CN101976075A - Intelligent self-tracking trolley control system based on voice control - Google Patents

Abstract

The invention discloses an intelligent self-tracking car control system based on voice control. The control system combines photoelectric sensor and voice recognition technology, adopts Sunplus 16-bit single-chip microcomputer SPCE061A as the system control processor, and uses reflective infrared The photoelectric sensor obtains the path information, adjusts the moving direction and speed of the car according to the position of the black line in the path information, so as to realize the self-tracking function, and combines the resources in the SPCE061A chip to write the voice processing API function to realize the human-computer interaction of voice Intelligent control; the control system is simple in structure and small in size, which can realize flexible, reliable and stable operation of the car; the control system can also be applied to intelligent wheelchairs for the disabled, service robots, unmanned motor vehicles, unmanned production lines, warehouses and other fields.

Description

Intelligent self-tracking car control system based on voice control

technical field

The invention relates to a trolley control system, in particular to an intelligent self-tracking trolley control system based on voice control.

Background technique

As a major achievement in the 20th century, robots have been inseparable from the production and life of human society. Smart cars, that is, wheeled robots, mainly have functions such as password recognition and speech synthesis, robot self-positioning, dynamic random obstacle avoidance, multi-sensor information fusion, and real-time adaptive navigation control.

However, the intelligent robot in the prior art has not completely and correctly collected and identified its tracking, which may easily cause the steering gear to be unable to turn accurately and in time, causing the model car to vibrate severely or even deviate from the track; and the voice recognition control is not strong, It cannot be accurately and timely intelligently identified; at the same time, there are also defects such as complex structure, large volume, and inflexible operation. the

Contents of the invention

Aiming at the deficiencies in the prior art, the present invention provides an intelligent self-tracking car control system based on voice control, which applies infrared photoelectric sensors to path identification and has voice control function. The infrared photoelectric sensor of the control system has the advantages of simple structure, flexible form and small volume, which can realize non-contact acquisition and identification of trajectory information.

The intelligent self-tracking car control system based on voice control provided by the present invention includes a SPCE061A single-chip microcomputer, a power supply module, a photoelectric sensor, a motor drive module and a voice recognition control module; the photoelectric sensor is used to collect road information on the running of the car, and This information is input into SPCE061A single-chip microcomputer; Said SPCE061A single-chip microcomputer controls the steering gear steering of dolly and the speed of DC motor through motor drive module; Described power supply module supplies power to photoelectric sensor, SPCE061A single-chip microcomputer and motor drive module; Described speech recognition control module includes Audio input module and audio output module, described audio input module comprises the MICP pin port and the MICN pin port that are located on the SPCE061A single-chip microcomputer, and described MICP pin port and MICN pin port change along with the sound of microphone input The waveforms of the waveforms at these two ports form two-way anti-phase waveforms and send them to the first-stage operational amplifier inside the SPCE061A chip for audio amplification, and the amplified voice signal is converted by the ADC and then input to the SPCE061A microcontroller for processing; the audio output module uses SPY0030A chip, the SPY0030A chip is provided with an external connection port with the playback device.

Further, the photoelectric sensor is composed of multiple light emitting diodes and receiving diodes, one light emitting diode corresponds to one receiving diode.

Still further, the photoelectric sensor adopts an infrared photoelectric sensor, and a single row of a plurality of equidistant infrared photoelectric sensors arranged synchronously with the trolley is set. The infrared photoelectric sensor interval is 1.5cm, and the ground height is 1cm. into a certain angle.

Compared with the prior art, the intelligent self-tracking car control system based on voice control of the present invention has the following advantages:

1. The control system uses photoelectric sensors to collect and identify non-contact paths. The data collected and identified are timely and accurate, which avoids the phenomenon that the model car shakes seriously or even deviates from the track due to improper control of the steering motor.

2. The control system combines SPCE061A single-chip microcomputer and voice recognition control module to realize the intelligent control of voice human-computer interaction.

3. The control system is simple in structure and small in size, which can realize flexible, reliable and stable operation of the trolley.

4. The control system can also be applied to intelligent wheelchairs for the disabled, service robots, unmanned vehicles, unmanned production lines, warehouses and other fields.

Description of drawings

Figure 1 is a structural block diagram of the smart car control system;

Figure 2 is a structural block diagram of the power module;

Figure 3 is the internal circuit diagram of TCRT5000;

Fig. 4 is a schematic diagram of photoelectric sensor lighting;

Figure 5 is a circuit diagram of the photoelectric sensor TCRT5000;

Figure 6 is the main program flow chart;

Fig. 7 is a flow chart of speech recognition.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, the intelligent self-tracking car control system based on voice control includes SPCE061A single-chip microcomputer, power supply module, photoelectric sensor, motor drive module and voice recognition control module. The photoelectric sensor is used to collect the road information of the car, and input the information into the SPCE061A microcontroller. The SPCE061A single-chip microcomputer controls the steering gear steering of the car and the speed of the DC motor through the motor drive module. The power supply module supplies power to the photoelectric sensor, SPCE061A single-chip microcomputer and motor drive module. The voice recognition control module includes an audio input module and an audio output module, and the audio input module includes a MICP pin port and a MICN pin port located on the SPCE061A single-chip microcomputer, and the MICP pin port and the MICN pin port generate a The changing waveform forms two out-of-phase waveforms at these two ports and sends them to the first-stage operational amplifier inside the SPCE061A chip for audio amplification. The amplified voice signal is converted by the ADC and then input to the SPCE061A microcontroller for processing; the audio output module uses SPY0030A chip, the SPY0030A chip is provided with an external connection port with the playback device.

The SPCE061A single-chip microcomputer collects road information through the photoelectric sensor, and analyzes the deviation between the smart car and the road at this time according to the algorithm, and then uses a certain control algorithm to control the steering gear of the smart car and the speed of the DC motor, so as to realize the smart car. Vehicle-to-path automatic identification and tracking.

1. According to the structural block diagram of the control system (as shown in Figure 1 and 2), the functional modules are introduced respectively:

SPCE061A MCU

The control system uses a high-performance 16-bit SPCE061A microcontroller as the control core. SPCE061A single-chip microcomputer adopts 3.3 volt power supply, the maximum working rate is 49.152MHZ, there are 32 general-purpose programmable input/output ports, 2K word SRAM, 32K FLASH, 7-channel 10-bit voltage analog-to-digital converter (ADC) and single-channel sound mode -Digital converter, 2 16-bit programmable timer/counters (can automatically preset the initial count value), sound analog-to-digital converter input channel built-in microphone amplifier and automatic gain control (AGC) function, built-in online simulation circuit ICE (In-Circuit Emulator) interface, with serial device interface, programmable audio processing; use Sunplus audio coding SACM_S240 mode (2.4K bits/second), can accommodate 210 seconds of voice data.

Considering the autonomous tracking and voice recognition functions of the smart car, when designing and making the smart car, a part of it was selected as the input and output ports. Here, a part of the IOA port is used as the input port of the output signal of the sensor, and a part is used as a button input; a part of the IOB port drives the control port of the motor driver board, and APWMO and BPWMO control the steering gear.

power module

The total power supply of the smart car is powered by a 7.2-volt nickel-chromium battery. The control system selects the SPY0029A (low dropout) three-terminal voltage regulator chip as a 3.3V regulator chip, and the output is used as the power supply for the microcontroller and peripheral circuits; the 5V LM2940 (low dropout) is selected as the voltage regulator chip, and the output is used as the sensor power supply; The machine and the DC motor are directly powered by a 7.2V power supply.

Photoelectric sensor module

The photoelectric sensor of the control system (that is, the path identification circuit) is composed of a series of light-emitting diodes and receiving diodes. One light-emitting diode and one receiving diode form a pair, which is also equivalent to one pixel of the camera. When the infrared ray shines on the white ground, there will be a greater reflection. If the distance between the photoelectric tube and the reflective surface is appropriate, the intensity of the reflected infrared received by the infrared receiving tube will be greater; if the infrared ray irradiates the black marking line, the black The marking line will absorb most of the infrared light, and the intensity of the infrared light received by the infrared receiving tube is very weak. In this way, the automatic tracking of the smart car can be realized by using the infrared photoelectric sensor to detect the black marking line on the road where the smart car is driving.

The photoelectric sensor in this embodiment adopts TCRT5000 infrared photoelectric sensor, and its internal circuit is shown in Fig. 3 .

In this embodiment, a total of 7 infrared photoelectric sensors are arranged in a single row synchronously with the trolley, and are arranged at equal intervals. The sensor interval is 1.5 cm, and the height from the ground is 1 cm. This improves foresight. This setting is because the infrared light emitted by the infrared photoelectric sensor is actually some cone-shaped rays of light, rather than a straight line. The schematic diagram of the infrared photoelectric sensor is shown in Figure 4. The test proves that when the interval between the infrared photoelectric sensors is 1.5cm and the height is 1cm, there is no dead zone between the infrared photoelectric sensors. Moreover, it is also easy to install, and the quantity and spatial position setting of the infrared photoelectric sensors are reasonable and feasible.

The photoelectric sensor should output high and low levels to represent the difference between the white road surface and the black guide line. The analog signal output by the photoelectric sensor needs to be converted into the high and low levels of the digital signal through the voltage comparator, and then input to the SPCE061A single-chip microcomputer for discrete control. The output of the photoelectric sensor module set in this embodiment is a low level on a white road surface, and the output is a high level when a black guide line is detected (as shown in Figure 5).

Control of the car body by the motor drive module

The intelligent tracking car used in this embodiment has a four-wheel structure, wherein the front two wheels are controlled by the front wheel motors, and the front wheels are controlled to swing left and right under the action of the connecting rod and the fulcrum to adjust the forward direction of the car. In its natural state, the front wheels are spring-loaded to maintain a neutral position. The rear two wheels are driven by rear wheel motors to provide power for the entire car.

The power drive is realized by the rear wheel drive, which is responsible for the movement of the car in a straight line, including forward and backward. The rear wheel drive circuit is a full-bridge drive circuit, so that the four bridge arms can be controlled on and off through the two IO ports on the microcontroller to control the running state of the rear wheel motor, making it rotate forward, reverse or stop , and then control the forward and backward movement of the car.

The steering motor is driven by the front wheels, including left and right turns. The front wheel drive circuit is also a full-bridge drive circuit. It can also control the forward and reverse rotation of the front wheel motor through two IO ports, and then control the left turn of the car. and turn right. If the front wheel motor stalls, the front wheel is pulled back to the middle position under the action of the spring and keeps straight.

Audio input and output module

    This embodiment makes full use of the programmable audio processing function of Sunplus SPCE061A single-chip microcomputer and Sunplus audio compression algorithm, so as to call and write application program interface API functions to achieve the purpose of speech recognition control. In order to complete this function, this part needs to design audio input and output modules around the microcontroller.

audio input module

The MICP pin port and the MICN pin port send two out-of-phase waveforms at these two pin ports to the first-stage operational amplifier inside the SPCE061A chip for audio amplification, and the amplified The voice signal is converted to a digital quantity by the ADC. At this time, the data can be processed through the single-chip microcomputer programming, such as voice data compression, voice recognition sample processing, etc.

audio output module

 The audio output part is mainly composed of an 8-pin power amplifier SPY0030A. SPY0030A is a chip specially developed by Sunplus for voice signal amplification. The audio voltage signal input to its input terminal comes from the output terminal of the DAC inside the single-chip microcomputer, and its output terminal can be connected to external playback devices such as speakers. The gain can be realized by adjusting the resistance value of the resistor.

Two, the following structure main program flow chart and voice recognition flow chart are introduced to the design of preferred main program design and intelligent tracking car voice control in the present embodiment:

main program design

In terms of software design, this embodiment uses the integrated development environment u'nSP IDE2.0.0. It is a C language integrated development environment that provides a set of effective and flexible software development tools. It can support C and assembly language, etc. In the design of this system, two basic function modules of one-chip computer are used: PWM output module, common I/O module and so on. According to the actual needs of the system, each module is initialized and configured to realize its corresponding functions. The flow chart of the main program is shown in Figure 6.

Design of voice control for intelligent tracking car

Fig. 7 is a flowchart of speech recognition. In this design, two voice commands are designed for the car: forward and stop. When it is a forward command, let the IOB port of the corresponding microcontroller output a high level, and control the relay to turn on the power supply circuit of the sensor; when it is a stop command, IOB[15:0] all output 0, turn off the sensor power supply, and control the car to stop . In the step of "executing the corresponding action", the car executes the action according to the voice command. If it is the "forward" command, the 8Hz time base interrupt is turned on after the action is executed, and the path recognition and car body control are performed after entering the interrupt, as shown in Figure 6. It is displayed after entering the interruption; if it is a parking command, stop the vehicle and wait for the next voice command. In this way, the two functions of voice control and automatic tracking of the smart car can be closely combined.

The self-tracking car with this control system is placed on the track with black lines on a white background, and the car can adjust its direction and speed along the path of the black line, realizing the self-tracking function of the car. During the running of the trolley, if the specially trained person issues the designed command "car", the trolley will reply the voice of "yeah" and stop moving; when the command "forward" is issued, the trolley will turn on the infrared photoelectric sensor and continue to cycle independently track driving. The online debugging results of software and hardware show that the intelligent model car designed in this paper can realize autonomous tracking, and the designed control strategy can be used stably under different path conditions, and the voice command is recognized accurately and executed quickly.

Smart car technology is a technology with broad application prospects, not only in the field of scientific detection, but also in the field of industrial applications; whether it is in the military or in our lives, smart cars are playing an increasingly important role. On the basis of fully considering the structure of the smart car system, the present invention designs the self-tracking control system of the smart car based on the SPCE061A single-chip microcomputer. The impact of path identification, it is determined that the path identification is carried out by using 7 infrared sensors arranged at equal intervals. U'nSP IDE2.0.0 integrated development environment is used to program the control strategy according to the designed flow chart of the control system. Using the voice processing function of the SPCE061A single-chip microcomputer, the voice processing API function is written to realize the function of autonomous tracking and parking according to the voice command.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (6)

1. One kind based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: comprise SPCE061A single-chip microcomputer, power module, photoelectric sensor, motor drive module and speech recognition controlled module;

   Described photoelectric sensor is used to gather the road information of trolley travelling, and with this information input SPCE061A single-chip microcomputer;

   The steering wheel of described SPCE061A single-chip microcomputer by motor drive module control dolly turns to the speed with direct current generator;

   Described power module is to photoelectric sensor, SPCE061A single-chip microcomputer and motor drive module power supply;

   Described speech recognition controlled module comprises audio frequency load module and audio frequency output module, described audio frequency load module comprises MICP pin port and the MICN pin port that is located on the SPCE061A single-chip microcomputer, the first order operational amplifier that the waveform that described MICP pin port and MICN pin port change the sound generating along with the microphone input is delivered to the SPCE061A chip internal at these two ports anti-phase waveforms of formation two-way carries out audio frequency and amplifies, and the voice signal of amplification input SPCE061A single-chip microcomputer after the ADC conversion is handled; Described audio frequency output module adopts the SPY0030A chip, and described SPY0030A chip is provided with the connectivity port external with playback equipment.
2. 2. according to claim 1 based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: described photoelectric sensor is made up of a plurality of light emitting diodes and reception diode, a light emitting diode is corresponding with a reception diode.
3. 3. according to claim 2 based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: described photoelectric sensor adopts infrared photoelectric sensor, the infrared photoelectric sensor of single a plurality of equidistant arrangements of setting and dolly synchronous operation, infrared photoelectric sensor is spaced apart 1.5cm, terrain clearance is 1cm, and infrared photoelectric sensor becomes certain included angle with ground.
4. According to each claim in the claim 1 to 3 described based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: described power module adopts 7.2 volts Ni-Cr battery.
5. 5. according to claim 4 based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: described Ni-Cr battery by SPY0029A three-terminal voltage-stabilizing chip to the power supply of SPCE061A single-chip microcomputer and peripheral circuit power supply.
6. 6. according to claim 4 based on voice-operated intellectuality from the little vehicle control of tracking, it is characterized in that: described Ni-Cr battery is powered to photoelectric sensor by the LM2940 voltage stabilizing chip of 5V.

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