基于语音识别的自平衡机器人设计

Design of Self-balance Robot System Based on Speech Recognition

基于STC11L04E和Freescale Kinetis 60,设计了语音控制的两轮自平衡机器人。其中,语音识别模块主要由STC11L04E和LD3320组成,利用实时语音识别算法,实现非特定人对自平衡机器人动作的语音控制。为实现机器人的自平衡功能,利用三轴加速度传感器MMA7260和陀螺仪ENC-03M实时采集加速度值和角速度值,进一步由主控芯片Freescale Kinetis 60进行数据融合,以确定该机器人的姿态。主控芯片通过PID算法控制电机正、反转,以保持机器人处于稳定的直立状态,电机转速由红外对管实时反馈。经过实验测试,该机器人能快速稳定地实现自平衡功能,并能按照语音指令完成前进、后退、左转、右转、加速、减速等动作。

A two rounds of self-balance robot system was designed by using STC1 1 L04E and Freescale Kinetis 60,which was controlled by speech recognition.Speech recognition module was mainly composed of STC1 1 L04E and LD3320,using a real-time speech recognition algorithm,the realization of speaker-independent speech control of self-balance robot was achieved.To achieve the self balancing function of the robot,the triaxial acceleration sensor MMA7260 and gyroscope ENC-03Mwere used to acquire the accel-eration and angular velocity values in real time.Furthermore,in order to determine the robot’s state,Freescale Kinetis 60 （Master control chip）was used for data fusion.To keep the robot in a vertical state,the master control chip control motor positive and negative rotation by PID algorithm.Experimental results demonstrate the robot can realize self balance in short time,and can complete forward, backward,turn left,turn right,acceleration,deceleration according to speech commands.