CAJ | 학술논문

基于STC11 L04E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STC11 L04E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Frees-cale 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。
기우STC11 L04E화 Freescale Kinetis 60，설계료어음공제적량륜자평형궤기인。기중，어음식별모괴주요유STC11 L04E화LD3320조성，이용실시어음식별산법，실현비특정인대자평형궤기인동작적어음공제。위실현궤기인적자평형공능，이용삼축가속도전감기MMA7260화타라의ENC-03M실시채집가속도치화각속도치，진일보유주공심편Frees-cale Kinetis 60진행수거융합，이학정해궤기인적자태。주공심편통과PID산법공제전궤정、반전，이보지궤기인처우은정적직립상태，전궤전속유홍외대관실시반궤。경과실험측시，해궤기인능쾌속은정지실현자평형공능，병능안조어음지령완성전진、후퇴、좌전、우전、가속、감속등동작。
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.