CN208547850U - Indoor mobile robot based on auditory localization - Google Patents
Indoor mobile robot based on auditory localization Download PDFInfo
- Publication number
- CN208547850U CN208547850U CN201821103703.7U CN201821103703U CN208547850U CN 208547850 U CN208547850 U CN 208547850U CN 201821103703 U CN201821103703 U CN 201821103703U CN 208547850 U CN208547850 U CN 208547850U
- Authority
- CN
- China
- Prior art keywords
- chip
- resistance
- capacitor
- module
- power supply
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000004807 localization Effects 0.000 title claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims abstract description 27
- 230000005611 electricity Effects 0.000 claims abstract description 13
- 230000004888 barrier function Effects 0.000 claims abstract description 5
- 239000003990 capacitor Substances 0.000 claims description 63
- 238000001914 filtration Methods 0.000 claims description 13
- 239000013078 crystal Substances 0.000 claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 5
- 230000003321 amplification Effects 0.000 description 9
- 238000003199 nucleic acid amplification method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 239000011159 matrix material Substances 0.000 description 4
- 230000000087 stabilizing effect Effects 0.000 description 4
- 108091006146 Channels Proteins 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000005669 field effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000016776 visual perception Effects 0.000 description 2
- 108090000699 N-Type Calcium Channels Proteins 0.000 description 1
- 102000004129 N-Type Calcium Channels Human genes 0.000 description 1
- 108010075750 P-Type Calcium Channels Proteins 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
Landscapes
- Amplifiers (AREA)
Abstract
The utility model provides the indoor mobile robot based on auditory localization, power supply realizes the conversion of voltage by power module, power module supplies electricity to base plate electric machine by motor drive module, the rotation axis of base plate electric machine is connected with driving wheel, power module also supplies electricity to ultrasonic distance measuring module respectively, ultrasonic wave receiving module, microphone and single-chip microcontroller, the ultrasonic signal that ultrasonic distance measuring module issues is returned and received by ultrasonic wave receiving module by barrier, ultrasonic wave receiving module sends a signal to single-chip microcontroller, and single-chip microcontroller passes through calculating.The utility model can be positioned according to sound, and realize that the three-dimensional coordinate of sound source position resolves under environment indoors, controlled trolley from initial position, drawn close from trend sound source position, the function of automatic obstacle avoiding is realized in moving process.
Description
Technical field
The utility model belongs to robot field, more particularly to the indoor mobile robot based on auditory localization.
Background technique
Robot is as the intelligence individual towards complex environment background, and what is faced is the world of multi-modal information, to various
It all has corresponding information processing system and information acquiring pattern to application environment, and corresponding determine can be made according to the variation of environment
Plan.For the various external sensors of robotic equipment, higher performance indicator and broader application range are made it have, is robot
To the important means of intelligent development.
Robot vision technology has greatly widened the application range of robot, improves machine task efficiency.But
Visual perception is limited by sight and visibility, and when light condition is poor or barrier obstruction, visual perception will
Failure.
Summary of the invention
Utility model aims to solve the problems of the above-mentioned prior art, the interior based on auditory localization is provided
Mobile robot can realize that the three-dimensional coordinate of sound source position resolves under environment indoors, and control trolley and go out from initial position
Hair, draws close from trend sound source position, and the function of automatic obstacle avoiding is realized in moving process.
The utility model adopts the following technical solution:
Indoor mobile robot based on auditory localization, power supply realize the conversion of voltage, power module by power module
Base plate electric machine is supplied electricity to by motor drive module, the rotation axis of base plate electric machine is connected with driving wheel, chassis, base plate electric machine, drive
Driving wheel constitute body chassis, power module also respectively with ultrasonic distance measuring module, ultrasonic wave receiving module, microphone and single-chip microcontroller
Electrical connection, microphone positions sound source, and is connected with single-chip microcomputer signal, and single-chip microcontroller is connected with motor drive module signal,
To drive moving of car to sound source position, ultrasonic signal that ultrasonic distance measuring module issues is by barrier return and ultrasonic
Wave receiving module receives, and ultrasonic distance measuring module, ultrasonic wave receiving module are connected with single-chip microcomputer signal, and the microphone is
5, and constitute the microphone array of quadrangular pyramid.
Further preferred technical solution is that the motor drive module includes P3 driving signal interface, P2 motor
Power interface, P1 motor interface, BTS7960 chip U2, BTS7960 chip U3,74AHC244 latch U1, and P3 driving signal connects
Mouth latches U1, BTS7960 chip U2, BTS7960 chip U3 with 74AHC244 and is connected, P2 motor power interface and BTS7960
Chip U2, BTS7960 chip U3 is connected, and P1 motor interface is connected with BTS7960 chip U2, BTS7960 chip U3, BTS7960
Chip U2 latches U1 with 74AHC244 and is connected, and BTS7960 chip U3 latches U1 with 74AHC244 and is connected.
Further preferred technical solution is that the power supply is equipped with power supply anti-overvoltage protection circuit, and power supply is
The anode of battery, power supply anti-overvoltage protection circuit is connected with the source electrode of the one end slide rheostat resistance R2, PMOS tube Q1
It connects, the drain electrode of PMOS tube Q1 is connected with the source electrode of NMOS pipe Q3, the grid and the one end resistance R1 and resistance RL1 mono- of PMOS tube Q1
End is connected, and the resistance R1 other end is connected with the anode of light emitting diode D1, and the cathode and MOSFET of light emitting diode D1 is managed
The source electrode of Q2 is connected, and the drain electrode of MOSFET pipe Q2 is connected with the other end of slide rheostat R2, the one end resistance R3, MOSFET
The grid of pipe Q2 is connected with the resistance R3 other end, and the other end of resistance RL1 is connected with the other end of resistance R3, NMOS tube Q3
Grid be connected with resistance R3, the drain electrode of NMOS tube Q3 is connected with the other end of slide rheostat R2, slide rheostat R2
The other end be also connected with resistance R4, battery cathode is connected with the other end of the other end of resistance R4, resistance R3.
Further optimal technical scheme is that the power module includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V
Voltage regulator circuit, wherein
The power module includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V voltage regulator circuit, wherein 12V pressure stabilizing electricity
Road includes XL6009 electric current conversion chip, 10V power input and the one end input capacitance C1, the one end capacitor C2, the one end inductance L1,
The VIN interface of XL6009 electric current conversion chip is connected, and the inductance L1 other end and zener diode D1 anode, XL6009 electric current turn
The port SW for changing chip is connected, cathode and the one end capacitor C3, the one end output capacitance C4, the one end the resistance R2 phase of zener diode D1
Connection, the other end of resistance R2 are connected with the port FB of XL6009 electric current conversion chip, the FB of XL6009 electric current conversion chip
It is connected with the one end resistance R1,10V power input and the input capacitance C1 other end, the capacitor C2 other end, XL6009 electric current are converted
The port GND of chip, the other end of resistance wire R1, the capacitor C3 other end, the output capacitance C4 other end are connected；
12V conversion circuit 5, the VIN phase of 12V power input and the one end capacitor C5, A1212S-2W isolated power supply module
Even, the capacitor C5 other end is connected and is grounded with the GND of A1212S-2W isolated power supply module, A1212S-2W isolated power supply module
It is connected between+V and 0V by resistance R3, is connected between-the V and 0V of A1212S-2W isolated power supply module by resistance R4,
A1212S-2W isolated power supply module ground；
5V voltage regulator circuit includes LM2596 chip, and power input is connected with the VIN of LM2596 chip, and with capacitor C6
One end is connected, the OUT and inductance L2 and zener diode D2 cathode of LM2596 chip, slide rheostat RV1, the one end capacitor C7,
The slide rheostat RV1 other end is connected with the one end resistance R5, the capacitor C7 other end and the resistance R5 other end, the inductance L2 other end,
The one end capacitor C8 is connected, and the port FB of LM2596 chip is connected with, OUT terminal mouth, the one end resistance R6, the capacitor C6 other end and
The port ON/OFF of LM2596 chip, the port GND of LM2596 chip, the resistance R6 other end, the zener diode D2 other end,
The capacitor C8 other end is connected, and is grounded；
3.3V voltage regulator circuit includes AMS1117-3.3V linear voltage regulator, power input and the one end capacitor C9, capacitor C10
One end, the port IN of AMS1117-3.3V linear voltage regulator are connected, the OUT terminal and capacitor of AMS1117-3.3V linear voltage regulator
The one end C11, the one end capacitor C12 are connected, the endpoint and the capacitor C9 other end, electricity of the ADJ of AMS1117-3.3V linear voltage regulator
Hold the C10 other end, the capacitor C11 other end, the capacitor C12 other end to be connected and be grounded.
Further optimal technical scheme is that the ultrasonic distance measuring module includes STC11 single-chip microcontroller, MAX232 chip
Amplifier, piezo-electric crystal, STC11 single-chip microcontroller generate signal and are sent to MAX232 chip amplifier, MAX232 chip amplifier
Piezo-electric crystal is driven to generate ultrasonic signal.
Further optimal technical scheme is that the ultrasonic wave receiving module includes TLO84 low-noise operational amplifier, piezo crystals
Piece, piezoelectric chip are electrically connected with TLO84 low-noise operational amplifier.
Further optimal technical scheme be further include high-pass filter, filtering and amplifying circuit, low-pass filter, high pass
Filter, filtering and amplifying circuit, low-pass filter are installed in the circuit that power module is connected with microphone.
The utility model is the indoor mobile robot positioned according to sound, can realize sound source position under environment indoors
Three-dimensional coordinate resolves, and controls trolley from initial position, draws close from trend sound source position, independently keeps away in moving process realization
The function of barrier.
Detailed description of the invention
Fig. 1 is that four-wheel differentia turns to chassis schematic diagram；
Fig. 2 is motor-drive circuit connection figure；
Fig. 3 is the anti-over-discharge protection circuit figure of power supply；
Fig. 4 is 12V power supply stabilization circuit XL6009 automatic boosting circuit diagram I；
Fig. 5 is that 12V power supply stabilization circuit 12V turns ± 12V power supply；
Fig. 6 is 5VLM2596 reduction voltage circuit figure；
Fig. 7 is 3.3VAMS1117-3.3 reduction voltage circuit figure；
Fig. 8 is the ultrasonic wave transmitting circuit figure of ultrasonic distance measuring module；
Fig. 9 is that ultrasonic wave receives circuit diagram；
Figure 10 is circuit of high pass filter figure；
Figure 11 is filtering and amplifying circuit schematic diagram；
Figure 12 is low-pass filter circuit schematic diagram；
Figure 13 is array microphone structural schematic diagram.
In figure, 1- body chassis, 2- motor drive module, 3- power supply anti-overvoltage protection circuit, 4-12V voltage regulator circuit,
5-12V conversion circuit, 6-5V voltage regulator circuit, 7-3.3V voltage regulator circuit, 8- ultrasonic distance measuring module, 9- ultrasonic wave receiving module,
10- high-pass filter, 11- filtering and amplifying circuit, 12- low-pass filter.
Specific embodiment
To keep the purpose of this utility model, technical solution and advantage clearer, below technical side in the utility model
Case is clearly and completely described, it is clear that and the embodiments are a part of the embodiments of the present invention, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, fall within the protection scope of the utility model.
The indoor mobile robot based on auditory localization of the utility model, including body chassis 1, power supply, power module,
Motor drive module 2, avoiding obstacles by supersonic wave module, single-chip microcontroller.As shown in Figure 1, turning to chassis schematic diagram for four-wheel differentia.Chassis
Mechanism 1 includes driving wheel and chassis, base plate electric machine, and chassis is turned to by left and right sidesing driving wheel revolving speed difference, between the driving wheel of chassis
Speed difference can generate sideslip, be turned to using sideslip.
Four independent driving wheels are installed, when the differential steering of chassis, the speed of two driving wheels in right side is mutually all on chassis
v2, the speed of two driving wheels in left side is mutually all v1.Left side drive wheel deflection angle is α, and the two is contrary.v1=v2When, chassis
It will move along a straight line；v1-v2When > 0, chassis will be rotated around right side center of rotation；v1-v2When < 0, chassis will be around left pivot movement center
Rotation.Four-wheel differentia turns to utilization left and right sides wheel speed difference and can be achieved to have around any semidiameter turn and turn to flexible, precision
Higher, the simple advantage of structure.
Power supply, power module, motor drive module 2, avoiding obstacles by supersonic wave module, single-chip microcontroller are all set on chassis.
As shown in Fig. 2, being base plate electric machine driving circuit figure.The motor drive module 2 include P3 driving signal interface,
P2 motor power interface, P1 motor interface, BTS7960 chip U2, BTS7960 chip U3,74AHC244 latch U1, P3 driving
The A1 terminal that the 1# interface of signaling interface and 74AHC244 latch U1 is connected, the 2# interface of P3 driving signal interface and
The A3 terminal that 74AHC244 latches U1 is connected, and the 3# interface of P3 driving signal interface latches the A2 terminal phase of U1 with 74AHC244
Even, the 4# interface of P3 driving signal interface is connected with the 74AHC244 A4 terminal for latching U1, the 5# interface of P3 driving signal interface
It is connected with the IS terminal of BTS7960 chip U2, the IS terminal phase of the 6# interface and BTS7960 chip U3 of P3 driving signal interface
Even, 74AHC244 latch U1 Y1 terminal be connected with the IN terminal of BTS7960 chip U2,74AHC244 latch U1 Y2 terminal and
The INH terminal of BTS7960 chip U2 is connected, and 74AHC244 latches the IN terminal phase of the Y3 terminal and BTS7960 chip U3 of U1
Even, the Y4 terminal that 74AHC244 latches U1 is connected with the INH terminal of BTS7960 chip U3；P2 motor power interface with
OUT terminal of BTS7960 chip U2, OUT terminal of BTS7960 chip U3 are connected；The VS terminal of BTS7960 chip U2 and
The VS terminal of BTS7960 chip U3 is connected with P1 motor interface.
BTS7960 chip interior is by the high potential field effect transistor in p-type channel and the low electricity in a N-type channel
Position field-effect tube mutually constitutes a fully integrated high current half-bridge.
Its internal power switch is ensured to be optimal resistance state, uses advanced vertical field-effect Manifold technology.Because p-type is logical
The switch in road is high potential, therefore one charge pump of interior design eliminates electromagnetic interference and guarantees the reliable and stable work in the channel
Make.
It is internal by driving integrated technology, by logic level input, current sampling diagnosis, out-of-service time generator,
Conversion rate adjuster prevents under-voltage, conversion rate adjuster overcurrent, short-circuit structure to be connected to a microprocessor
On.
Constitute full-bridge circuits using two pieces of BTS700 chips, then plus a 74AHC244 as data buffering or latch, can
Change single-chip microcontroller under chip data latch mode, release port data value, for driving remaining load.
The shaft of driving wheel is connected with base plate electric machine shaft.
Base plate electric machine uses PWM controller, adjusts motor driven voltage.It is a kind of numeral output using microprocessor
Come a kind of effective technology that the voltage etc. to analog circuit is controlled, applies in motor driven field, pass through micro process
The pulse signal width of output adjusts motor driven voltage.
In PWM speed-regulating system, it is general there are three types of mode can change the width i.e. fixed width frequency modulation of pulse, modulating frequency and width,
Fixed frequency modulated PWM, but fixed width frequency modulation and modulating frequency and width can change the frequency of control pulsewidth in speed regulation.
And if frequency will cause to resonate when being close with the intrinsic frequency of system, shake motor appearance significantly
Situation.It is most of using fixed intrinsic frequency in order to avoid this kind of situation in actual use, and the method for duty ratio is adjusted to adjust
Save dc motor both end voltage.The formula of its output voltage be forT is the period of pulse signal, and t holds for high level
The continuous time.To make motor stabilizing work and reducing noise, frequency must be far from the intrinsic frequency of motor.
Therefore the frequency of motor is typically chosen generally then can't hear significantly at least in 1Khz or more, 10Khz to 20Khz
Noise of motor.Duty ratio selection is determined according to motor minimum driving voltage, is typically chosen in 20% or more.
The control of the utility model base plate electric machine is controlled using the single-chip microcontroller STM32F103 chip of ARM series.Have
ARM32 CortexTM- M3 kernel, 112 quick ports I/O, 11 timers, 13 communication interfaces, 3 12 be modulus
Converter, 2 Channel 12-Bit D/A converters and 12 channel DMA controllers.
As shown in figure 3, power supply is equipped with the anti-over-discharge protection circuit of power supply.
The power supply is equipped with power supply anti-overvoltage protection circuit 3, and power supply is battery, and power supply anti-overvoltage protects circuit
3 anode is connected with the pole S of the one end slide rheostat resistance R2, PMOS tube Q1, the pole G of PMOS tube Q1 and NMOS tube
The S of Q3 is extremely connected, and the pole D of PMOS pipe Q1 is connected with the one end resistance R1 and the one end resistance RL1, the resistance R1 other end with it is luminous
The anode of diode D1 is connected, and the cathode of light emitting diode D1 is connected with the pole D of MOSFET pipe Q2, the pole G of MOSFET pipe
It is connected with the other end of slide rheostat R2, the one end resistance R3, the pole B of MOSFET pipe, S are extremely connected with the resistance R3 other end
It connects, the other end of resistance RL1 is connected with the other end of resistance R3, and the pole D of NMOS tube Q3 is connected with resistance R3, NMOS tube
The pole G be connected with the other end of slide rheostat R2, the other end of slide rheostat R2 is also connected with resistance R4, and battery is negative
Pole is connected with the other end of the other end of resistance R4, resistance R3.
When cell voltage put it is too low when, battery can not then be activated since internal galvanic interaction is too faint.
The power supply anti-overvoltage protection circuit of the present apparatus forms power switch circuit, electricity using high-power NMOS and PMOS tube
When source voltage is less than setting value, NMOS ends when being pressed by resistive seal, PMOS cut-off, when cell voltage is in Cross prevention voltage
When threshold value, LED light can be extinguished, and should remove in time electric current at this time and charge.
Further optimal technical scheme is that the power module includes 12V voltage regulator circuit, 5V voltage regulator circuit, 3.3V
Voltage regulator circuit.
Wherein 12V voltage regulator circuit 4 is, as shown in figure 4, the power module includes 12V voltage regulator circuit 4,5V pressure stabilizing electricity
Road 6,3.3V voltage regulator circuit 7, wherein 12V voltage regulator circuit 4 include XL6009 electric current conversion chip, 10V power input with it is defeated
Enter the one end capacitor C1, the one end capacitor C2, the one end inductance L1, XL6009 electric current conversion chip VIN interface be connected, inductance L1 is another
It holds and is connected with the port SW of zener diode D1 anode, XL6009 electric current conversion chip, the cathode and capacitor of zener diode D1
The one end C3, the one end output capacitance C4, the one end resistance R2 are connected, the other end of resistance R2 and the FB of XL6009 electric current conversion chip
Port is connected, and one end FB and resistance R1 of XL6009 electric current conversion chip is connected, and 10V power input and input capacitance C1 are another
One end, the capacitor C2 other end, the port GND of XL6009 electric current conversion chip, the other end of resistance wire R1, the capacitor C3 other end,
The output capacitance C4 other end is connected.
Because cell voltage output is unstable, in 11V or so fluctuating change, and since the start and stop of base plate electric machine will form
Pulse voltage, therefore circuit needs an automatic boosting circuit.
XL6009 electric current conversion chip has the wide input voltage range of 5-32V, the maximum of switching frequency 400KHZ, 4A
The advantages that switching current, transfer efficiency 94%, software starts.
As shown in figure 5,12V conversion circuit 5, after obtaining 12V voltage, power input and the one end capacitor C5, A1212S-2W
The VIN of isolated power supply module is connected, and the capacitor C5 other end is connected and is grounded with the GND of A1212S-2W isolated power supply module,
Be connected between+the V and 0V of A1212S-2W isolated power supply module by resistance R3 ,-the V of A1212S-2W isolated power supply module with
It is connected between 0V by resistance R4, A1212S-2W isolated power supply module is simultaneously grounded.
Positive and negative 12V power supply can be obtained by the mode that 12V power supply carries out Switching Power Supply isolation.Using isolated power supply module
A1212S-2W, having output is that non-pressure stabilizing exports, and transfer efficiency is 80% or more, and output voltage range is ± 12V ± 3%,
Ripple factor and quiescent current are low, and itself just has input and output filter.
As shown in fig. 6,5V voltage regulator circuit 6 includes LM2596 chip, power input is connected with the VIN of LM2596 chip,
And be connected with the one end capacitor C6, the OUT and inductance L2 and zener diode D2 cathode of LM2596 chip, slide rheostat RV1,
The one end capacitor C7, the slide rheostat RV1 other end are connected with resistance R5, the capacitor C7 other end and the resistance R5 other end, inductance L2
The other end, the one end capacitor C8 are connected, and the port FB of LM2596 chip is connected with, OUT terminal mouth, the one end resistance R6, and capacitor C6 is another
End is connected with the GND of the port ON/OFF of LM2596 chip, LM2596 chip, the resistance R6 other end, zener diode D2 are another
End, the capacitor C8 other end is connected, and is grounded.
5V voltage regulator circuit 6 is obtained from 12V power supply, can be protected using the error of LM2596 chip, superior performance, output voltage
Card is in ± 4% range, and frequency of oscillation error is in ± 15% range, using LM2596 as the reduction voltage circuit of core.
As shown in fig. 7,3.3V voltage regulator circuit 7 includes AMS1117-3.3V linear voltage regulator, power input and capacitor C9
One end is connected, and the one end capacitor C10, the IN of AMS1117-3.3V linear voltage regulator are connected, AMS1117-3.3V linear voltage regulator
OUT terminal is connected with the one end capacitor C11, the one end capacitor C12, the endpoint and capacitor of the ADJ of AMS1117-3.3V linear voltage regulator
The C9 other end, the capacitor C10 other end, the capacitor C11 other end, the capacitor C12 other end are connected and are grounded.
3.3V voltage regulator circuit 7 is obtained from 5V power supply, and line of chip select voltage-stablizer AMS1117-3.3V, which is steady
The outstanding person in chip is pressed, performance is pretty good.The precision of voltage regulation hardly needs any external devices, but one within 1.5%
As can capacitor be used to improve output voltage pulse curve in use.
In order to guarantee to export maximum current, outputs and inputs a pressure difference and be at least 1.3V or more, list is unsuitable excessively high, for 5V
Input voltage be quite reasonable.The occupation rate of market of AMS117 is wide, and packing forms generally use SOT-223.
3.3V power supply is the power supply of STM32 single-chip microcontroller, and small power consumption, power is also met the requirements.Single-chip microcontroller requires power supply ripple
It is small, therefore power supply ripple can be improved in the form of bulky capacitor and small capacitances are used in combination.
Avoiding obstacles by supersonic wave module includes ultrasonic distance measuring module 8 and ultrasonic wave receiving module 9, as shown in figure 8, being ultrasonic wave
Range finder module 8, the ultrasonic distance measuring module include STC11 single-chip microcontroller, MAX232 chip amplifier, piezo-electric crystal,
STC11 single-chip microcontroller generates signal and is sent to MAX232 chip amplifier, and MAX232 chip amplifier drives piezo-electric crystal to generate
Ultrasonic signal.
Ultrasonic wave transmitting circuit generates signal using STC11 single-chip microcontroller, and MAX232 chip amplifies rear-guard dynamic pressure transistor.When
When detecting that TX pin level is high, STC11 single-chip microcontroller P1.6 and P1.7 generate the pulse of 8 180 ° of phase phase difference of 40KHZ
Wave makes piezoelectric crystal oscillating generate ultrasonic signal after MAX232 amplifies.
When carrying out ranging using ultrasonic distance measuring module, TX input needs an at least high level of 20us, waits to be sent
After complete, the timing of single-chip microcontroller timer is opened.The Off Timer when detecting RX by high level jump is low level, takes out timing
Device value calculates timing.Distance then can be obtained multiplied by velocity of sound 340m/s according to timing, this section of distance is then ultrasound
Away from actual range.
As shown in figure 9, be ultrasonic wave receiving module 9, the ultrasonic wave receiving module include TLO84 low-noise operational amplifier,
Piezoelectric chip, piezoelectric chip are electrically connected with TLO84 low-noise operational amplifier.
Single-chip microcontroller opens P1.0 and P1.1 Port detecting, and this port is set to high level.When detect the port P1.1 believe
When number being pulled low, RX high level signal is exported.RX signal end keeps low level state when requiring usually to leave unused herein.Ultrasonic wave connects
It receives circuit to be made of TLO84 low-noise operational amplifier, by preposition amplification, second-order active filter, amplification, voltage compares, triode is opened
When powered-down road output ultrasonic wave signal.The module then defaults its time-out after lasting 38MS does not receive feedback data.
Based on the Time Delay Estimation Algorithms of the five yuan of microphone arrays in space, five yuan of space microphone array as shown in fig. 13 that is established
Column, the array is not by microphone N1、N2、N3、N4And N5Composition, by microphone N1、N2、N3、N4Composition square side length be
2L, microphone N5Distance to coordinate origin is L, using square matrix center as coordinate origin O, establishes space right-angle as shown in the figure and sits
Mark system, it is assumed that target position is located at S (x, y, z), and the distance of target range coordinate origin is r, the azimuth of targetFor
The elevation angle is θ.
Each array element coordinate of five yuan of space microphone array is respectively: N1(L,L,0)、N2(-L,L,0)、 N3(-L,-L,0)、
N4(L,-L,0)、N5(0,0, L), RiFor target S to array element NiThe distance of (i=1,2,3,4,5), d12、d13、d14For with reference to battle array
First N1With N2、N3、N4Between path difference, C indicate the aerial spread speed of sound.Then calculate the formula of path difference such as
Under:
d1i=Ri-R1=C*ti1(i=2,3,4) (1)
T in formulai1For reference array element N1With N2、N3、N4Between time delay.
Then had according to the geometry site of target and acoustic matrix:
Equation group (2) are arranged and abbreviation can obtain:
Equation (3), which are substituted into equation group (2) and are arranged, to be obtained:
It can be in the hope of x, y, z and R as long as estimating time delay by equation group above (4) and equation (1)1, while can be with
Obtain azimuth:
The elevation angle are as follows:
It can be obtained according to the geometric position of acoustic matrix and equation group (4)；
If R5> r then proves sound source coordinate above XOY plane；If R5< r then proves sound source coordinate under XOY plane
Side.
This method can solve the sound source coordinate obtained due to planar four-element square matrix existing defects itself and be likely to occur
The problem of lower two mirror image coordinates, and how much calculation amount compares the no increase of planar four-element square matrix, has very strong practicability.
It as shown in Figure 10, is high-pass filter short circuit figure.High-pass filter 10 when using microphone, needs to filter transaudient
Flip-flop in device signal should also filter out the low-frequency component in signal, 50HZ work otherwise can be introduced in rear partial circuit
Frequency interferes.
It as shown in figure 11, is filtering and amplifying circuit.Filtering and amplifying circuit 11, the speech frequency of people in 300HZ-3400HZ,
The frequency band is relatively narrow, therefore is realized using multilevel band-pass filter.The quiescent current obtained again due to microphone is smaller, need into
Row amplification and filtering.And it is wider with frequency band for the form of passive filtering.Therefore signal is carried out using the form of active filter
Amplification and filtering.Amplified signal is constituted using OP07 amplifier, and the integrated filter that certain manufacturers provide can also be used certainly.
OP07 is that a kind of noise is low, the bipolar operational amplifier of non-chopper-zero-stabilized.OP07 input offset voltage is very low,
Additional zeroing measure is not needed, OP07 input bias current is low, open-loop gain is high, therefore OP07 is suitable for the measurement of high-gain
The small-signal etc. of equipment and amplification sensor.Positive and negative 12V power supply adds 0.1UF capacitor filtering, and power supply noise is avoided to cause low frequency
Interference.Resistance R8 is used to that gain is adjusted.
Circuit constitutes the form of instrument amplification using differential amplification, can effectively inhibit common-mode noise, improves differential mode and amplifies energy
Power, amplification factor 1+2R7/R8, minimum more than 100 times of gain.
It as shown in figure 12, is low-pass filter circuit figure.Low-pass filter 12, voice frequency generally 30 to 3400HZ with
It is interior, need to design a low-pass filter herein in conjunction with the high-pass filter of Front-end Design.It is generally believed that signal is through wave filter
A phase pushing figure related with its frequency can be generated, if this phase pushing figure and the variation relation of signal frequency are lines
Property, then filter can only make signal one constant amount of delay.However it is with the variation of signal frequency if offset is opposite
Nonlinear, i.e., the signal of different frequencies has different displacements through wave filter, then nonsinusoidal signal is by this
Serious distortion can be generated when filter.Therefore chebyshev low-pass filter is used in design, passband gain is less than -5DB,
Its stop band gain 10KHZ, decaying are greater than -50DB, and filter nominal load is 50 Ω.Filter does not use enlarging function, amplification
Multiple is 1, and internal circuit uses 51 ohm of resistance, and precision 5%, filter capacitor uses monolithic capacitor, motor-driven degree 1%.
The course of work of the utility model:
Startup power supply, microphone array receives sound-source signal, and judges sound source position coordinates computed, passes through MCU driving
Base plate electric machine movement, the positive ultrasonic distance measuring module of motion process, ultrasonic wave receiving module receive signal disturbance in judgement object whether
In travelling route, single-chip microcontroller control base plate electric machine is to turn to, and robot reaches sound source position after multiple avoidance.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (7)
1. the indoor mobile robot based on auditory localization, which is characterized in that power supply realizes the conversion of voltage by power module,
Power module supplies electricity to base plate electric machine by motor drive module (2), and the rotation axis of base plate electric machine is connected with driving wheel, chassis,
Base plate electric machine, driving wheel constitute body chassis (1), power module also respectively with ultrasonic distance measuring module (8), ultrasonic wave receive mould
Block (9), microphone and monolithic mechatronics, microphone position sound source, and are connected with single-chip microcomputer signal, single-chip microcontroller and electricity
Machine drive module (2) signal is connected, thus the ultrasound for driving moving of car to issue to sound source position, ultrasonic distance measuring module (8)
Wave signal is returned and received by ultrasonic wave receiving module (9), ultrasonic distance measuring module (8), ultrasonic wave receiving module by barrier
(9) it is connected with single-chip microcomputer signal, the microphone is 5, and constitutes the microphone array of quadrangular pyramid.
2. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the motor drives
Dynamic model block (2) includes P3 driving signal interface, P2 motor power interface, P1 motor interface, BTS7960 chip U2, BTS7960 core
Piece U3,74AHC244 latch U1, and P3 driving signal interface and 74AHC244 latch U1, BTS7960 chip U2, BTS7960 chip
U3 is connected, and P2 motor power interface is connected with BTS7960 chip U2, BTS7960 chip U3, P1 motor interface and BTS7960 core
Piece U2, BTS7960 chip U3 is connected, and BTS7960 chip U2 and 74AHC244 latch U1 and be connected, BTS7960 chip U3 and
74AHC244 latches U1 and is connected.
3. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the power supply peace
Circuit (3) are protected equipped with power supply anti-overvoltage, power supply is battery, and power supply anti-overvoltage protects the anode of circuit and sliding to become
Resistance the one end device resistance R2, PMOS tube Q1 source electrode be connected, the drain electrode of PMOS tube Q1 is connected with the source electrode of NMOS tube Q3, PMOS tube
The grid of Q1 is connected with the one end resistance R1 and the one end resistance RL1, and the resistance R1 other end is connected with the anode of light emitting diode D1
It connects, the cathode of light emitting diode D1 is connected with the source electrode of MOSFET pipe Q2, the drain electrode of MOSFET pipe Q2 and slide rheostat R2
The other end, the one end resistance R3 be connected, the grid of MOSFET pipe Q2 is connected with the resistance R3 other end, and resistance RL1's is another
End is connected with the other end of resistance R3, and the grid of NMOS tube Q3 is connected with resistance R3, and the drain electrode and sliding of NMOS tube Q3 becomes
The other end of resistance device R2 is connected, and the other end of slide rheostat R2 is also connected with resistance R4, and battery cathode is with resistance R4's
The other end, resistance R3 the other end be connected.
4. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the power supply mould
Block includes 12V voltage regulator circuit (4), 12V conversion circuit (5), 5V voltage regulator circuit (6), wherein
12V voltage regulator circuit (4) includes XL6009 electric current conversion chip, 10V power input and the one end input capacitance C1, capacitor C2
One end, the one end inductance L1, the VIN interface of XL6009 electric current conversion chip are connected, and the inductance L1 other end and zener diode D1 are just
Pole, the port SW of XL6009 electric current conversion chip are connected, the cathode of zener diode D1 and the one end capacitor C3, output capacitance C4 mono-
End, the one end resistance R2 are connected, and the other end of resistance R2 is connected with the port FB of XL6009 electric current conversion chip, XL6009 electricity
One end FB and resistance R1 of stream conversion chip is connected, 10V power input and the input capacitance C1 other end, the capacitor C2 other end,
The port GND of XL6009 electric current conversion chip, the other end of resistance wire R1, the capacitor C3 other end, output capacitance C4 other end phase
Even；
12V conversion circuit (5), wherein the VIN phase of 12V power input and the one end capacitor C5, A1212S-2W isolated power supply module
Even, the capacitor C5 other end is connected and is grounded with the GND of A1212S-2W isolated power supply module, A1212S-2W isolated power supply module
It is connected between+V and 0V by resistance R3, is connected between-the V and 0V of A1212S-2W isolated power supply module by resistance R4,
The A1212S-2W isolated power supply port module 0v ground connection；
5V voltage regulator circuit (6) includes LM2596 chip, and power input is connected with the VIN of LM2596 chip, and with capacitor C6 mono-
End is connected, the OUT and inductance L2 and zener diode D2 cathode of LM2596 chip, slide rheostat RV1, the one end capacitor C7, sliding
The dynamic rheostat RV1 other end is connected with the one end resistance R5, the capacitor C7 other end and the resistance R5 other end, the inductance L2 other end, electricity
Hold the one end C8 to be connected, the port FB of LM2596 chip is connected with OUT terminal mouth, the one end resistance R6, the capacitor C6 other end and LM2596
The port OFF of chip, LM2596 chip the port GND be connected, the R6 other end, the zener diode D2 other end, capacitor C8 is another
End is connected, and is grounded.
3.3V voltage regulator circuit (7) includes AMS1117-3.3V linear voltage regulator, power input and the one end capacitor C9, capacitor C10
One end, the port IN of AMS1117-3.3V linear voltage regulator are connected, the OUT terminal and capacitor of AMS1117-3.3V linear voltage regulator
The one end C11, the one end capacitor C12 are connected, the endpoint and the capacitor C9 other end, electricity of the ADJ of AMS1117-3.3V linear voltage regulator
Hold the C10 other end, the capacitor C11 other end, the capacitor C12 other end to be connected and be grounded.
5. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the ultrasonic wave
Range finder module (8) includes STC11 single-chip microcontroller, MAX232 chip amplifier, and piezo-electric crystal, it is concurrent that STC11 single-chip microcontroller generates signal
MAX232 chip amplifier is given, MAX232 chip amplifier is connected with piezo-electric crystal signal, and driving piezo-electric crystal generates ultrasound
Wave signal.
6. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that the ultrasonic wave
Receiving module (9) includes TLO84 low-noise operational amplifier, piezoelectric chip, and piezoelectric chip is electrically connected with TLO84 low-noise operational amplifier.
7. the indoor mobile robot according to claim 1 based on auditory localization, which is characterized in that further include high pass filter
Wave device (10), filtering and amplifying circuit (11), low-pass filter (12), high-pass filter (10), filtering and amplifying circuit (11), low pass
Filter (12) is installed in the circuit that power module is connected with microphone, and low-pass filter (12) is Chebyshev's low-pass filtering
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821103703.7U CN208547850U (en) | 2018-07-12 | 2018-07-12 | Indoor mobile robot based on auditory localization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821103703.7U CN208547850U (en) | 2018-07-12 | 2018-07-12 | Indoor mobile robot based on auditory localization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208547850U true CN208547850U (en) | 2019-02-26 |
Family
ID=65424456
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821103703.7U Expired - Fee Related CN208547850U (en) | 2018-07-12 | 2018-07-12 | Indoor mobile robot based on auditory localization |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208547850U (en) |
-
2018
- 2018-07-12 CN CN201821103703.7U patent/CN208547850U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103560039B (en) | A kind of high-voltage breaker permanent magnet salient pole motor operation mechanism and control method | |
| CN208547850U (en) | Indoor mobile robot based on auditory localization | |
| CN106444771A (en) | ZigBee-based simulated multi-agent coordination controlling method | |
| CN201965486U (en) | Intelligent tracking trolley | |
| CN202337258U (en) | Intelligent automobile obstacle avoidance control device | |
| CN112179591A (en) | Intelligent detection vehicle for sulfur hexafluoride gas leakage of transformer substation | |
| CN205391066U (en) | Intelligent robot for sweeping floor | |
| CN109032133A (en) | Indoor mobile robot based on auditory localization | |
| CN202696468U (en) | Auxiliary power device of electric vehicle | |
| CN100555833C (en) | Thermoelectric type complex jet flow piezo-electric micro-drive device and control method | |
| WO2018090518A1 (en) | Apparatus for monitoring electric vehicle control system | |
| CN208819092U (en) | The movement of electric endless track type pesticide spray truck and operation-control system | |
| CN204304985U (en) | A kind of piezoelectric ceramic drive signal source circuit | |
| CN103191895A (en) | Wall-climbing robot capable of turning around vertically | |
| CN207611285U (en) | Electromagnetic tracking intelligent vehicle | |
| CN109545178A (en) | A kind of double control buzzer drive circuit | |
| CN208922093U (en) | Four-wheel omnidirectional AGV system with hoistable platform | |
| CN109188363B (en) | Fixed area sound positioning system and positioning method thereof | |
| CN103325522A (en) | Electric magnet bi-directional driving circuit | |
| CN210864420U (en) | Multi-sensor intelligent trolley control circuit mainly based on camera | |
| CN206713130U (en) | Doubleway output LED intelligent driver modules | |
| CN207721038U (en) | A kind of high-clearance boom sprayer variable sprays control system | |
| CN206364374U (en) | A kind of semiconductor laser drive power based on Vicor modules | |
| CN207459998U (en) | Output voltage adjustable pulse step-down switching power supply | |
| CN205883058U (en) | Electric automobile auxiliary electrical power source |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190226 |