CN208093153U - A kind of voice collecting circuit of robot - Google Patents
A kind of voice collecting circuit of robot Download PDFInfo
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- CN208093153U CN208093153U CN201820636399.6U CN201820636399U CN208093153U CN 208093153 U CN208093153 U CN 208093153U CN 201820636399 U CN201820636399 U CN 201820636399U CN 208093153 U CN208093153 U CN 208093153U
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Abstract
The utility model provides a kind of voice collecting circuit of robot, including the first voice collector, the first voice amplification circuit, the first differential amplifier circuit, the second differential amplifier circuit, the first sound channel sample circuit and second sound channel sample circuit；The positive input of first differential amplifier circuit is connect by the first voice amplification circuit with the first voice collector, the output end of the reverse input end of first differential amplifier circuit and the first sound channel sample circuit, the output end of the first differential amplifier circuit are connect with the positive input of the second differential amplifier circuit；The reverse input end of second differential amplifier circuit is connect with second sound channel sample circuit；The output end of second differential amplifier circuit is connect with the voice input pin of host computer chip.Voice signal for the sound channel for acquiring loudspeaker, and the voice signal with the acquisition of the first voice collector carries out differential amplification at twice, to realize to the denoising of speaker sound, improves precision of identifying speech of the host computer chip to microphone.
Description
Technical field
The utility model is related to electronic technology field more particularly to a kind of voice collecting circuits of robot.
Background technology
With the development of smart electronics, the function of intelligent robot is more and more perfect.Existing voice collecting system
System typically directly acquires voice messaging by microphone, and the audio input of position machine system, is identified by master system then up
Voice simultaneously executes the corresponding operation of voice.When the loudspeaker of robot are in pronunciation state, the voice input of user will will produce
Larger noise, therefore how to realize that the noise of loudspeaker is eliminated, urgent need to resolve.
Utility model content
The utility model embodiment provides a kind of voice collecting circuit of robot, to solve asking for speaker sound de-noising
Topic.
The utility model embodiment provides a kind of voice collecting circuit of robot, including the first voice collector, first
Voice amplification circuit, the first differential amplifier circuit, the second differential amplifier circuit, the first sound channel for acquiring the first sound channel of loudspeaker
Sample circuit, the second sound channel sample circuit for acquiring loudspeaker second sound channel and host computer chip；First differential amplification
The positive input of circuit is connect by first voice amplification circuit with first voice collector, first difference
The output end of the reverse input end of amplifying circuit and the first sound channel sample circuit, the output of first differential amplifier circuit
End is connect with the positive input of second differential amplifier circuit；The reverse input end of second differential amplifier circuit and institute
State the connection of second sound channel sample circuit；The output end of second differential amplifier circuit and the voice input pin of host computer chip
Connection.
Optionally, the first sound channel sample circuit includes the first attenuator circuit, the second attenuator circuit and is used for first
Sound channel difference turns the first operational amplifier circuit of single-ended signal, and the input terminal of first attenuator circuit and the first sound channel of loudspeaker are just
It is connected to signal output end, the output end of first attenuator circuit is connect with the positive input of first operational amplifier circuit；
The input terminal of second attenuator circuit and the negative-going signal output end of the first sound channel of loudspeaker connect, second attenuator circuit
Output end connect with the reverse input end of first operational amplifier circuit, the output end of first operational amplifier circuit and described first
The reverse input end of differential amplifier circuit connects.
Optionally, first attenuator circuit includes first resistor, second resistance and the first capacitance, the first resistor
One end is grounded, and the other end is connect by the second resistance with the forward signal output end of the first sound channel of the loudspeaker；It is described
The common end of first resistor and the second resistance is connected to the positive input of first operational amplifier circuit；First capacitance
It is in parallel with the first resistor.
Optionally, first operational amplifier circuit includes operational amplifier, 3rd resistor, the 4th resistance, the 5th resistance, the 6th
Resistance, the 7th resistance, the 8th resistance, the 9th resistance, the second capacitance, third capacitance, the 4th capacitance and the 5th capacitance, the operation
The positive input of amplifier is connect by the 3rd resistor with one end of second capacitance, second capacitance it is another
End is connect with the output end of first attenuator circuit；The reverse input end of the operational amplifier by the 4th resistance with
One end of the third capacitance connects, and the other end of the third capacitance is connect with the output end of second attenuator circuit；Institute
The output end for stating operational amplifier is connect with one end of the 4th capacitance, and the other end of the 4th capacitance is first fortune
The output end on electric discharge road；The power end of the operational amplifier is connect with positive pole, the positive pole successively pass through
Five resistance and the 6th resistance eutral grounding；One end of 7th resistance is connect with the positive input of the operational amplifier, another
End is connected to the common end of the 5th resistance and the 6th resistance；One end of 8th resistance is anti-with the operational amplifier
It is connected to input terminal, the other end is connected to the common end of the 5th resistance and the 6th resistance；One end of 9th resistance with
The reverse input end of the operational amplifier connects, and the other end is connect with the output end of the operational amplifier, the 5th electricity
Hold and the 9th resistor coupled in parallel.
Optionally, the second sound channel sample circuit includes third attenuator circuit, the 4th attenuator circuit and is used for second
Sound channel difference turns the second operational amplifier circuit of single-ended signal, and the input terminal of the third attenuator circuit and the second sound channel of loudspeaker are just
It is connected to signal output end, the output end of the third attenuator circuit is connect with the positive input of second operational amplifier circuit；
The input terminal of 4th attenuator circuit and the negative-going signal output end of the second sound channel of loudspeaker connect, the 4th attenuator circuit
Output end connect with the reverse input end of second operational amplifier circuit, the output end of second operational amplifier circuit and described second
The reverse input end of differential amplifier circuit connects.
Optionally, the voice collecting circuit further includes orientation acquisition chip and at least two voice directions acquisition electricity
Road, each voice directions Acquisition Circuit include the second voice collector, the second voice amplification circuit, third differential amplification electricity
The positive input of road and the 4th differential amplifier circuit, the third differential amplifier circuit passes through second voice amplification circuit
It is connect with second voice collector, the reverse input end of the third differential amplifier circuit and first sound channel sampling electricity
Road connects, and the output end of the third differential amplifier circuit is connect with the positive input of the 4th differential amplifier circuit；Institute
The reverse input end for stating the 4th differential amplifier circuit is connect with the second sound channel sample circuit；4th differential amplifier circuit
Output end connect with the voltage input pin of the orientation acquisition chip；The signal output pin of the orientation acquisition chip with
The host computer chip connection；Each second voice collector is towards different level orientations.
Optionally, the orientation acquisition chip exports azimuth information to institute according to the voltage value of each voltage input pin
State host computer chip, the corresponding driving of target bearing control robot that the host computer chip is determined according to the azimuth information
Module works.
Optionally, the drive module includes the first drive module for controlling robot movement, the upper movement
Piece exports first control signal to first drive module, so that first drive module controls according to the target bearing
Robot is moved to the target bearing.
Optionally, the drive module includes the second drive module of the rotation for controlling robot, the host computer
Chip exports second control signal to second drive module, so that two drive module controls according to the target bearing
The head of robot turns to the target bearing.
Optionally, the voice collecting circuit further includes voice wake-up circuit, the input terminal of the voice wake-up circuit with
The output end of first voice collector connects, and the output end of the voice wake-up circuit connects with the orientation acquisition chip
It connects.
In this way, in the present embodiment, setting voice collecting circuit includes the first voice collector, the first voice amplification electricity
Road, the first differential amplifier circuit, the second differential amplifier circuit, the first sound channel sample circuit for acquiring the first sound channel of loudspeaker,
Second sound channel sample circuit for acquiring loudspeaker second sound channel and host computer chip；The forward direction of first differential amplifier circuit
Input terminal is connect by first voice amplification circuit with first voice collector, first differential amplifier circuit
The output end of reverse input end and the first sound channel sample circuit, the output end of first differential amplifier circuit and described the
The positive input of two differential amplifier circuits connects；The reverse input end of second differential amplifier circuit and the second sound channel
Sample circuit connects；The output end of second differential amplifier circuit is connect with the voice input pin of host computer chip.Due to
The voice signal of the sound channel of loudspeaker is acquired, and the voice signal with the acquisition of the first voice collector carries out differential amplification at twice,
To realize the denoising to speaker sound.Finally, using the voice signal after de-noising as the audio input of host computer chip,
To improve precision of identifying speech of the host computer to microphone.
Description of the drawings
In order to illustrate more clearly of the technical solution of the utility model embodiment, the utility model embodiment will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without having to pay creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure chart of the voice collecting circuit for the robot that the utility model embodiment provides；
Fig. 2 be the utility model embodiment provide robot voice collecting circuit in attenuator circuit structure chart；
Fig. 3 be the utility model embodiment provide robot voice collecting circuit in the first operational amplifier circuit structure
Figure.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
It clearly and completely describes, it is clear that described embodiment is the utility model a part of the embodiment, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment taken, shall fall within the protection scope of the present invention.
Unless otherwise defined, the technical term or scientific terminology used in the utility model should be the utility model institute
The ordinary meaning that the personage with general technical ability is understood in category field." first " that is used in the utility model, " second " with
And similar word is not offered as any sequence, quantity or importance, and be used only to distinguish different component parts.Together
Sample, the similar word such as "one" or " one " does not indicate that quantity limits yet, but indicates that there are at least one." connection " or
The similar word such as " connected " is not limited to physics or mechanical connection, but may include electrical connection, no matter
It is direct or indirect."upper", "lower", "left", "right" etc. are only used for indicating relative position relation, when being described object
After absolute position changes, then the relative position relation also correspondingly changes.
Referring to Fig.1, the structure chart of the voice collecting circuit of the utility model robot is provided.As shown in Figure 1, in this reality
It applies in example, the voice collecting circuit of above-mentioned robot includes the first voice collector 101, the first voice amplification circuit 102, first
Differential amplifier circuit 103, the second differential amplifier circuit 104, the first sound channel sample circuit for acquiring the first sound channel of loudspeaker
105, the second sound channel sample circuit 106 and host computer chip 107 for acquiring loudspeaker second sound channel；First differential amplification
The positive input of circuit 103 is connect by first voice amplification circuit 102 with first voice collector 101, institute
The output end of the reverse input end and the first sound channel sample circuit 105 of the first differential amplifier circuit 103 is stated, described first is poor
The output end of amplifying circuit 103 is divided to be connect with the positive input of second differential amplifier circuit 104；Second difference is put
The reverse input end of big circuit 104 is connect with the second sound channel sample circuit 106；Second differential amplifier circuit 104
Output end is connect with the voice input pin of host computer chip 107.
In the utility model embodiment, above-mentioned first voice collector 101 is main microphon, for acquiring voice data,
And it is sent to the use of host computer chip 107.Above-mentioned first sound channel and second sound channel are respectively L channel and right channel, specifically,
Can be the first sound channel be L channel, second sound channel is right channel；Can also be the first sound channel be right channel, second sound channel be a left side
Sound channel.Wherein, after the voice signal of above-mentioned microphone acquisition carries out voice amplification by the first voice amplification circuit 102, directly
Be input to the positive input of the first differential amplifier circuit 103, the first differential amplifier circuit 103 by amplified voice signal with
The voice signal of first sound channel of reverse input end input carries out first difference amplification, filters out the sound of the first sound channel of loudspeaker,
It is then output to the positive input of the second differential amplifier circuit 104；Second differential amplifier circuit 104 will filter out the first of loudspeaker
The voice signal of sound channel and the voice signal of the second sound channel of reverse input end input carry out second order difference amplification, filter out loudspeaker
The sound of first sound channel.It is exported to upper movement piece 107 finally by the output end of the second differential amplifier circuit 104.
Wherein, above-mentioned first voice amplification circuit 102 can use special amplification chip, amplify for example, by using MAX9812
20DB。
In this way, in the present embodiment, setting voice collecting circuit includes the first voice collector 101, the amplification of the first voice
Circuit 102, the first differential amplifier circuit 103, the second differential amplifier circuit 104, the first sound for acquiring the first sound channel of loudspeaker
Road sample circuit 105, the second sound channel sample circuit 106 for acquiring loudspeaker second sound channel and with upper movement 107；Described
The positive input of one differential amplifier circuit 103 passes through first voice amplification circuit 102 and first voice collector
101 connections, the output end of the reverse input end of first differential amplifier circuit 103 and the first sound channel sample circuit 105,
The output end of first differential amplifier circuit 103 is connect with the positive input of second differential amplifier circuit 104；It is described
The reverse input end of second differential amplifier circuit 104 is connect with the second sound channel sample circuit 106；Second differential amplification
The output end of circuit 104 is connect with the voice input pin of host computer chip 107.Due to the sound letter of the sound channel of acquisition loudspeaker
Number, and the voice signal with the acquisition of the first voice collector 101 carries out differential amplification at twice, to realize to speaker sound
Denoising.Finally, using the voice signal after de-noising as the audio input of host computer chip 107, to improve host computer
To the precision of identifying speech of microphone.
Specifically, the structure of above-mentioned first sound channel sample circuit 105 and second sound channel sample circuit 106 can be according to reality
It needs to be configured, in the present embodiment, as shown, above-mentioned first sound channel sample circuit 105 includes the first attenuator circuit
1051, the second attenuator circuit 1052 and the first operational amplifier circuit 1053 for the first sound channel difference to be turned to single-ended signal, described
The input terminal of one attenuator circuit 1051 and the forward signal output end of the first sound channel of loudspeaker connect, first attenuator circuit
1051 output end is connect with the positive input of first operational amplifier circuit 1053；The input of second attenuator circuit 1052
End is connect with the negative-going signal output end of the first sound channel of loudspeaker, the output end of second attenuator circuit 1052 and described first
The reverse input end of operational amplifier circuit 1053 connects, the output end of first operational amplifier circuit 1053 and first differential amplification electricity
The reverse input end on road 103 connects.
In the present embodiment, the circuit structure of 1051 and second attenuator circuit 1052 of above-mentioned first attenuator circuit can basis
Actual needs is configured, for example, in the present embodiment, the first attenuator circuit 1051 and the second attenuator circuit 1052 may be used
Identical circuit structure, as shown in Fig. 2, above-mentioned first attenuator circuit 1051 includes first resistor R1, second resistance R2 and first
One end of capacitance C1, the first resistor R1 are grounded, the first sound channel that the other end passes through the second resistance R2 and the loudspeaker
Forward signal output end connection；The common end of the first resistor R1 and second resistance R2 is connected to first amplifier
The positive input of circuit 1053；The first capacitance C1 is in parallel with the first resistor R1.
Wherein, above-mentioned first sound channel sample circuit 105 and second sound channel sample circuit 106 can pass through universal serial bus
Interface J1 is connect with the forward signal output end of the first sound channel and negative-going signal output end.As shown, above-mentioned first sound channel
Forward signal output end is connect with 4 feet of Universal Serial Bus Interface J1.
In the present embodiment, above-mentioned first resistor R1 and second resistance R2 can be defeated to the forward signal of the first sound channel of loudspeaker
The voltage of outlet is divided, to the voice signal of the forward signal output end output of the first sound channel of decaying.Wherein, to sound
The attenuation coefficient of signal can adjust the ratio of first resistor R1 and second resistance R2, and specific attenuation coefficient is not done herein into one
The restriction of step.
Further, the circuit structure of above-mentioned first operational amplifier circuit 1053 can be configured according to actual conditions, for example,
In the present embodiment as shown in figure 3, above-mentioned first operational amplifier circuit 1053 includes operational amplifier U1,3rd resistor R3, the 4th electricity
Hinder R4, the 5th resistance R5, the 6th resistance R6, the 7th resistance R7, the 8th resistance R8, the 9th resistance R9, the second capacitance C2, third electricity
Hold C3, the 4th capacitance C4 and the 5th capacitance C5, the operational amplifier U1 positive input by the 3rd resistor R3 with
One end of the second capacitance C2 connects, the output end of the other end and first attenuator circuit 1051 of the second capacitance C2
Connection；The reverse input end of the operational amplifier U1 is connected by one end of the 4th resistance R4 and third capacitance C3
It connects, the other end of the third capacitance C3 is connect with the output end of second attenuator circuit 1052；The operational amplifier U1
Output end connect with one end of the 4th capacitance C4, the other end of the 4th capacitance C4 is first operational amplifier circuit
1053 output end；The power end of the operational amplifier U1 is connect with positive pole, the positive pole successively pass through
Five resistance R5 and the 6th resistance R6 ground connection；One end of the 7th resistance R7 connects with the positive input of the operational amplifier U1
It connects, the other end is connected to the common end of the 5th the resistance R5 and the 6th resistance R6；One end of the 8th resistance R8 with it is described
The reverse input end of operational amplifier U1 connects, and the other end is connected to the common end of the 5th the resistance R5 and the 6th resistance R6；
One end of the 9th resistance R9 is connect with the reverse input end of the operational amplifier U1, the other end and the operational amplifier
The output end of U1 connects, and the 5th capacitance C5 is in parallel with the 9th resistance R9.
In the present embodiment, the difference voice signal of the first sound channel is input in operational amplifier U1 simultaneously, is finally exported
Single-ended signal is converted to, is then exported single-ended signal by the 4th capacitance C4 so that it is convenient to follow-up difference channel pair the
The voice signal of one sound channel is filtered out.Wherein, the voltage swing of above-mentioned positive pole can be configured according to actual needs,
In the present embodiment, the voltage of the positive pole is 3.3V.Above-mentioned 5th resistance R5's and the 6th resistance R6 is in the same size, can be with
It is 1K Ω.LMV321 may be used in above-mentioned operational amplifier U1.
Further, identical electricity may be used in above-mentioned first sound channel sample circuit 105 and second sound channel sample circuit 106
Line structure.Specifically, the second sound channel sample circuit 106 includes third attenuator circuit 1061, the 4th attenuator circuit 1062 and uses
In the second operational amplifier circuit 1063 that second sound channel difference is turned to single-ended signal, the input terminal and loudspeaker of the third attenuator circuit 1061
The forward signal output end of second sound channel connects, the output end of the third attenuator circuit 1061 and second amplifier electricity
The positive input on road 1063 connects；The negative-going signal of the input terminal of 4th attenuator circuit 1062 and the second sound channel of loudspeaker
Output end connects, and the output end of the 4th attenuator circuit 1062 connects with the reverse input end of second operational amplifier circuit 1063
It connects, the output end of second operational amplifier circuit 1063 is connect with the reverse input end of second differential amplifier circuit 1063.
In the present embodiment, the circuit structure and above-mentioned first of 1061 and the 4th attenuator circuit 1062 of above-mentioned third attenuator circuit
Attenuator circuit 1051 is consistent with the structure of the second attenuator circuit 1052, and circuit structure and principle decline to the first sound channel with reference to above-mentioned
The explanation for the circuit that subtracts 1051, details are not described herein.Likewise, the circuit structure and principle of above-mentioned second operational amplifier circuit 1063 and the
The structure of one operational amplifier circuit 1053 is consistent, is referred to the above-mentioned explanation to the first operational amplifier circuit 1053, details are not described herein.
Further, it is based on above-described embodiment, in the present embodiment, the voice collecting circuit further includes orientation acquisition chip
108 and at least two voice directions Acquisition Circuits 109, each voice directions Acquisition Circuit 109 adopted including the second voice
Storage 1091, the second voice amplification circuit 1092, third differential amplifier circuit 1903 and the 4th differential amplifier circuit 1094, it is described
The positive input of third differential amplifier circuit 1093 is adopted by second voice amplification circuit 1092 and second voice
Storage 1091 connects, and the reverse input end of the third differential amplifier circuit 1093 connects with the first sound channel sample circuit 105
It connects, the output end of the third differential amplifier circuit 1093 and the positive input of the 4th differential amplifier circuit 1094 connect
It connects；The reverse input end of 4th differential amplifier circuit 1094 is connect with the second sound channel sample circuit 106；Described 4th
The output end of differential amplifier circuit 1094 is connect with the voltage input pin of the orientation acquisition chip 108；The orientation acquisition
The signal output pin of chip 108 is connect with the host computer chip 107；Each second voice collector 1091 is not towards
Same level orientation.
Specifically, the quantity of above-mentioned second voice collector 1091 can be configured according to actual needs, different
Two voice collectors 1091 are arranged when different level orientations refers to that robot is normally placed, the second different voice collectors
1091 towards different horizontal directions, in this way, when user is when a certain orientation makes a sound, the second different voice collectors
The voltage swing of 1091 collected voice signal corresponding conversions is different, so that the control source of orientation acquisition chip 108
Pin can detect that different voltage values, the size of the voltage value indicate the azimuth information of sound source.In the present embodiment, orientation
Acquisition chip 108 directly can be output to host computer chip 107 using the size of the voltage value as azimuth information, then by upper
Movement piece 107 calculates specific target bearing, specific target bearing can also be calculated according to the size of voltage value, then by mesh
Mark orientation is output to as azimuth information in host computer chip 107.
In the present embodiment, above-mentioned orientation acquisition chip 108 is according to the voltage value output side of each voltage input pin
Position information to the host computer chip 107, the host computer chip 107 is controlled according to the target bearing that the azimuth information determines
The corresponding drive module work of robot.
Wherein, above-mentioned drive module may include controlling the first drive module of robot movement and for controlling machine
Second drive module of the rotation of people.Specifically, host computer chip 107 is connect with the first drive module and the second drive module,
The operation that different drive modules executes is different.
For example, in one embodiment, when the drive module includes the first drive module for controlling robot movement,
Host computer chip 107 can export first control signal to first drive module, so that described according to the target bearing
First drive module control robot is moved to the target bearing.Specifically, the move mode of above-mentioned robot can basis
Actual needs is configured, such as the leg of robot can be bent and walk about, and pulley can also be arranged and slided.Above-mentioned first drives
Dynamic model root tuber can drive corresponding motor to operate according to first control signal, to control robot walk about to target bearing or
Sliding.In the present embodiment, robot can be moved to user at one's side, so that language can be realized without coming into robot in user
Sound inputs, and improves the accuracy of voice input.
In another embodiment, when above-mentioned drive module includes the second drive module of the rotation for controlling robot,
The host computer chip 107 can export second control signal to second drive module according to the target bearing, so that
The head of second drive module control robot turns to the target bearing.Specifically, the head of above-mentioned robot can be set
Setting shaft makes head is formed with body to be rotatablely connected, which can connect with a motor, the motor and the second drive module
Connection, drive module can control motor operating, so that the operation of rotary head, so that robot being capable of automatic top pair
User links up, and improves the experience of user.Under normal conditions, the first voice collector 101 is arranged in the front of robot,
By carrying out rotary head operation after positioning so that the first voice collector 101 is close to user, so as to improve the essence of voice collecting
Degree.
Further, above-mentioned voice collecting circuit further includes voice wake-up circuit 110, the voice wake-up circuit 110
Input terminal is connect with the output end of first voice collector 101, output end and the orientation of the voice wake-up circuit
Acquisition chip 108 connects.
In the present embodiment, the circuit structure of above-mentioned voice wake-up circuit 110 can be actually needed with foundation to be configured.Specifically
, voice wake-up circuit 110 is used to receive the voice signal of the first voice collector 101 output, is then wake up orientation acquisition core
The GPIO mouths of piece 108 carry out voltage detecting.Wherein, voice wake-up circuit 110 can be called out after receiving specified voice
Wake up operation, such as specified voice is " little Bai ", when with spoken by voice " little Bai " when, it will wake up robot.In this way, can
To realize the interaction with robot, increase the experience of user.
More than, only specific embodiment of the present utility model, but protection scope of the utility model is not limited thereto,
Any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation or replace
It changes, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with claim
Subject to protection domain.
Claims (10)
1. a kind of voice collecting circuit of robot, which is characterized in that including the first voice collector, the first voice amplification electricity
Road, the first differential amplifier circuit, the second differential amplifier circuit, the first sound channel sample circuit for acquiring the first sound channel of loudspeaker,
Second sound channel sample circuit for acquiring loudspeaker second sound channel and host computer chip；The forward direction of first differential amplifier circuit
Input terminal is connect by first voice amplification circuit with first voice collector, first differential amplifier circuit
The output end of reverse input end and the first sound channel sample circuit, the output end of first differential amplifier circuit and described the
The positive input of two differential amplifier circuits connects；The reverse input end of second differential amplifier circuit and the second sound channel
Sample circuit connects；The output end of second differential amplifier circuit is connect with the voice input pin of host computer chip.
2. the voice collecting circuit of robot according to claim 1, which is characterized in that the first sound channel sample circuit
Including the first attenuator circuit, the second attenuator circuit and the first operational amplifier circuit for the first sound channel difference to be turned to single-ended signal, institute
The forward signal output end for stating the input terminal of the first attenuator circuit and the first sound channel of loudspeaker connects, first attenuator circuit
Output end is connect with the positive input of first operational amplifier circuit；The input terminal of second attenuator circuit and the first of loudspeaker
The negative-going signal output end of sound channel connects, the reversed input of the output end of second attenuator circuit and first operational amplifier circuit
End connection, the output end of first operational amplifier circuit are connect with the reverse input end of first differential amplifier circuit.
3. the voice collecting circuit of robot according to claim 2, which is characterized in that first attenuator circuit includes
First resistor, second resistance and the first capacitance, one end ground connection of the first resistor, the other end pass through the second resistance and institute
State the forward signal output end connection of the first sound channel of loudspeaker；The common end of the first resistor and the second resistance is connected to
The positive input of first operational amplifier circuit；First capacitance is in parallel with the first resistor.
4. the voice collecting circuit of robot according to claim 2, which is characterized in that first operational amplifier circuit includes
Operational amplifier, 3rd resistor, the 4th resistance, the 5th resistance, the 6th resistance, the 7th resistance, the 8th resistance, the 9th resistance,
The positive input of two capacitances, third capacitance, the 4th capacitance and the 5th capacitance, the operational amplifier passes through the 3rd resistor
It is connect with one end of second capacitance, the other end of second capacitance is connect with the output end of first attenuator circuit；
The reverse input end of the operational amplifier is connect by the 4th resistance with one end of the third capacitance, the third electricity
The other end of appearance is connect with the output end of second attenuator circuit；The output end of the operational amplifier and the 4th capacitance
One end connection, the other end of the 4th capacitance is the output end of first operational amplifier circuit；The electricity of the operational amplifier
Source is connect with positive pole, the positive pole successively pass through the 5th resistance and the 6th resistance eutral grounding；7th resistance
One end connect with the positive input of the operational amplifier, the other end is connected to the public affairs of the 5th resistance and the 6th resistance
End altogether；One end of 8th resistance is connect with the reverse input end of the operational amplifier, and the other end is connected to the described 5th
The common end of resistance and the 6th resistance；One end of 9th resistance is connect with the reverse input end of the operational amplifier, separately
One end is connect with the output end of the operational amplifier, the 5th capacitance and the 9th resistor coupled in parallel.
5. the voice collecting circuit of robot according to claim 1, which is characterized in that the second sound channel sample circuit
Including third attenuator circuit, the 4th attenuator circuit and the second operational amplifier circuit for second sound channel difference to be turned to single-ended signal, institute
The forward signal output end for stating the input terminal of third attenuator circuit and the second sound channel of loudspeaker connects, the third attenuator circuit
Output end is connect with the positive input of second operational amplifier circuit；The input terminal of 4th attenuator circuit and the second of loudspeaker
The negative-going signal output end of sound channel connects, the reversed input of the output end and second operational amplifier circuit of the 4th attenuator circuit
End connection, the output end of second operational amplifier circuit are connect with the reverse input end of second differential amplifier circuit.
6. the voice collecting circuit of robot according to claim 1, which is characterized in that the voice collecting circuit also wraps
Orientation acquisition chip and at least two voice directions Acquisition Circuits are included, each voice directions Acquisition Circuit includes the second language
Sound collector, the second voice amplification circuit, third differential amplifier circuit and the 4th differential amplifier circuit, the third differential amplification
The positive input of circuit is connect by second voice amplification circuit with second voice collector, the third difference
The reverse input end of amplifying circuit is connect with the first sound channel sample circuit, the output end of the third differential amplifier circuit with
The positive input of 4th differential amplifier circuit connects；The reverse input end of 4th differential amplifier circuit and described the
Two sound channel sample circuits connect；The control source of the output end and the orientation acquisition chip of 4th differential amplifier circuit is drawn
Foot connects；The signal output pin of the orientation acquisition chip is connect with the host computer chip；Each second voice is adopted
Storage is towards different level orientations.
7. the voice collecting circuit of robot according to claim 6, which is characterized in that the orientation acquisition chip according to
The voltage value of each voltage input pin exports azimuth information to the host computer chip, and the host computer chip is according to
The corresponding drive module work of target bearing control robot that azimuth information determines.
8. the voice collecting circuit of robot according to claim 7, which is characterized in that the drive module includes being used for
The first drive module of robot movement is controlled, the host computer chip exports first control signal extremely according to the target bearing
First drive module, so that first drive module control robot is moved to the target bearing.
9. the voice collecting circuit of robot according to claim 7, which is characterized in that the drive module includes being used for
The second drive module of the rotation of robot is controlled, the host computer chip exports second control signal according to the target bearing
To second drive module, so that the head of two drive module control robot turns to the target bearing.
10. the voice collecting circuit of robot according to claim 6, which is characterized in that the voice collecting circuit is also
Including voice wake-up circuit, the input terminal of the voice wake-up circuit is connect with the output end of first voice collector, institute
The output end of predicate sound wake-up circuit is connect with the orientation acquisition chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820636399.6U CN208093153U (en) | 2018-04-28 | 2018-04-28 | A kind of voice collecting circuit of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820636399.6U CN208093153U (en) | 2018-04-28 | 2018-04-28 | A kind of voice collecting circuit of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320755A (en) * | 2018-04-28 | 2018-07-24 | 子歌教育机器人（深圳）有限公司 | A kind of voice collecting circuit of robot |
| CN110099342A (en) * | 2019-06-11 | 2019-08-06 | 江西联创电声有限公司 | Telephone transmitter |
-
2018
- 2018-04-28 CN CN201820636399.6U patent/CN208093153U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108320755A (en) * | 2018-04-28 | 2018-07-24 | 子歌教育机器人（深圳）有限公司 | A kind of voice collecting circuit of robot |
| CN110099342A (en) * | 2019-06-11 | 2019-08-06 | 江西联创电声有限公司 | Telephone transmitter |
| CN110099342B (en) * | 2019-06-11 | 2024-01-05 | 江西联创电声有限公司 | Transmitter unit |
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