CN208018143U - A kind of voice control intelligent vehicle - Google Patents
A kind of voice control intelligent vehicle Download PDFInfo
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- CN208018143U CN208018143U CN201820127198.3U CN201820127198U CN208018143U CN 208018143 U CN208018143 U CN 208018143U CN 201820127198 U CN201820127198 U CN 201820127198U CN 208018143 U CN208018143 U CN 208018143U
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- car body
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- voice control
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Abstract
The utility model discloses a kind of voice control intelligent vehicles, include the car body of generally cuboid, the motor mounted on the wheel of vehicle bottom and for driving the vehicle wheel rotation；It is characterized in that, also integrally disposed in the car body, to have electric-control system, the electric-control system include microcontroller, is connected to the nonspecific sound identification module for being used to carry out phonetic order identification on the microcontroller and the motor drive module for driving the motor；The input terminal of the nonspecific sound identification module is connected with the microphone picked up for voice signal, and the microphone is located at the outer surface of the car body.The utility model has and can be acted according to phonetic order, and mobility is preferable, can automatic obstacle-avoiding, interactive good, the advantages that being conducive to the exploitation of children's brain.
Description
Technical field
The utility model is related to interactive toy technical fields, in particular to a kind of voice control intelligent vehicle.
Background technology
With the development of science and technology, great change also has occurred in the immanent structure proportion in global toys market, traditional toy
Market proportion is gradually being shunk, and the electronic toy of high-tech content is then more and more prosperous.With microelectric technique, computer technology and
The rapid development of sensor technology, now sound control technique have been applied to each corner in society, provided for people various
It is convenient.Speech control system has good interactive capability, is conducive to the brain exploitation of children, therefore, high-tech content
Sound controlled interactive toy have become toy industry development mainstream.
Automobile toy has good interaction function, is liked for a long time by children because of its mobility, and existing automobile is played
Tool is mostly the remote-control car toy based on remote controler, although the hand coordination ability of children can be tempered, to children's brain
Development ability is weaker.
Utility model content
In view of the above shortcomings of the prior art, technical problem to be solved in the utility model is：How a kind of energy is provided
Enough to be acted according to phonetic order, mobility is preferable, can automatic obstacle-avoiding, it is interactive good, be conducive to the exploitation of children's brain
Voice control intelligent vehicle.
In order to solve the above-mentioned technical problem, the utility model uses the following technical solution：
A kind of voice control intelligent vehicle includes the car body of generally cuboid, is mounted on the wheel and use of vehicle bottom
In the motor for driving the vehicle wheel rotation；It is characterized in that, also integrally disposed in the car body have electric-control system, the automatically controlled system
System includes microcontroller, the nonspecific sound identification module and use for carrying out phonetic order identification being connected on the microcontroller
In the motor drive module for driving the motor；The input terminal of the nonspecific sound identification module is connected with for voice signal
The microphone of pickup, the microphone are located at the outer surface of the car body.
Using the above structure, so that it may to utilize the microphone being arranged in car body outer surface, after getting voice signal, by language
Sound signal is sent into nonspecific sound identification module, is compared with speech samples in the module, identifies that phonetic order is sent into
Microcontroller, rotating speed and positive and negative rotation of the microcontroller according to voice command control motor drive module driving motor, so that it may to realize intelligence
The voice control of energy vehicle.The mobility of the intelligent vehicle is preferable, interactive good, is conducive to the exploitation of children's brain.
Further, the electric-control system further includes the infrared sensor being connected on the microcontroller, the infrared biography
Sensor is mounted on the rear and front end of the car body.
In this way, can detect that intelligent vehicle whether there is obstacle in direction of advance or direction of retreat using infrared sensor
Object is conducive to the form direction that microcontroller adjusts intelligent vehicle according to the position of barrier, avoid intelligent vehicle and barrier bump against and
Damage is conducive to the service life for improving intelligent vehicle.
Further, the infrared sensor is each provided with two in the front-end and back-end of the car body, and respectively symmetrically
Ground is located at the left and right sides of the car body.
Further, the direction of the infrared sensor is inclined outwardly setting along the left and right directions of the car body, and described
The front-rear direction of the direction of infrared sensor and the car body is in 30~45 degree of angles.
In this way, the obstacle at car body side front or side rear can be detected accurately, the avoidance ability of intelligent vehicle is improved.
Further, the motor is arranged in a one-to-one correspondence with the wheel, and is four.
Further, the motor is stepper motor.
Further, there are five the microphone settings, all around four sides and the top of the car body are located at.
In this way, the voice signal from all directions can be received, be conducive to improve the reliability that phonetic order receives.
Further, it is also associated with instrument amplifier circuit between the microphone and the nonspecific sound identification module,
The signal amplification factor of the instrument amplifier circuit is 1000~2000 times.
For longer-distance voice signal, the collected sound of microphone must very little instrument is utilized using above-mentioned setting
Voice signal is amplified 1000~2000 times with amplifying circuit, is conducive to the identification of nonspecific sound identification module so that voice
Command range is wider, reaches 10 meters or more.
Further, the nonspecific sound identification module uses LD3320 voice recognition chips.
LD3320 is a speech recognition/voice control chip based on signer-independent sign language recognition technology.The integrated chip
Voice recognition processor and some external circuits, including ADC, DAC, microphone interface, sound output interface etc..The chip is not required to
External any companion chip such as Flash, RAM etc. are wanted, is directly integrated in existing product, speech recognition/sound may be implemented
Control/good in interactive function.
It can be acted according to phonetic order in conclusion the utility model has, mobility is preferable, can keep away automatically
Barrier, it is interactive good, be conducive to the advantages that children's brain is developed.
Description of the drawings
Fig. 1 is the theory structure schematic diagram of the utility model embodiment.
Fig. 2 is the structural schematic diagram of intelligent vehicle.
Fig. 3 is magnifier figure.
Fig. 4 is nonspecific speech recognition system work flow diagram.
Fig. 5 is program control flow chart.
Fig. 6 is that motor drives flow chart.
Specific implementation mode
With reference to embodiment, the utility model is described in further detail.
When specific implementation：As depicted in figs. 1 and 2, a kind of voice control intelligent vehicle, be mounted on 1 bottom of car body wheel 2 with
And the motor 3 for driving the wheel 2 to rotate；It is characterized in that, also integrally disposed in the car body 1 have electric-control system 4, institute
It includes microcontroller 41 to state electric-control system 4, the nonspecific language for carrying out phonetic order identification being connected on the microcontroller 41
Sound identification module 42 and motor drive module 44 for driving the motor 3；The nonspecific sound identification module 42 it is defeated
Enter end and be connected with the microphone 43 picked up for voice signal, the microphone 43 is located at the outer surface of the car body 1.
Using the above structure, so that it may to utilize the microphone being arranged in car body outer surface, after getting voice signal, by language
Sound signal is sent into nonspecific sound identification module, is compared with speech samples in the module, identifies that phonetic order is sent into
Microcontroller, rotating speed and positive and negative rotation of the microcontroller according to voice command control motor drive module driving motor, so that it may to realize intelligence
The voice control of energy vehicle.The mobility of the intelligent vehicle is preferable, interactive good, is conducive to the exploitation of children's brain.
When implementation, the electric-control system 4 further includes the infrared sensor 45 being connected on the microcontroller 41, described infrared
Sensor 45 is mounted on the rear and front end of the car body 1.
In this way, can detect that intelligent vehicle whether there is obstacle in direction of advance or direction of retreat using infrared sensor
Object is conducive to the form direction that microcontroller adjusts intelligent vehicle according to the position of barrier, avoid intelligent vehicle and barrier bump against and
Damage is conducive to the service life for improving intelligent vehicle.
When implementation, the infrared sensor 45 is each provided with two in the front-end and back-end of the car body 1, and respectively symmetrically
Ground is located at the left and right sides of the car body 1.
When implementation, the direction of the infrared sensor 45 is inclined outwardly setting along the left and right directions of the car body 1, and described
The front-rear direction of the direction of infrared sensor 45 and the car body 1 is in 30~45 degree of angles.
In this way, the obstacle at car body side front or side rear can be detected accurately, the avoidance ability of intelligent vehicle is improved.
When implementation, the motor 1 is arranged in a one-to-one correspondence with the wheel 2, and is four.
When implementation, the motor 1 is stepper motor.
When implementation, there are five the settings of the microphone 43, is located at all around four sides and the top of the car body 1
Portion.
In this way, the voice signal from all directions can be received, be conducive to improve the reliability that phonetic order receives.
When implementation, instrument amplification electricity is also associated between the microphone 43 and the nonspecific sound identification module 42
The signal amplification factor on road, the instrument amplifier circuit is 1000~2000 times.
For longer-distance voice signal, the collected sound of microphone must very little instrument is utilized using above-mentioned setting
Voice signal is amplified 1000~2000 times with amplifying circuit, is conducive to the identification of nonspecific sound identification module so that voice
Command range is wider, reaches 10 meters or more.
When implementation, the nonspecific sound identification module 42 uses LD3320 voice recognition chips.
LD3320 is a speech recognition/voice control chip based on signer-independent sign language recognition technology.The integrated chip
Voice recognition processor and some external circuits, including ADC, DAC, microphone interface, sound output interface etc..The chip is not required to
External any companion chip such as Flash, RAM etc. are wanted, is directly integrated in existing product, speech recognition/sound may be implemented
Control/good in interactive function.
When specific implementation：Entire intelligent carriage utilizes nonspecific speech recognition technology, realizes that " accepting " sound instruction is being set
It is run forward or backward on the circuit counted, the stopping of trolley can be controlled by sound, started, translation and rotation assist infrared
Detector enables trolley to have the functions such as obstacle avoidance object, and this system is including red using HT32 microcontrollers as kernel control chip
Outer detection circuit, motor-drive circuit, sound control circuit.The monitoring device for completing intelligent carriage is programmed by C.
It is subject to digital speech processing by the sound to acquisition, the voice signal of defeated people is compiled by audio digital signals
After the UDA1341TS processing of code device, is compared with the reference sample being stored in Flash, finds out best voice recognition effect,
Then the I/0 mouths that HT32F1656 is controlled by call function, command the movement of trolley.The driving circuit of motor then uses H bridges to drive
Circuit controls the operating status of the conducting and shutdown control motor of 4 bridge arms, is allowed to rotate forward reversion or stalling, and then control
The traveling of trolley.According to the light beam that infrared detector emitting head is sent out, reflected by barrier, receive head judge accordingly whether
There is barrier.HT32F1656 makes corresponding control according to the height for receiving head level, and trolley is avoided to encounter barrier.
Signer-independent sign language recognition is the identification technology not having to for specified speaker, and this speech recognition technology is regardless of year
Age, gender, LD3320 are a speech recognition/voice control chips based on signer-independent sign language recognition technology.The integrated chip
Voice recognition processor and some external circuits, including ADC, DAC, microphone interface, sound output interface etc..The chip is not
Need external any companion chip such as Flash, RAM etc., be directly integrated in existing product, may be implemented speech recognition/
Acoustic control/good in interactive function.
LD3320 completes signer-independent sign language recognition, and 50 candidate identification sentences, Mei Geshi can be at most arranged in identification every time
Other sentence can be individual character, phrase or short sentence, and length is the pinyin string no more than 10 Chinese characters or 79 bytes.On the other hand,
Identify sentence content can dynamic edit-modify, therefore can several scenes be supported by a system.
Want that speaker says to be identical language can identify.This works is quasi- to use LD3320 as speech recognition mould
Block.
PWM governing systems are to form pulse width modulated inverter using the HF switch control mode of pulse width modulation,
Only stay motor speed governing system.PWM systems have larger superiority at many aspects, therefore application is increasingly extensive, especially exists
In, in the high dynamic performance system of low capacity.PWM (Pulse Width Modulation) controls refer to just keeping switch periods
T is constant, the technology that regulating switch turn-on time T is modulated the width of pulse.PWM control technologies the thyristor epoch just
Through generating, but initially in order to make thyristor break-make pay prodigious cost, thus it is difficult to be used widely.With IGBT,
Power MOSFET etc. is the constantly improve of the wholly-controled device of representative, and powerful material base is provided to PWM control technologies, is pushed away
Move the fast development of this technology.For direct current generator, the continuous speed regulation system constituted using PWM control technologies, when start-stop pair
Straight-flow system has the characteristics that start small power consumption, stable without impact.
Hardware design
Since the farthest effective distance of the signal acquisition range of phonetic order trolley reaches 10 meters, sound receiver collects behaviour
The sound that control person sends out is inherently very small, is not easy to subsequent processing.Therefore, works need signal to amplify, and amplification factor is about
It is 1000~2000 times.In order to ensure the integrality of signal.Works use magnifier, as shown in Figure 3.
Unspecified person voice system designs
The analog voice signal of input first has to be pre-processed, including preemphasis, adding window framing, end-point detection etc., connects
Get off is exactly characteristic parameter extraction.Feature extraction be mainly complete the characteristic vector based on frequency spectrum calculating, finally be training or
Cognitive phase.In the training stage, it is to obtain a model for each entry, saves as reference template；It, will be to be measured in cognitive phase
Speech production test template, is matched with reference template, will be matched the highest reference template of score and is carried out as recognition result
Output.Nonspecific speech recognition system work flow diagram as shown in figure 4,
Motor drive module
The operation for the control signal drive motor that motor drive module is exported according to HT32F1656 controllers.By
HT32F1656 generates two-way PWM wave, controls two direct current generators by L293D motor drive ics, respectively drives revolver and the right side
Wheel.Two-way PWM wave frequency plot is identical when directly walking, and when needing turning, changes PWM wave and controls corresponding motor reversal, another
Motor rotates forward.Both sides form differential and turning can be realized.The time for adjusting reversion, the size and speed of turning can be controlled,
The speed of trolley can be controlled by changing the duty ratio of PWM wave.
Software section
Microcontroller HT32 is inputed to after sensor collects nonspecific voice signal, microcontroller HT32 is to signal through excessive
Analysis, the last correct identification of coding then proceed to serial ports interruption subroutine, and program is jumped again after having executed serial ports interruption subroutine
Main program is returned, last microcontroller, which exports signal control steering engine corresponding with voice signal, makes robot face expression become
Change, different instruction microcontroller exports unlike signal, and can also export corresponding that signal makes robot send out the sound that matches.
Interruption subroutine is mainly opened when serial ports interrupts, and is executed program and is jumped into interruption, by the communication between microcontroller and SD card
Program initializes SD card, is then read out to SD card.Execution program is jumped out interruption and is continued to execute after reading
Main program.Program flow diagram is as shown in Figure 5.
Drive flow
Stepper motor uses four line composite stepper motor of two-phase.The driving circuit of stepper motor is according to control signalman
Make.The direction of motion that motor is controlled by positive sequence or inverted sequence energization commutation carries out motor by controlling the frequency of pulse
Speed governing.The motor drive ic of this system selects L298N, and the chip acceptable standard TTL logic level signals VSS, VSS can connect
4.5~7V voltages.VS meets 2.5~46V of supply voltage, and output current can drive inductive load up to 2.5A.Inside includes four
Channel logic drive circuits can easily drive two direct current generators or a two-phase stepping motor.Motor drives flow chart
As shown in Figure 6.
Test
A large amount of test has been carried out in the design process.In trolley front, rear, left and right etc., multiple angles are exhaled respectively
Trolley is called out, the call that trolley receives user can accurately drive to user at one's side, while also can be according to the instruction of user voice
It advances.The distance of user distance trolley is all higher than 4 meters.Test result is as follows shown in table 1,
1 voice recognition test result of table
| User instruction | Experiment number | Correct number |
| Advance | 20 times | 19 times |
| Turn left | 20 times | 20 times |
| It turns right | 20 times | 19 times |
| Parking | 20 times | 20 times |
| It rotates in place | 20 times | 19 times |
| Charging | 20 times | 20 times |
Owner's body can be reached automatically after can be seen that this trolley " listening " to the calling of owner from a series of test results above
Side, and the sound that can accurately identify owner carries out a series of action, it was demonstrated that and the system can substantially be met the requirements.It can be pre-
Meter, with advanced optimizing for algorithm, it will promote the great development of smart home and robot.
The above is only the preferred embodiment of the utility model only, is not limitation with the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (9)
1. a kind of voice control intelligent vehicle, includes the car body (1) of generally cuboid, be mounted on the wheel (2) of car body (1) bottom
And the motor (3) for driving the wheel (2) to rotate；It is characterized in that, the car body (1) in also it is integrally disposed have it is automatically controlled
System (4), the electric-control system (4) includes microcontroller (41), is connected to referring to for carrying out voice on the microcontroller (41)
Enable the nonspecific sound identification module (42) of identification and the motor drive module (44) for driving the motor (3)；It is described non-
The input terminal of special sound identification module (42) is connected with the microphone (43) picked up for voice signal, the microphone (43)
Outer surface positioned at the car body (1).
2. voice control intelligent vehicle as described in claim 1, which is characterized in that the electric-control system (4) further includes being connected to
Infrared sensor (45) on the microcontroller (41), the infrared sensor (45) are mounted on front and back the two of the car body (1)
End.
3. voice control intelligent vehicle as claimed in claim 2, which is characterized in that the infrared sensor (45) is in the car body
(1) front-end and back-end are each provided with two, and respectively symmetrically are located at the left and right sides of the car body (1).
4. voice control intelligent vehicle as claimed in claim 3, which is characterized in that the direction of the infrared sensor (45) is along institute
The left and right directions for stating car body (1) is inclined outwardly setting, and the direction of the infrared sensor (45) and the car body (1) is front and back
Direction is in 30~45 degree of angles.
5. voice control intelligent vehicle as described in claim 1, which is characterized in that the motor (3) and the wheel (2) are one by one
It is correspondingly arranged, and is four.
6. voice control intelligent vehicle as claimed in claim 5, which is characterized in that the motor (3) is stepper motor.
7. voice control intelligent vehicle as described in claim 1, which is characterized in that there are five microphone (43) settings, point
Not Wei Yu the car body (1) all around four sides and top.
8. voice control intelligent vehicle as described in claim 1, which is characterized in that the microphone (43) and the nonspecific language
It is also associated with instrument amplifier circuit between sound identification module (42), the signal amplification factor of the instrument amplifier circuit is 1000~
2000 times.
9. voice control intelligent vehicle as described in claim 1, which is characterized in that the nonspecific sound identification module (42) is adopted
With LD3320 voice recognition chips.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820127198.3U CN208018143U (en) | 2018-01-25 | 2018-01-25 | A kind of voice control intelligent vehicle |
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| CN201820127198.3U CN208018143U (en) | 2018-01-25 | 2018-01-25 | A kind of voice control intelligent vehicle |
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| CN208018143U true CN208018143U (en) | 2018-10-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109903768A (en) * | 2019-04-26 | 2019-06-18 | 长安大学 | A kind of intelligent motor control system and method for speech recognition |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109903768A (en) * | 2019-04-26 | 2019-06-18 | 长安大学 | A kind of intelligent motor control system and method for speech recognition |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191021 Address after: 400000 No. 2, Chongwen Road, Nanshan street, Nan'an District, Chongqing Patentee after: Chongqing Shifei Technology Co., Ltd. Address before: 404306 No. five, group five, Liang Quan village, Golden Town, Zhongxian, Chongqing Patentee before: Sun Xiong |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 Termination date: 20210125 |