A hemispherical base control system and control method capable of swaying with music

Abstract

The present invention discloses a hemispherical base control system that sways with music, including a hemispherical base, a main control circuit board is arranged inside the hemispherical base, a main control unit is built in the main control circuit board, the main control unit is respectively connected with a posture detection unit, a motor drive unit, a voice recognition unit, an audio playback unit, a wireless communication unit and a voltage stabilizing unit, the main control circuit board is also connected with a brushless motor through an encoder, the encoder is installed at the tail of the brushless motor, a momentum wheel is installed at the top of the brushless motor, the brushless motor is fixed on a motor bracket, a power supply is installed inside the power supply bracket, and is connected to the main control circuit board and the brushless motor. The present invention also discloses a control method for a hemispherical base control system that sways with music. The present invention uses a structure in which a brushless motor drives a momentum wheel, and controls the balance of the base by rotating the momentum wheel, so that the tumbler doll is more controllable.

Description

Technical Field

[0001] The invention belongs to the field of automatic control technology, and in particular relates to a hemispherical base control system that sways with music. The invention also relates to a control method for the hemispherical base control system that sways with music. Background Art

[0002] The secret to the dolls' stability lies in their chassis, which are massive, solid hemispheres. Even when the dolls dance on them, their center of gravity remains within the hemisphere, ensuring they remain grounded with a single point of contact, no matter how they roll.

[0003] The tumbler dolls currently on the market all achieve swinging by giving inertia through external force, which cannot be well controlled and the dolls' movements are stiff and rigid. Summary of the Invention

[0004] The purpose of the present invention is to provide a hemispherical base control system that sways with music. The system uses a brushless motor to drive a momentum wheel structure, and controls the balance of the base through the rotation of the momentum wheel, making the tumbler doll more controllable.

[0005] Another object of the present invention is to provide a control method for a hemispherical base control system that sways with music.

[0006] The first technical solution adopted by the present invention is a hemispherical base control system that sways with music, including a hemispherical base, a main control circuit board is arranged inside the hemispherical base, the main control circuit board has a built-in main control unit, the main control unit is respectively connected to the posture detection unit, the motor drive unit, the voice recognition unit, the audio playback unit, the wireless communication unit and the voltage stabilization unit, the main control circuit board is also connected to the brushless motor through an encoder, the encoder is installed at the tail of the brushless motor, a momentum wheel is installed at the top of the brushless motor, the brushless motor is fixed on the motor bracket, and a power supply is installed inside the power supply bracket, which is connected to the main control circuit board and the brushless motor.

[0007] The first technical solution of the present invention is also characterized in that:

[0008] There are two groups of brushless motors, each group consists of two brushless motors, installed at the end points of two mutually perpendicular diameters of the shell section. The brushless motor model is Nidec's brushless servo motor, with an operating voltage of 12V.

[0009] There are two groups of momentum wheels, each group consists of two, which are installed on the top of the brushless motor shaft. The diameter of the momentum wheel is 30mm-60mm.

[0010] A number of dynamic balancing weights are also installed at the bottom of the hemispherical base, and the material of the dynamic balancing weights is iron.

[0011] The main control circuit board is fixed on a main control circuit board bracket, and the main control circuit board bracket is located at a position of 1 / 3 from the top to the bottom of the hemispherical base.

[0012] The power supply bracket is located at the bottom of the hemispherical base and below the circuit board bracket. The height of the power supply bracket itself is 2 / 3 of the entire shell, and a lithium battery is installed inside the power supply bracket.

[0013] The voltage stabilizing unit has two parts, including a 5V to 3.3V voltage stabilizing unit A and a 12V to 5V voltage stabilizing unit circuit B. The input end of the 5V to 3.3V voltage stabilizing unit A is connected to the output end of the 12V to 5V voltage stabilizing circuit B, and the output of the 5V to 3.3V voltage stabilizing unit A is connected to the main controller. The specific circuit structure of the 5V to 3.3V voltage stabilizing unit A is as follows: it includes a U3 unit, the U3 unit is an RT9013-33 chip, pins 1 and 3 of the U3 unit are connected to the +5V power supply, and a capacitor C10 is further connected between the +5V power supply and the ground. Pin 2 of the U3 unit is grounded, and one end of a capacitor C11 is further connected between pin 1 of the U3 unit and the +5V power supply, and the other end of the capacitor C11 is grounded. Pin 5 of the U3 unit is connected to the +3.3 power supply, and a capacitor C13 is connected between the +3.3 power supply and the ground. One end of a capacitor C12 is further connected between pin 5 of the U3 unit and the +3.3 power supply, and the other end of the capacitor C12 is grounded.

[0014] The input end of the 12V to 5V voltage regulator unit B is connected to the lithium battery, and the output end is respectively connected to the 5V to 3.3V voltage regulator unit A, the posture detection unit, the motor drive unit, the voice recognition unit, the audio playback unit and the wireless communication unit. The specific circuit is: including the U4 unit, the U4 unit is an LM2596 chip, the 1 pin of the U4 unit is connected to the +12V power supply, the 5 pin of the U4 unit is grounded, the capacitors C16 and C17 are connected between the 1 pin and the 5 pin of the U4 unit, the 3 pin and the 6 pin of the U4 unit are grounded, the 4 pin of the U4 unit is connected to the +5V power supply through R8, the 2 pin of the U4 unit is connected to the +5V power supply through L3, the diode D3, the capacitor C18 and the capacitor C19 are connected between the 4 pin, the 2 pin and the 3 pin, the 6 pin of the U4 unit.

[0015] The main control circuit board includes a posture detection unit, a motor drive unit, a voice recognition unit, an audio playback unit, a wireless communication unit and a voltage stabilization unit. The posture detection unit is connected to the main controller; the input end of the motor drive unit is connected to the main controller, and the output end is connected to the brushless motor; the input end of the voice recognition unit is Bluetooth, and the output end is connected to the main controller; the input end of the audio playback unit is connected to the main controller, and the output end is connected to the speaker.

[0016] The second technical solution adopted by the present invention is a control method for a hemispherical base control system that sways with music, which is specifically implemented according to the following steps:

[0017] Step 1: First, turn on the power, and the user enters the desired angle and the music to be played through the voice recognition module or wireless communication unit;

[0018] Step 2: Slice the music to be played and calculate the time required for the base to rotate one cycle based on the expected swing angle. Assume that the expected swing angle is N degrees and the time required for one rotation cycle is M seconds. When slicing the music, the end of a complete lyric is used as the segment, and the time is M seconds. In this way, a slice of the song is obtained, and the playing time of each slice of lyrics is obtained. The rotation speed of the system is adjusted according to the playing time, so that when the system swings to the maximum angle, it just reaches the end of the lyrics of the slice, achieving the purpose of swinging with the regularity of the music.

[0019] Step 3. The desired brushless motor speed is obtained through PID calculation based on the momentum formula. The actual motor speed is obtained using the encoder in the inner loop of the PID control, and fed back to the desired speed. The PWM duty cycle is iteratively calculated. The inclination angle of the hemispherical base is detected using the gyroscope unit in the outer loop, and then fed back to the iterative stage. The next desired motor speed is obtained through PID calculation based on the difference between the actual angle and the desired angle. Thus, the iterative calculation is continuously performed until the base is finally tilted to the specified angle.

[0020] The beneficial effect of the present invention is that the hemispherical base control system that sways with music uses a momentum wheel to control the movement of the entire system, so that the entire system can be tilted controllably within ±80° in any direction. The present invention adopts closed-loop control, uses a posture detection unit to collect the tilt angle of the base, and uses a PID algorithm to calculate the corresponding PWM wave according to the difference between the desired angle and the actual angle, thereby controlling the speed of the motor to control the rotation speed of the momentum wheel, so that the entire base achieves a shaking effect, and the entire base is in a stable state. The present invention initially starts working by the user setting the swing angle using a wireless communication unit or a voice recognition unit. First, the two motors located at the same diameter endpoint are controlled to rotate so that the base shakes in the front and back positions and gradually reaches the desired angle. Then, the two motors at the other diameter endpoint are rotated so that the entire system shakes counterclockwise or clockwise at the desired angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a system structure diagram of the present invention;

[0022] Figure 2 It is a top view of the structure of the present invention;

[0023] Figure 3It is a structural cross-sectional view of the present invention;

[0024] Figure 4 This is a structural block diagram of the main control circuit board of the present invention;

[0025] Figure 5 This is a circuit diagram of the main controller in the present invention;

[0026] FIG6( a ) is a circuit diagram of a 5V to 3.3V voltage stabilizing unit in the present invention;

[0027] FIG6( b ) is a circuit diagram of a 12V to 5V voltage stabilizing unit in the present invention;

[0028] Figure 7 It is the momentum wheel used in the present invention;

[0029] Figure 8 It is a closed-loop control structure diagram of the present invention;

[0030] Figure 9 It is a flow control diagram of the present invention.

[0031] Figure 3 1. Main control circuit board bracket, 2. Brushless motor, 3. Momentum wheel, 4. Dynamic balancing weight, 5. Power supply bracket, 6. Hemispherical base, 7. Motor bracket, 8. Main control circuit board, 9. Lithium battery. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] The hemispherical base control system of the present invention that sways with music has a structure as follows: Figure 1 As shown, it includes a hemispherical base 6, a main control circuit board 8 is arranged inside the hemispherical base 6, and the main control circuit board 8 has a built-in main control unit. The main control unit is respectively connected to the posture detection unit, the motor drive unit, the voice recognition unit, the audio playback unit, the wireless communication unit and the voltage stabilizing unit. The main control circuit board 8 is also connected to the brushless motor 2 through an encoder, and the encoder is installed at the tail of the brushless motor 2. The momentum wheel is shown in Figure 7. The momentum wheel 3 is installed on the top of the brushless motor 2. The brushless motor 2 is fixed on the motor bracket 7. The power supply bracket 5 is internally installed with a power supply 9, which is connected to the main control circuit board 8 and the brushless motor 2.

[0034] There are two groups of brushless motors 2, each group consists of two brushless motors, which are installed at the end points of two mutually perpendicular diameters of the shell section. The brushless motor model is Nidec's brushless servo motor, and the operating voltage is 12V.

[0035] There are two groups of momentum wheels 3, each group consists of two, which are correspondingly installed on the top of the rotating shaft of the brushless motor 2. The diameter of the momentum wheel 3 is 30mm-60mm.

[0036] Several dynamic balancing weights 4 are also installed at the bottom of the hemispherical base 6. The dynamic balancing weights 4 are made of iron and weigh 1g, 5g or 10g, so that the entire system remains balanced in the initial state.

[0037] The main control circuit board 8 is fixed on the main control circuit board bracket 1 , and the main control circuit board bracket 1 is located at the 1 / 3 position from the top to the bottom of the hemispherical base 6 .

[0038] The power supply bracket 5 is located at the bottom of the hemispherical base 6 and below the circuit board bracket 1 . The height of the power supply bracket 5 itself is 2 / 3 of the entire shell. A lithium battery 9 is installed inside the power supply bracket 5 .

[0039] The voltage stabilizing unit has two parts, including a 5V to 3.3V voltage stabilizing unit A and a 12V to 5V voltage stabilizing unit circuit B. The input end of the 5V to 3.3V voltage stabilizing unit A is connected to the output end of the 12V to 5V voltage stabilizing circuit B. The output of the 5V to 3.3V voltage stabilizing unit A is connected to the main controller to provide a stable voltage for the main controller. As shown in Figure 6(a), the specific circuit structure of the 5V to 3.3V voltage stabilizing unit A is as follows: it includes a U3 unit, which is an RT9013-33 chip. Pins 1 and 3 of the U3 unit are connected to the +5V power supply. A capacitor C10 is also connected between the +5V power supply and the ground. Pin 2 of the U3 unit is grounded. One end of capacitor C11 is connected between pin 1 of U3 unit and the +5V power supply, and the other end of capacitor C11 is grounded. Pin 5 of U3 unit is connected to the +3.3V power supply, and capacitor C13 is connected between the +3.3V power supply and ground. One end of capacitor C12 is also connected between pin 5 of U3 unit and the +3.3V power supply, and the other end of capacitor C12 is grounded.

[0040] As shown in Figure 6(b), the input end of the 12V to 5V voltage stabilizing unit B is connected to the lithium battery 9, and the output end is respectively connected to the 5V to 3.3V voltage stabilizing unit A, the posture detection unit, the motor drive unit, the voice recognition unit, the audio playback unit and the wireless communication unit. The specific circuit is: including the U4 unit, the U4 unit is an LM2596 chip, the 1 pin of the U4 unit is connected to the +12V power supply, the 5 pin of the U4 unit is grounded, the capacitors C16 and C17 are connected between the 1 pin and the 5 pin of the U4 unit, the 3 pin and the 6 pin of the U4 unit are grounded, the 4 pin of the U4 unit is connected to the +5V power supply through R8, the 2 pin of the U4 unit is connected to the +5V power supply through L3, and the diode D3, the capacitor C18 and the capacitor C19 are connected between the 4 pin, the 2 pin and the 3 pin and the 6 pin of the U4 unit.

[0041] The main control circuit board includes a posture detection unit, a motor drive unit, a voice recognition unit, an audio playback unit, a wireless communication unit and a voltage stabilization unit. The posture detection unit is connected to the main controller; the input end of the motor drive unit is connected to the main controller, and the output end is connected to the brushless motor; the input end of the voice recognition unit is Bluetooth, and the output end is connected to the main controller; the input end of the audio playback unit is connected to the main controller, and the output end is connected to the speaker.

[0042] The control method of the hemispherical base control system that sways with music is implemented in the following steps:

[0043] Step 1: First, turn on the power, and the user enters the desired angle and the music to be played through the voice recognition module or wireless communication unit;

[0044] Step 2: Slice the music to be played and calculate the time required for the base to rotate one cycle based on the expected swing angle. Assume that the expected swing angle is N degrees and the time required for one rotation cycle is M seconds. When slicing the music, the end of a complete lyric is used as the segment, and the time is M seconds. In this way, a slice of the song is obtained, and the playing time of each slice of lyrics is obtained. The rotation speed of the system is adjusted according to the playing time, so that when the system swings to the maximum angle, it just reaches the end of the lyrics of the slice, achieving the purpose of swinging with the regularity of the music.

[0045] Step 3: Calculate the desired speed of the brushless motor 2 using the momentum formula through PID. The inner loop of the PID control uses an encoder to obtain the actual motor speed, which is fed back to the desired speed. The PWM duty cycle is iteratively calculated. The outer loop uses a gyroscope to detect the tilt angle of the hemispherical base 6, which is then fed back into the iterative stage. The difference between the actual and desired angles is used to calculate the next desired motor speed through PID calculation. This iterative calculation continues until the base is finally tilted to the specified angle. To ensure the base is more like a tumbler, the process of reaching the desired angle is divided into multiple stages. In the initial stage, the base is expected to tilt between ±0.5° in the fore-aft direction. First, the base is tilted to 0.5°, then to -0.5°, causing it to oscillate forward and backward. Each subsequent stage increments by ±1°, gradually reaching the desired angle. The same principle applies to oscillation in the left-right direction. Ultimately, driven by the momentum wheel, the entire system oscillates like a tumbler.

[0046] In the present invention, Figure 1As shown in the figure, it is a system structure diagram of the entire system of the present invention. The main control circuit board bracket 1 is used to install the main control board and is located at 1 / 3 of the base from top to bottom. The motor bracket is used to install the motor and is located on the side of the base. The power supply bracket is used to install the power supply and is located at the bottom of the base. The height is 2 / 3 of the entire shell. Figure 2 、 Figure 3 The power supply is connected to the main control board and the motor. The main control board is connected to the encoder and motor. The encoder is mounted at the rear of the motor, and the momentum wheel is mounted at the top of the motor. The main control board houses the attitude detection unit, motor drive unit, voice recognition unit, audio playback unit, wireless communication unit, and voltage stabilization unit.

[0047] The dynamic balancing weights are made of iron and come in 1g, 5g, and 10g sizes. They are installed at the bottom of the base and other locations to keep the system balanced.

[0048] The power supply is a lithium battery with a rated voltage of 12V.

[0049] The hemispherical base, circuit board mounting bracket and battery bracket are made using 3D printing technology, as shown in Figure 2. Figure 3 Shown are a top view and a cross-sectional view of the present invention.

[0050] The main control circuit board is used to control the operation of the entire system. The brushless motor is used to control the rotation speed of the momentum wheel. The momentum wheel is used to control the tilt direction and tilt angle of the entire base. The dynamic balancing weight is used to keep the entire system in its initial state, with the tilt angle in all directions approaching 0°. The power supply is used to provide stable voltage and current to the entire system.

[0051] The main control unit is used to control the entire system; the voltage stabilizing unit is used to provide a stable voltage to the motor and the entire circuit board; the wireless communication unit is used to receive user commands; the posture detection unit is used to detect the tilt angle of the base; the motor drive unit is used to output PWM waves to control the motor; the audio playback unit is used to play distinctive songs in conjunction with the regular shaking of the base; and the voice recognition unit is used to achieve human-computer interaction.

[0052] like Figure 4 The main control circuit board structure diagram is shown in FIG. The main control unit is a MM32F3277 main controller, and its circuit diagram is shown in FIG. Figure 5As shown. The MM32F3270G7P is based on the Arm Cortex-M3 core and is suitable for high-performance control applications requiring high integration. It offers significant advantages in terms of performance and peripheral integration configuration. The motor drive unit comprises four groups of four-channel interfaces. Each channel contains the connection lines for the PWM signal line, direction line, output signal line A, and output signal line B. The PWM signal line controls the motor speed, the direction line controls the motor's rotation direction, and output signal lines A and B represent the actual motor speed output by the encoder. One end of the motor drive unit is connected to the main controller, and the other end is connected to the motor and encoder. The encoder is installed at the rear of the motor to measure the motor speed. The four groups control four motors respectively.

[0053] The attitude detection unit uses the ICM20602, a 6-axis motion tracking chip that combines a 3-axis gyroscope and a 3-axis accelerometer. Gyroscope sensitivity error: ±1%, gyroscope noise: 4mdps / Hz, accelerometer noise: 100μg / Hz, and SPI communication is used. The voltage regulator unit is shown in Figure 6. The 12V to 5V converter uses the LM2596 chip, and the 5V to 3.3V converter uses the RT9013-33 chip.

[0054] The wireless communication unit uses Bluetooth and communicates with the main controller via a serial port. Users can connect their mobile phone to the system Bluetooth for communication. The audio playback unit uses a JR6001 chip and communicates with the main controller via a serial port. The main controller sends the audio file to the chip via the serial port, and the chip then outputs the signal to the speaker to play the music.

[0055] The speech recognition unit is an LD3320 speech recognition module, which integrates high-precision A / D and D / A interfaces. It can implement speech recognition, voice control, and human-computer interaction functions without the need for external auxiliary Flash and RAM. The list of key words to be recognized can be dynamically edited, and SPI is used to communicate with the main controller. When the system is powered on, speech recognition begins. Users can wake the system with the voice command "Xiao Weng Xiao Weng," start or stop the system with the voice commands "Start Rotation" and "Stop Rotation," and set the maximum rotation angle of the system with "Rotate 60°."

[0056] This brushless motor has a built-in encoder, supports PWM speed regulation, an electronic brake, and is driven by 12V. It supports forward and reverse rotation. The motor's PWM input frequency ranges from 2000 to 10000 Hz. Tests have yielded speeds corresponding to different duty cycles, as shown in Table 1.

[0057] Table 1 Different duty ratios corresponding to speeds

[0058]

[0059] To achieve the system's ability to sway in accordance with the music's rhythm, the present invention first slices the music to be played. Based on the desired sway angle, the time required for the base to rotate once is calculated. For example, if the desired sway angle is 60°, one rotation cycle takes approximately 4 seconds. When slicing the music, the end of a complete line of lyrics is used as the segment, and the time taken is approximately 4 seconds. This creates a slice of the song and the playback time of each line. The system's rotation speed is then adjusted based on the playback time, ensuring that when the system reaches its maximum sway angle, it reaches the end of the line, achieving the goal of swaying in accordance with the music's rhythm.

[0060] The closed-loop control structure of the system is as follows: Figure 8 As shown, first input the desired angle, and obtain the desired motor speed through PID calculation according to the momentum formula. Then use PID to calculate the corresponding PWM wave duty cycle, and output it to the encoder of the brushless motor to control the motor rotation, thereby driving the momentum wheel to rotate, so that the entire base rotates in the positive direction. In the inner loop, the encoder is used to obtain the actual speed of the motor, which is fed back to the desired speed, and the PWM duty cycle is iteratively calculated. In the outer loop, the gyroscope unit is used to detect the tilt angle of the base, and then fed back to the iterative stage. The next desired motor speed is obtained after PID calculation based on the difference between the actual angle and the desired angle. Thus, the iterative calculation is continuously performed, and finally the base is tilted to the specified angle.

[0061] The overall software design flow chart of the system is as follows: Figure 9 As shown. First, the system is initialized, and Timer A and Timer B are started simultaneously. The main function determines whether a user command has been received. If so, the corresponding function is executed according to the command. In the Timer A interrupt handler, the Kalman filter algorithm is used to fuse the gyroscope angular velocity and Euler angles to obtain the actual tilt angle of the base. The expected motor speed is calculated based on the expected angle and the actual angle. In the Timer B interrupt handler, the PWM duty cycle is calculated based on the expected speed calculated in the Timer A interrupt handler and the actual motor speed returned by the encoder. To ensure that the base is more tumbling like a "tumbler," the movement process to achieve the desired angle is divided into multiple stages. In the initial stage, the base is expected to tilt between ±0.5° in the fore-aft direction. First, the base is tilted to 0.5°, then to -0.5°, causing the base to tilt forward and backward. Each stage then increases by ±1°, allowing the base to gradually reach the desired angle during the tilting process. The same principle applies to left-right tilting. Finally, driven by the momentum wheel, the entire system can swing like a tumbler.

Claims

1. A hemispherical base control system that sways with music, characterized in that: The invention comprises a hemispherical base (6), wherein a main control circuit board (8) is arranged inside the hemispherical base (6), wherein the main control circuit board (8) has a main control unit built therein, and the main control circuit board (8) is also connected to a brushless motor (2) via an encoder, wherein the encoder is installed at the tail of the brushless motor (2), wherein a momentum wheel (3) is installed at the top of the brushless motor (2), wherein the brushless motor (2) is fixed on a motor bracket (7), wherein a lithium battery (9) is installed inside a power bracket (5), and connected to the main control circuit board (8) and the brushless motor (2), wherein the brushless motor (2) comprises two groups, each group comprising two brushless motors, which are installed at the end points of two mutually perpendicular diameters of a shell section, wherein the brushless motor model is a Nidec brushless servo motor, and the working voltage is 12V, wherein the momentum wheel (3) comprises two groups, each group comprising two brushless motors, which are installed at the top ends of the rotating shafts of the brushless motor (2), and wherein the diameter of the momentum wheel (3) is 30mm-60mm; The main control circuit board includes a posture detection unit, a motor drive unit, a voice recognition unit, an audio playback unit, a wireless communication unit and a voltage stabilization unit. The posture detection unit is connected to the main control unit; the input end of the motor drive unit is connected to the main control unit, and the output end is connected to the brushless motor; the input end of the voice recognition unit is Bluetooth, and the output end is connected to the main control unit; the input end of the audio playback unit is connected to the main control unit, and the output end is connected to the speaker.

2. The hemispherical base control system that sways with music according to claim 1, characterized in that: A plurality of dynamic balancing weights (4) are also installed at the inner bottom of the hemispherical base (6), and the dynamic balancing weights (4) are made of iron.

3. The hemispherical base control system that sways with music according to claim 1, characterized in that: The main control circuit board (8) is fixed on a main control circuit board bracket (1), and the main control circuit board bracket (1) is located at a position 1 / 3 from top to bottom of the hemispherical base (6).

4. The hemispherical base control system that sways with music according to claim 1, characterized in that: The power supply bracket (5) is located at the bottom of the hemispherical base (6) and below the circuit board bracket (1); the height of the power supply bracket (5) is 2 / 3 of the entire housing; a lithium battery (9) is installed inside the power supply bracket (5).

5. The hemispherical base control system that sways with music according to claim 1, characterized in that: The voltage stabilizing unit has two parts, including a 5V to 3.3V voltage stabilizing unit A and a 12V to 5V voltage stabilizing unit circuit B. The input end of the 5V to 3.3V voltage stabilizing unit A is connected to the output end of the 12V to 5V voltage stabilizing circuit B, and the output of the 5V to 3.3V voltage stabilizing unit A is connected to the main control unit. The specific circuit structure of the 5V to 3.3V voltage stabilizing unit A is: including a U3 unit, the U3 unit is an RT9013-33 chip, the 1 and 3 pins of the U3 unit are connected to a +5V power supply, a capacitor C10 is further connected between the +5V power supply and the ground, the 2 pin of the U3 unit is grounded, the 1 pin of the U3 unit is further connected to one end of a capacitor C11 between the +5V power supply, the other end of the capacitor C11 is grounded, the 5 pin of the U3 unit is connected to a +3.3 power supply, a capacitor C13 is connected between the +3.3 power supply and the ground, the 5 pin of the U3 unit is further connected to one end of a capacitor C12 between the +3.3 power supply, and the other end of the capacitor C12 is grounded; The input end of the 12V to 5V voltage regulator unit B is connected to the lithium battery (9), and the output end is respectively connected to the 5V to 3.3V voltage regulator unit A, the posture detection unit, the motor drive unit, the voice recognition unit, the audio playback unit and the wireless communication unit. The specific circuit is as follows: it includes a U4 unit, the U4 unit is an LM2596 chip, the 1 pin of the U4 unit is connected to the +12V power supply, the 5 pin of the U4 unit is grounded, the capacitors C16 and C17 are connected between the 1 pin and the 5 pin of the U4 unit, the 3 pin and the 6 pin of the U4 unit are grounded, the 4 pin of the U4 unit is connected to the +5V power supply through R8, the 2 pin of the U4 unit is connected to the +5V power supply through L3, and the diode D3, the capacitor C18 and the capacitor C19 are connected between the 4 pin and the 2 pin and the 3 pin and the 6 pin of the U4 unit.

6. A control method for a hemispherical base control system that sways with music, characterized in that: The hemispherical base control system that sways with music according to claim 1 is implemented specifically according to the following steps: Step 1: First, turn on the power, and the user inputs the desired angle and the music to be played through the voice recognition module or the wireless communication unit; Step 2: Slice the music to be played, and calculate the time required for the base to rotate for one cycle according to the expected swing angle. Assume that the expected swing angle is N degrees, and the time required for one rotation cycle is M seconds. When slicing the music, the end of a complete lyric is used as the segmentation, and the time is M seconds, so as to obtain a slice of a song and the playing time of each slice of lyrics; adjust the rotation speed of the system according to the playing time, so that when the system swings to the maximum angle, it just reaches the end of the lyrics of the piece, so as to achieve the purpose of swinging with the regularity of the music; Step 3: The desired speed of the brushless motor (2) is obtained through PID calculation according to the momentum formula. The actual speed of the motor is obtained by using an encoder in the inner loop of the PID control, and the desired speed is fed back to the desired speed. The duty cycle of the PWM is iteratively calculated. The inclination angle of the hemispherical base (6) is detected by using a gyroscope unit in the outer loop, and then fed back to the iteration stage. The next desired motor speed is obtained after PID calculation based on the difference between the actual angle and the desired angle. Thus, the iterative calculation is continuously performed, and finally the base is tilted to the specified angle.

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