The research of robot voice control system has always been one of the main contents of robot research. The traditional sound control system generally uses the PC as the core platform to control the robot. Although it has the advantages of powerful processing capability, complete voice library, and strong system update capability, the PC is large in size, high in power consumption, high in cost, and unsuitable. Used by medium and small robots. This paper designs a set of robot voice control system with SPCE061A as the core. Compared with the traditional PC voice control system, it has the characteristics of low cost, small size, low energy consumption and flexible use.
The robot platform used in this system is the Voyager II ground mobile robot provided by Beijing Bochuang Xingsheng Robot Technology Co., Ltd. The robot adopts modular design concept, DC servo control with high load capacity, optional sonar, infrared, Sensors such as vision, compass, GPS, etc., and actuators such as robots. It can fully meet the design requirements of the voice control system. This paper proposes a design scheme of Voyager II robot voice control system with Lingyang MCU as the core. The product has the characteristics of low cost, low power consumption, small size and flexible use, which is not only suitable for medium and small robots. Also suitable for use in teaching and research.
The overall design of the system is divided into two parts: hardware design and software design. The hardware design of the system is first introduced below.
System hardware structure
According to the situation of the robot platform, the hardware structure of the voice control system is mainly composed of a microprocessor unit, a power supply unit, a sound collection unit and a serial output unit, as shown in the figure:
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1 microprocessor unit
This system uses Lingyang's 16-bit single-chip SPCE061A as the core control chip, built-in 32K flash memory, its high processing speed enables the chip to process complex digital signals very quickly, suitable for speech recognition and other applications.
The SPCF061A operates from a frequency range of 0.32-49.152MHz. It has an 8-channel 10-bit ADC input function and a built-in microphone input function with automatic gain control. Dual 10-bit DAC and an audio output A, B two I / 0 Port Input Output Function. It has the characteristics of high integration, reliable performance, low price and low power consumption. These features fully reflect the new trend of microcontroller industry development. At present, the application of Sunplus MCU SPCE061A is more and more widely, and is well received by users.
2 sound collection unit
The transducer of the sound acquisition unit uses an electret microphone. The collected sound signal is transmitted to the CPU through the MIC_IN channel. The MIC_IN channel is used to sample the voice signal. The speech signal is converted into an electrical signal by the MIC, and the DC component of the speech signal is filtered out and then input to a preamplifier integrated in the SPCE061A. SPCE061A's internal gain control circuit AGC can track and monitor the level of the audio signal output by the preamplifier at any time. When the input signal is too large, the amplifier gain is automatically reduced. When the input signal decreases, the amplifier gain is automatically increased. In this way, the signal received by the A/D converter can be kept at the optimum level, and the sound loss can be minimized, thereby improving the accuracy of speech recognition.
3 external power supply unit
The external power supply unit is an optional unit of the voice control system. Because the power consumption of the voice control system is very low, three 1.5V batteries can be connected externally to supply power to the system as an external power supply unit. In the absence of an optional external power supply unit, the battery of the Voyager II ground mobile robot can also be used directly as Guan Jishi: The lecturer's master of engineering sound control system supplies power. The Voyager II robot's battery supply voltage is 24V, and the 24V voltage is first converted to 7805. voltage of 5V, and 5V voltage used to convert SPY0029 3.3V power supply voltage to the SPCE061A.
4 memory unit
The memory unit is also an optional unit of the voice control system. When there are fewer voice resources to be identified, the FLASH memory integrated in the single chip microcomputer can meet the requirements. When the voice resources are rich, it is necessary to connect an external memory unit to store the voice resources. In order to ensure the compatibility of the system, SPR4096 of Sunplus is used as the external memory. LASHSPR4096 has 512K&TImes; 8bits F and 4K&TImes; 8bits SRAM can perform SRAM reading and writing concurrently during FLASH programming or erasing. SPR4096 has built-in a memory bus interface and a serial interface, which allows the microcontroller to access the storage area by FLASH SDRAM 8_bit 1_bit parallel mode or serial mode. In this system, SCK and SDA of SPR4096 are connected to IOB0 and IOB1 of SPCE061A to form serial data communication.
5 serial output unit
Because on SPCE061A input and output levels are TTL level, and Voyager II robot configuration is standard RS-232 serial interface, both electrical specifications inconsistent. Thus, to complete the serial communication between the robot and the SPCE061A must be level shifted SPCE061A TTL level output, this system's use of MAXIM MAX232 chip as a level converter. The MAX232 operates from a single supply and requires only five external 0.1uF capacitors to level shift between the SPCE061A and Voyager II robots.
System software design
The most important part of software design is writing a speech recognition program. The speech recognition process is essentially a multidimensional pattern recognition process. For the speech recognition program written by Sunplus MCU, it can be divided into three parts: training, identification and identification result output.
2 speech recognition program
The speech recognition program is the most important part in the whole process of programming. It can be divided into four parts: identifier initialization, real-time monitoring of recognition process, acquisition of identification results and termination identification.
2.1 Identification Initialization
Identification initialization is done using the void BSR_InitRecognizer (int AudioSource) function. When the parameter AudioSource takes 1 is the LINE_IN voltage analog input; when the parameter AudioSource takes 0, it is the MIC voice input.
2.2 Real-time monitoring of the identification process
This function is called by the void BSR_EnableCOUIndicator() function, which is mainly used to identify whether it works normally. If the recognition is normal, the CPU generates a square wave with a 50% duty cycle. If the CPU is overloaded, an unstable waveform will be generated. In order to avoid error recognition caused by speech recognition, you need to delete the command or optimize the program.
2.3 Obtaining Identification Results
This function is implemented by calling the int BSR_GetResult() function. When no command is recognized, the return value is 0; when the recognizer is not initialized or the recognition is not activated, it returns -1; when the recognition is unqualified, it returns -2; when it is recognized, Returns the sequence number of the command.
2.4 Termination identification
This function is called by the void BSR_StopRecognizer() function, which is mainly used to stop the recognition and close the FIQ_TMA interrupt.
3 Identification result output
The serial number of the command can be obtained by BSR_GetResult(), and the serial number of the command is rewritten into the relevant protocol of the Voyager II robot, and then transmitted to the robot through the RS232 port to achieve the purpose of voice control.
4 serial communication program
In order to facilitate the user's secondary development of the Voyager II robot, Beijing Borch Prosperity Robotics Co., Ltd. provides a standard serial interface and has developed a detailed communication protocol for users to use. In order to improve the efficiency and stability of communication, within the Voyager II robot, the RS-232 standard level is first converted to TTL level, and then the TTL level is converted to the standard level of RS-485 through the MAX491.
Since only one host is supported in the protocol, in this voice control system, the single-chip of the voice control system is used as the host of the entire hardware system, that is, the top manager of the entire hardware system, and its address defaults to 0. The address of other devices defaults to 1 -255. The specific allocation is as follows: system equipment occupied address 0x01-0x0F; motor equipment address 0x100-0x1F; system reserved address is 0x20-0x7F; user equipment address: 0x80-0xAF; during system operation, the host always occupies its own TXD The line, the slave's RXD line is in a high-impedance state when it is not communicating. It can only occupy the bus when it receives a data frame that matches its own address. Once the communication is over, the bus is released immediately and returns to the high-impedance state.
The master and slave use the standard "one-question-one-answer" communication mechanism. If the host's command requires data feedback, it returns the required data. If no data feedback is required, it returns the command sent by the host computer.
The following describes the protocol format of serial communication by taking the control robot forward as an example:
(1) Send two bytes of fixed communication header: 0x55 0xAA
(2) Sending and receiving device address: 0x01
(3) Send data length: 0x04
(4) Send command word: 0x26
(5) Send the left motor speed two bytes: 0x00 0x06
(6) Send the right motor speed two bytes: 0x00 0x06
(7) Send data validation and: 0x3A
After the protocol format and the content that needs to be sent are clarified, a serial communication program can be written. First, according to the PLL frequency of SPCE061A and the baud rate to be set, the values ​​of P_UART_BaudScalarHigh and P_UART_BaudScalar-Low are calculated, and the serial port parameters are set. After the setting is completed, the data to be sent is stored in P_UART_Data, and SPCE061A can send the data to the Voyager II robot. Because the serial port of SPCE061A can only send 1 byte of data at a time, it is necessary to use a cyclic method to send the communication content to the Voyager II robot in turn. After receiving the command, the Voyager II robot can follow the instructions and perform the corresponding actions.
to sum up
The system uses a low-cost DSP-SPCE061A as the main control chip. Compared with the traditional PC-based speech recognition system, although the recognized speech library is relatively small, it has low cost, low power consumption, small size and The use of flexible and convenient features, not only suitable for small and medium-sized robots, but also suitable for teaching and research. Therefore, this sound control system has a good market prospect and a wide use of space.
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