently, save the time, improve life efficiency.

Description

A kind of wired home robot control system

Technical field

The utility model is related to a kind of robot automatic control technology field more particularly to a kind of controls of wired home robot System processed.

Background technology

With the development of the times, the raising of each field the degree of automation, the appearance of more and more robots so that Ren Menrong It easily associates robot for family life to facilitate respective demand, however, the universal cost of robot currently on the market It is higher so that most people can not undertake the expense of robot, and present smart home robot mainly passes through two kinds of sides Formula is unlocked, the first is to compare the details of mankind's difference fingerprint to carry out authentication unlock, i.e. fingerprint recognition Unlock；Second is to carry out analysis by the face-image of acquisition people and compare face characteristic information progress identity discriminating unlock, i.e., Face recognition unlocks, and both the above unlocking manner has the following disadvantages applied to household robot：

1. fingerprint recognition unlock needs to acquire fingerprint, the fingerprint of people is easy to wear, will be unable to solve when fingerprint is worn Lock；

2. though fingerprint recognition unlock is easy to operate, it is not suitable in the home scenarios of part, because of fingerprint recognition unlock pair Environmental requirement residing for user's finger is higher, such as finger is in the environment too moistened, and unlocked by fingerprint will fail；

3. recognition of face unlock have non-reproduction, although safety coefficient is high, the change of visual intensity or It can all be had an impact with the change of hair style whether the makeup of user, meanwhile, it is applied to domestic robot, recognition of face unlock Development cost is high, unpractical；

4. recognition of face unlock needs to shine the face of people, fingerprint recognition unlock is needed to touch fingerprint, be unlocked each time Success could be unlocked by being required for the contact in the robot progress short distance short time, not only complicated for operation, can not also be to machine People carries out remote control.

Therefore, there is an urgent need for develop robot a kind of inexpensive and suitable for family.

Invention content

The technical problems to be solved in the utility model is：A kind of low cost is provided, utilizes Application on Voiceprint Recognition solution lock control and energy Long-range monitoring family status, the wired home robot control system for controlling household appliances, to overcome above-mentioned prior art to exist Deficiency.

In order to solve the above technical problems, the technical scheme adopted by the utility model is that：A kind of wired home robot control System, the control system include body circuit control system II and sensing data acquisition control system III, the body circuit control System II processed is set in machine human organism, is connected respectively by wireless network and client I and sensing data acquisition control system III It connects, the sensing data acquisition control system III has n, is connect respectively with the appliance switch in family, n≤15.

Its further technical solution is：The body circuit control system II includes microprocessor I, voice collecting circuit Module resets and crystal oscillating circuit module I, power module I, drive circuit module, wifi module I and display module I；

The microprocessor I with voice collecting circuit module, is resetted and is driven with crystal oscillating circuit module I, power module I respectively Dynamic circuit module, wifi module I and display module I connect, and are also connect with LED light I, the voice collecting circuit module is also It is connect respectively with microphone and loudspeaker, the drive circuit module is also connect with the wheel of robot；

The microprocessor I is the central controller of body circuit control system II.

Further：III structure of the n sensing data acquisition control system is identical, including microprocessor II, and environment is different Normal alarm module resets and crystal oscillating circuit module II, pernicious gas detection module, power module II, wifi module II, display mould Block II and Temperature and Humidity module；

The microprocessor II with environment abnormal alarm module, resets and crystal oscillating circuit module II, pernicious gas inspection respectively Survey module, power module II, wifi module II, display module II connects with Temperature and Humidity module, also with LED light II, Solid-state relay with can plug matrix keyboard connect, the solid-state relay is also connect with appliance switch；

The microprocessor II is the central controller of sensing data acquisition control system III；

The open and close of the solid-state relay directly controls being switched on or switched off for appliance switch.

Further：The microprocessor I is stm32 controllers, and microprocessor II is S3C2440 controllers, institute's predicate Sound acquisition circuit module is WM8978 speech chips, and the wifi module I and wifi module II are ESP8266 modules, described Pernicious gas detection module is gas sensor MQ-135, and the Temperature and Humidity module is Temperature Humidity Sensor DHT11.

Further：The drive circuit module is L298N chips, and the display module I and display module II are LCD Touch display module, the environment abnormal alarm module are buzzer.

Further：The client I is computer or mobile phone.

Since using the above structure, a kind of wired home robot control system of the utility model has below beneficial to effect Fruit：

1. due to body circuit control system the matching using microprocessor I and voice collecting circuit module of the utility model It closes, robot is unlocked in a manner of Application on Voiceprint Recognition, moved forward or back using the matching of phonetic order to control robot, and Indirect control appliance switch switches on and off, and realizes automatically controlling for robot, not only at low cost, effect is good, easy to operate, For having the family of child and old man at home, it is relatively beneficial to them and learns to use, it is the most practical in the family, it is easy to push away Extensively；

2. the body circuit control system and sensing data acquisition control system due to the utility model are all made of ESP8266 Chip is as wifi module, and cheap to realize remote transmission and remote control, reduction robot cost makes ruck Has consuming capacity；

3. the utility model includes multiple sensing data acquisition control systems, a sensing data acquisition control system control The switch of one household electrical appliances can not only realize the function of remote control domestic electrical equipment, moreover it is possible to pernicious gas and humiture in the man of monitoring in real time, Undoubtedly make life more intelligent, conveniently, moreover it is possible to save the time, improve life efficiency.

With reference to the accompanying drawings and examples to a kind of technology of wired home robot control system of the utility model spy Sign is further described.

Description of the drawings

Fig. 1：A kind of system block diagram of the wired home robot control system of the utility model；

Fig. 2：A kind of circuit of " the body circuit control system " of the wired home robot control system of the utility model Block diagram；

Fig. 3：" the sensing data acquisition control system " of a kind of wired home robot control system of the utility model Circuit block diagram；

Fig. 4：A kind of control method operational flowchart of the wired home robot of the utility model embodiment two；

Fig. 5：In a kind of control method of wired home robot of the utility model embodiment two, microprocessor I and language The voice recognition processing operational flowchart of sound acquisition circuit module；

Fig. 6：In a kind of control method of wired home robot of the utility model embodiment two, the master of microprocessor II Function processing operation flow chart；

Fig. 7：In a kind of control method of wired home robot of the utility model embodiment two, the operation of system startup Flow chart.

In figure：

I-client, II-body circuit control system, III-sensing data acquisition control system；

1-microprocessor I, 2-voice collecting circuit modules, 21-microphones, 22-loudspeaker, 3-resets and crystal oscillating circuit Module I, 4-LED lights I, 5-power modules I, 6-drive circuit modules, 7-wifi modules I, 8-display modules I；

9-microprocessors II, 10-LED lights II, 11-environment abnormal alarm modules, 12-resets and crystal oscillating circuit Module II, 13-pernicious gas detection modules, 14-power modules II, 15-wifi modules II, 16-display modules II, 17- Solid-state relay, 18-Temperature and Humidity modules, 19-can plug matrix keyboard.

Specific implementation mode

Embodiment one

A kind of wired home robot control system, as shown in Figure 1, the control system includes body circuit control system II With sensing data acquisition control system III, the body circuit control system II is set in machine human organism, respectively by wireless Network is connect with client I and sensing data acquisition control system III, and the sensing data acquisition control system III has n, point It is not connect with the appliance switch in family, n≤15；

The body circuit control system II is used for：

One, the command signal that client I is sent is received；

Two, it receives the sound that scene is sent out and unlocks robot in a manner of Application on Voiceprint Recognition and control robot motion；

Three, identify and match the command signal sent from client I or the live sound sensing number to be controlled sent out According to acquisition control system III, the instruction letter of on-off switch is then sent to the one or more sensing data acquisition control system III Number；

Four, the data that sensing data acquisition control system III is sent are received and are shown；

Five, the data that sensing data acquisition control system III is sent are sent to client I；

The sensing data acquisition control system III is used for：

One, the control signal that body circuit control system II is sent is received, and controls corresponding appliance switch and is closed or disconnects；

Two, the humiture and harmful gas concentration of air are detected, and detection Value Data is sent to body circuit control system System II, if detected value is more than setting value, alarm.

As shown in Fig. 2, the body circuit control system II includes microprocessor I 1, voice collecting circuit module 2 resets With crystal oscillating circuit module I 3, power module I 5, drive circuit module 6, wifi module I 7 and display module I 8；

The microprocessor I 1 with voice collecting circuit module 2, resets and crystal oscillating circuit module I 3, power module I respectively 5, drive circuit module 6, wifi module I 7 and display module I 8 connect, and are also connect with LED light I 4, the voice collecting electricity Road module 2 is also connect with microphone 21 and loudspeaker 22 respectively, and the drive circuit module 6 is also connect with the wheel of robot；

The microprocessor I 1 is the central controller of body circuit control system II, is used for：

One, it receives the digital signal that voice collecting circuit module 2 is sent and stores into audio file, the unlock sound with setting Sound carries out comparison matching, if it fails to match, feedback signal is sent to display module I 8, if with default unlock Sound Match at Work(then unlocks robot and carries out the matching with action order sound in next step：If 1. being matched with sound " advance " or " retrogressing " Success, then be sent to drive circuit module 6 by corresponding movement command signal；If 2. with some sensing data acquisition control system III Control instruction signal is then sent to the sensing data acquisition control by preset voice signal successful match by wifi module I 7 System III；

Two, the command signal sent from client I and identification are received by wifi module I 7, after control instruction signal is led to It crosses wifi module I 7 and is sent to corresponding sensing data acquisition control system III；

Three, the humiture sent from sensing data acquisition control system III and pernicious gas number are received by wifi module I 7 According to being sent to display module I 8, while client I is sent to by wifi module I 7；

Four, voice signal is sent to voice collecting circuit module 2；

The voice collecting circuit module 2 is used for：One, the voice signal that microphone 21 acquires is received, and voice signal is filtered It is converted into digital signal after wave, is sent to the storage of microprocessor I 1；Two, the voice signal that microprocessor I 1 is sent is received, and is driven Dynamic loudspeaker 22 play；

The reset is used to send reset signal and clock signal to microprocessor I 1 with crystal oscillating circuit module I 3, when micro- place When abnormal or crash occurs in reason device I 1, resets and crystal oscillating circuit module I 3 is sent to reset signal, microprocessor I 1 is made to reset, It reruns；

The LED light I 4 is used for the working condition of display microprocessor I 1, when microprocessor I 1 works normally, LED light I 4 is always on, and when microprocessor I 1 is abnormal, LED light I 4 flickers；

The power module I 5 is used to provide power supply to body circuit control system II；

The drive circuit module 6 is used to receive the movement command signal that microprocessor I 1 is sent and driving wheel execution refers to It enables；

The wifi module I 7 is used for：One, it realizes double between microprocessor I 1 and sensing data acquisition control system III To wireless communication；Two, the two-way wireless communication between microprocessor I 1 and client I is realized；

The display module I 8 is used to receive the signal or data that microprocessor I 1 is sent and shows.

As shown in figure 3, III structure of the n sensing data acquisition control system is identical, including microprocessor II 9, environment Abnormal alarm module 11 resets and crystal oscillating circuit module II 12, pernicious gas detection module 13, power module II 14, wifi moulds Block II 15, display module II 16 and Temperature and Humidity module 18；

The microprocessor II 9 with environment abnormal alarm module 11, resets and crystal oscillating circuit module II 12, You Haiqi respectively Body detection module 13, power module II 14, wifi module II 15, display module II 16 and Temperature and Humidity module 18 connect, also With LED light II 10, solid-state relay 17 and can plug matrix keyboard 19 connect, the solid-state relay 17 also establishes by cable with family Connection connects；

The microprocessor II 9 is the central controller of sensing data acquisition control system III, is used for：

One, the control instruction sent from the microprocessor I 1 of body circuit control system II is received by wifi module II 15 Signal, and control solid-state relay 17 and be closed or disconnect；

Two, it receives the harmful gas concentration value sent from pernicious gas detection module 13 and is sent to display module II 16, Harmful gas concentration value is sent to microprocessor I 1 by wifi module II 15 simultaneously, if harmful gas concentration value is more than harmful Alarm signal is then transmitted to environment abnormal alarm module 11 by gas preset value；

Three, the temperature value sent from Temperature and Humidity module 18 and humidity value are received and is sent to display module II 16, together When temperature value and humidity value be sent to microprocessor I 1 by wifi module II 15, if temperature value or humidity value are more than default Value, then be transmitted to environment abnormal alarm module 11 by alarm signal；

The LED light II 10 is used for the working condition of display microprocessor II 9, when microprocessor II 9 works normally When, indicator light II 10 is always on, and when microprocessor II 9 is abnormal, indicator light II 10 flickers；

The environment abnormal alarm module 11 is used to receive the alarm signal that microprocessor II 9 transmits and alarms；

The reset is used to send reset signal and clock signal to microprocessor II 9 with crystal oscillating circuit module II 12, when When abnormal or crash occurs in microprocessor II 9, resets and be sent to reset signal with crystal oscillating circuit module II 12, make microprocessor II 9 reset, rerun；

The pernicious gas detection module 13 is used to detect harmful gas concentration in air, and by harmful gas concentration value It is sent to microprocessor II 9；

The power module II 14 is used to provide power supply to microprocessor II 9；

The wifi module II 15 is for realizing the two-way wireless communication between microprocessor II 9 and microprocessor I 1；

The display module II 16 is for receiving harmful gas concentration value, temperature value and humidity that microprocessor II 9 is sent Value, and show；

The open and close of the solid-state relay 17 directly controls being switched on or switched off for appliance switch；

The Temperature and Humidity module 18 is used to detect temperature value and humidity value in air, and by temperature value and humidity value It is sent to microprocessor II 9；

It is described can plug matrix keyboard 19 for indoor temperature, humidity and harmful gas concentration alarm threshold value to be arranged and matches Set wifi module networking pattern.

The microprocessor I 1 is stm32 controllers, and microprocessor II 9 is S3C2440 controllers, the voice collecting electricity Road module 2 is WM8978 speech chips, and the wifi module I 7 and wifi module II 15 are ESP8266 modules, described harmful Gas detection module 13 is gas sensor MQ-135, and the Temperature and Humidity module 18 is Temperature Humidity Sensor DHT11.

The drive circuit module 6 is L298N chips, and the display module I 8 and display module II 16 are that LCD is touched Display module, the environment abnormal alarm module 11 are buzzer.

The client I is computer or mobile phone.

Embodiment two

A kind of control method of wired home robot, it is with a kind of wired home robot described in embodiment one Control system come realize control robot method：

First, as shown in fig. 7, system starting step is as follows：

s401：Start；

s402：System break configuration initialization；

s403：System hardware initializes；

s404：Operating system initialization；

s405：Task initialization；

s406：System starts；

As shown in figure 4, the control robotic method is as follows：

s101：Microphone automatic collection voice signal；

s102：Body circuit control system recognition of speech signals, and matched with the unlock sound set, if matching Failure, then enter step s103, if successful match, enter step s104；

s103：Feedback signal is sent to display module I and is shown and user is reminded to unlock by microprocessor I to fail, and returns Return step s102；

s104：Robot is unlocked, the action order voice signal set is matched, if with sound " advance " successful match, S105 is then entered step, if with sound " retrogressing " successful match, enters step s106, if with some sensing data acquisition control III preset voice signal successful match of system, then enter step s107；

s105：Drive circuit module drives robot to advance, and enters step s108；

s106：Drive circuit module drives robot to retreat, and enters step s108；

s107：It is switched on or switched off the appliance switch of sensing data acquisition control system control, enters step s108；

s108：User's operation client sends out control instruction, and body circuit control system receives automatically；

s109：Microprocessor I identifies command signal, matches corresponding sensing data acquisition control system；

s110：It is switched on or switched off the appliance switch of sensing data acquisition control system control；

s111：It returns.

As shown in figure 5, in the body circuit control system II microprocessor I 1 and voice collecting circuit module 2 voice Identifying processing is as follows：

s201：System energization；

s202：GUI display interface layout components are initialized；

s203：WM8978 speech chips are initialized, audio information transmissions bus is initialized, configure voice collecting circuit module For full-duplex mode；

s204：Setting sends and receives audio data buffer, configures corresponding interrupt function；

s205：Setting voice authentication pattern is freely to say；

s206：Voice signal is filtered, noise is eliminated；

s207：Wav file is created in RAM card, preserves WAV formats head；

s208：DMA transfer is opened, receives and preserves audio data；

s209：News are called to fly Application on Voiceprint Recognition API, extraction vocal print carries out comparison matching, verification with registered vocal print, if matching Failure, then enter step s210, if successful match, enter step s211；

s210：Display module I shows matching error：Kernel exception, noise are excessive, sound is too short or similarity is too low, return Return step s209；

s211：Call result parameter acquirings as a result, succeeding in registration；

s212：Matching terminates, and returns.

As shown in fig. 6, in the sensing data acquisition control system III the principal function processing operation of microprocessor II 9 tool Steps are as follows for body：

s301：System energization；

s302：Temperature threshold, humidity threshold, pernicious gas threshold value are set, relay control switch number is defined；

s303：System clock initializes, and serial ports 1, serial ports 2 initialize, and the interruption of configuration serial ports 1, serial ports 2 and serial ports is matched It sets；

s304：Can plug matrix keyboard keys interrupt configuration, setting button failing edge triggering, initialize Temperature Humidity Sensor DHT11, gas sensor MQ-135 initialize LED light II, and setting LED light II is low level, is lighted；

s305：Wifi initialization of (a) serial ports, data initialization, configuration wifi module II are client mode, couple in router；

s306：Whether detection serial ports 2 has data, if so, s307 is entered step, if it is not, then entering step s310；

s307：Whether detection data is legal, if so, s308 is entered step, if it is not, then entering step s310；

s308：Data decode, and extract the solid-state relay in data and control signal, that is, carry out the extraction of switching signal 1,0；

s309：Judge control signal, if 1, then solid-state relay closure is controlled, if 0, then it is disconnected to configure solid-state relay It opens, enters step s310；

s310：Whether key scan, detection button are pressed, if button 1 is pressed, s311 are entered step, if button 2 is pressed Under, then s312 is entered step, if without key pressing is pressed, enters step s314；

s311：Wifi module II is resetted, s314 is entered step；

s312：Configuration wifi module II is reception pattern, receives the wifi account number cipher information that client is sent；

s313：Wifi is connected, s314 is entered step；

s314：Temperature Humidity Sensor DHT11 acquisitions and storage temperature, humidity data, gas sensor MQ-135 acquisitions are simultaneously Preserve harmful gas concentration data；

s315：Collected data are compared with the threshold value being arranged in step s302, if more than threshold value, then enter step Rapid s316 enters step s317 if being less than threshold value；

s316：Buzzer warning, return to step s306；

s317：Data are sent to wifi module II by serial ports 2, and in wifi module II be packaged and be uploaded to body Circuit control system, return to step s306, is recycled with this.

Above example is only the preferred embodiment of the utility model, and the structure of the utility model is not limited to above-mentioned implementation The form enumerated of example, any modification made within the spirit and principle of the present invention, equivalent replacement etc. should all include It is within the protection scope of the utility model.

Claims (6)

1. a kind of wired home robot control system, it is characterised in that：The control system includes body circuit control system II With sensing data acquisition control system III, the body circuit control system II is set in machine human organism, respectively by wireless Network is connect with client I and sensing data acquisition control system III, and the sensing data acquisition control system III has n, point It is not connect with the appliance switch in family, n≤15.

2. a kind of wired home robot control system as described in claim 1, it is characterised in that：The body circuit control System II includes microprocessor I（1）, voice collecting circuit module（2）, reset and crystal oscillating circuit module I（3）, power module I （5）, drive circuit module（6）, wifi module I（7）With display module I（8）；

The microprocessor I（1）Respectively with voice collecting circuit module（2）, reset and crystal oscillating circuit module I（3）, power module Ⅰ（5）, drive circuit module（6）, wifi module I（7）With display module I（8）Connection, also with LED light I（4）Connection, institute Predicate sound acquisition circuit module（2）Also respectively with microphone（21）And loudspeaker（22）Connection, the drive circuit module（6）Also with machine The wheel of device people connects；

The microprocessor I（1）For the central controller of body circuit control system II.

3. a kind of wired home robot control system as claimed in claim 2, it is characterised in that：The n sensing data III structure of acquisition control system is identical, including microprocessor II（9）, environment abnormal alarm module（11）, reset and crystal oscillating circuit Module II（12）, pernicious gas detection module（13）, power module II（14）, wifi module II（15）, display module II（16） With Temperature and Humidity module（18）；

The microprocessor II（9）Respectively with environment abnormal alarm module（11）, reset and crystal oscillating circuit module II（12）, it is harmful to Gas detection module（13）, power module II（14）, wifi module II（15）, display module II（16）With Temperature and Humidity module （18）Connection, also with LED light II（10）, solid-state relay（17）With can plug matrix keyboard（19）Connection, the solid-state Relay（17）Also it is connect with appliance switch；

The microprocessor II（9）For the central controller of sensing data acquisition control system III；

The solid-state relay（17）Open and close directly control being switched on or switched off for appliance switch.

4. a kind of wired home robot control system as claimed in claim 3, it is characterised in that：The microprocessor I（1） For stm32 controllers, microprocessor II（9）For S3C2440 controllers, the voice collecting circuit module（2）For WM8978 languages Sound chip, the wifi module I（7）With wifi module II（15）It is ESP8266 modules, the pernicious gas detection module （13）For gas sensor MQ-135, the Temperature and Humidity module（18）For Temperature Humidity Sensor DHT11.

5. a kind of wired home robot control system as claimed in claim 4, it is characterised in that：The drive circuit module （6）For L298N chips, the display module I（8）With display module II（16）It is LCD touch display modules, the environment is different Normal alarm module（11）For buzzer.

6. a kind of wired home robot control system as claimed in claim 5, it is characterised in that：The client I is electricity Brain or mobile phone.