Hardware acoustics multistage detection circuit and system of robot interaction system

Abstract

The utility model provides a hardware acoustics multistage detection circuit and system of a robot interaction system, and the circuit comprises a signal collection unit which is connected with the signal collection unit and is used for collecting external acoustics signals; the signal amplification unit is used for amplifying the acoustic signal; the peak detection unit is used for carrying out peak detection on the amplified acoustic signal; the buffering and isolating unit is used for buffering and isolating a pre-stage circuit; and the wave crest amplitude comparison unit is used for comparing wave crest amplitudes output by the buffer isolation circuit and outputting high and low levels to the robot main control unit. According to the hardware acoustics multi-stage detection circuit and system of the robot interaction system, acoustic signals are collected, amplified, detected, compared and judged through the low-cost operational amplifier and common resistors and capacitors, and finally stable high and low levels are provided; and the core CPU of the consumer-level low-cost robot can identify different amplitudes of various types of acoustic signals in a grading manner.

Description

TECHNICAL FIELD

[0001] The utility model relates to acoustics detection technical field especially is related to a kind of hardware acoustic multistage detection circuit and system of robot interactive system. BACKGROUND

[0002] In the current market robot development, various robots are emerging in endlessly, the importance of interactive system in the characteristics of robot is self-evident, whether visual input or acoustic input is vital part for robot, reliable and efficient acoustic detection system is an important component of excellent robot.

[0003] For the robot system using high-performance SOC, it has relatively abundant CPU computing power, can cooperate AudioCodec to directly realize the amplitude of acoustic signal to be classified and identified and judged processing, but for the low-cost robot embedded system commonly used in consumer end, various hardware resources are often greatly limited, directly realize the amplitude of acoustic signal to be classified and identified and judged processing through hardware system can greatly reduce CPU load, reduce the cost of hardware system while reducing the influence of CPU frequency and other factors on this function, improve stability and accuracy. SUMMARY

[0004] Therefore, the utility model aims at overcoming the defects in the prior art, provides a kind of hardware acoustic multistage detection circuit and system of robot interactive system, to facilitate the CPU of robot classifies and identifies the different amplitude of various types of acoustic signal.

[0005] To achieve the above object, the technical scheme of the utility model is as follows:

[0006] A kind of hardware acoustic multistage detection circuit of robot interactive system, including signal acquisition unit, signal amplification unit, wave peak detection unit, buffer isolation unit and multiple wave peak amplitude comparison unit connected;Wherein:

[0007] The signal acquisition unit is used to collect external acoustic signal;

[0008] The signal amplification unit is used to amplify the acoustic signal;

[0009] The wave peak detection unit is used to detect the peak value of amplified acoustic signal;

[0010] The buffer isolation unit is used to buffer and isolate the previous stage circuit;

[0011] The wave peak amplitude comparison unit is used to compare the wave peak amplitude output by the buffer isolation unit, and output high-low level to robot master unit.

[0012] Further, the signal acquisition unit comprises a MIC microphone, a positive terminal of the MIC microphone is connected with the signal amplification unit through a capacitor C1, and is connected with a power supply through a resistor R1.

[0013] Further, the signal amplification unit comprises an operational amplifier U1A, the signal acquisition unit is connected with an inverting input terminal of the operational amplifier U1A;

[0014] The inverting input terminal of the operational amplifier U1A is connected with the signal acquisition unit through a resistor R2; an output terminal of the operational amplifier U1A is connected with the wave peak detection unit through a capacitor C2; the output terminal of the operational amplifier U1A is connected with the inverting input terminal through a resistor R3; a non-inverting input terminal of the operational amplifier U1A is connected with a power supply through a resistor R4, and is grounded through a resistor R5.

[0015] Further, the wave peak detection unit comprises an operational amplifier U1B, the signal amplification unit is connected with an inverting input terminal of the operational amplifier U1B;

[0016] An output terminal of the operational amplifier U1B is connected with the buffer isolation unit through a resistor R9; a non-inverting input terminal of the operational amplifier U1B is grounded through a resistor R8;

[0017] The inverting input terminal and the output terminal of the operational amplifier U1B are connected through a diode D1 and a diode D2; the diode D1 is connected in parallel with a resistor R7; the inverting input terminal of the operational amplifier U1B is connected with the signal amplification unit through a resistor R6;

[0018] The output terminal of the operational amplifier U1B is grounded through a capacitor C3; the capacitor C3 is connected in parallel with a resistor R10.

[0019] Further, the buffer isolation unit is a voltage follower; the buffer isolation unit comprises an operational amplifier U1C, the wave peak detection unit is connected with a non-inverting input terminal of the operational amplifier U1C; the inverting input terminal and an output terminal of the operational amplifier U1C are connected through a resistor R11; the output terminal of the operational amplifier U1C is connected with the wave peak amplitude comparison unit.

[0020] Further, the wave peak amplitude comparison unit comprises an operational amplifier U1D, the buffer isolation unit is connected with a non-inverting input terminal of the operational amplifier U1D;

[0021] The noninverting input end of the operational amplifier U1D is connected with the buffer isolation unit through a resistor R12; the inverting input end of the operational amplifier U1D is connected with a power supply through a resistor R14 and grounded through a resistor R15; the output end of the operational amplifier U1D is connected with the robot master control unit through a resistor R16; and the output end of the operational amplifier U1D is connected with the noninverting input end through a resistor R13.

[0022] A hardware acoustic multistage detection system of a robot interaction system comprises the hardware acoustic multistage detection circuit of the robot interaction system.

[0023] Compared with the prior art, the hardware acoustic multistage detection circuit of the robot interaction system has the following beneficial effects:

[0024] The hardware acoustic multistage detection circuit and system of the robot interaction system provided by the utility model can collect, amplify, detect, compare and judge acoustic signals through a low-cost operational amplifier and common resistors and capacitors, and finally provide stable high and low levels, so that the core CPU of a consumer-level low-cost robot can identify different amplitudes of various types of acoustic signals in stages. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which form a part of this patent, are included to provide a further understanding of the application and are incorporated herein in their entirety. The embodiments illustrated in the drawings are utilized to explain and describe this present application and are not intended to be an undue limitation thereon. In the drawings:

[0026] Figure 1 It is a whole structure schematic view of the hardware acoustic multistage detection circuit of the robot interaction system;

[0027] Figure 2 It is a principle view of the hardware acoustic multistage detection circuit of the robot interaction system;

[0028] Figure 3 It is a signal acquisition unit circuit diagram of the hardware acoustic multistage detection circuit of the robot interaction system;

[0029] Figure 4 It is a signal amplification unit circuit diagram of the hardware acoustic multistage detection circuit of the robot interaction system;

[0030] Figure 5 It is a wave peak detection unit circuit diagram of the hardware acoustic multistage detection circuit of the robot interaction system;

[0031] Figure 6 It is a wave peak detection circuit waveform diagram of the hardware acoustic multistage detection circuit of the robot interaction system;

[0032] Figure 7 A buffer isolation unit circuit diagram of a hardware acoustic multistage detection circuit of a robot interaction system according to the present application;

[0033] Figure 8 A peak amplitude comparison unit circuit diagram of a hardware acoustic multistage detection circuit of a robot interaction system according to the present application;

[0034] Figure 9 A simulation circuit diagram of a hardware acoustic multistage detection circuit of a robot interaction system according to the present application. DETAILED DESCRIPTION

[0035] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0036] In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0037] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] The present application will be described in detail below with reference to the drawings and in combination with the embodiments:

[0039] Acoustic signal refers to the sound wave vibration propagating in air, water or other medium, which can be perceived by human or animal's ear. The acoustic dimension of acoustic signal has 7 dimensions, the first time dimension represents the change of sound on time axis, the second frequency dimension represents the vibration times per second, the higher the times, the sharper the sound, and vice versa; the third amplitude dimension represents the decibel size of sound, the fourth phase dimension represents the sound characteristics in the position of waveform diagram, the fifth space dimension is used to describe the characteristics of sound in different positions and directions, near and far or echo reverberation, etc.; the sixth harmonic dimension will affect the tone and quality of sound; and the seventh time-frequency dimension converts the signal from time domain to frequency domain for analysis, which can help better understand the signal.

[0040] In practical application, different acoustic dimensions are analyzed and processed to meet different needs.

[0041] The utility model mainly carries out analysis processing in time dimension, amplitude dimension, frequency dimension and phase dimension auxiliary judgment, and does not involve other dimensions.

[0042] As shown in Figures 1-9 The embodiment provides a hardware acoustic multistage detection circuit of a robot interaction system and a system comprising the hardware acoustic multistage detection circuit of the robot interaction system, specifically, the utility model mainly adopts the mode of hardware circuit to detect and judge acoustic signals.

[0043] As shown in Figure 1 and Figure 2 The overall structure of the circuit is divided into four parts, the first part is the acquisition part, mainly composed of MIC microphone and its peripheral power supply, specially used for acquiring external acoustic signals. The second part is the amplification part, because the output signal of MIC microphone is very low, if you want to detect and judge it, you need to amplify the signal first, and ensure that the signal is not distorted during amplification. The third part is the wave peak detection circuit, because the waveform amplitude of acoustic signal is different, to integrate and process a single acoustic signal, wave peak detection is needed to detect the peak value of acoustic signal in a period of time. The fourth part uses voltage follower to buffer the previous stage circuit, isolate and reduce the output impedance. Reduce the mutual interference between the front and back stages, and ensure the stable transmission of the signal. The fifth part uses Schmidt trigger to compare the wave peak amplitude output by the third part, and outputs high and low level according to the logic after comparing the threshold voltage set by the resistance and the wave peak amplitude. The host chip of the robot detects the high and low level to complete the interaction.

[0044] As shown in Figure 3 In the embodiment, the signal acquisition part is mainly composed of one MIC microphone, one resistor and one capacitor.

[0045] MIC microphone is the most common electronic components on the market, mainly used to convert the sound signal into an electronic signal.

[0046] Resistance R1 is the load resistance, its resistance determines the sensitivity of the MIC microphone.

[0047] VCC is the operating voltage, MIC provides power supply, the value of the operating voltage is generally determined by the rated voltage of MIC.

[0048] Capacitor C1 is a direct current capacitor, and the output end of the signal acquisition part is behind the capacitor.

[0049] GND system ground, and VCC form a loop to provide power for the entire system.

[0050] Reference Figure 4 As shown, in this embodiment, the signal amplification stage is mainly composed of an operational amplifier and four resistors. Using the opposite input mode (i.e. the input signal is connected to the "negative terminal" of the operational amplifier), the signal is amplified by a specified multiple, and a part of the voltage is offset, which is more convenient for the signal processing of the next stage.

[0051] The input-output relationship of this amplification stage is:

[0052]

[0053] According to the formula, when

[0054] V CC = 3.3V, R2 = 1K, R3 = 100K, R4 = R5 = 10K

[0055] V OUT = 166.65-V in *100

[0056] The signal acquisition output range of the first stage is about 0-0.1V voltage, and the output range of the second stage amplification stage is about 0-156.65V.

[0057] C2 is a direct current capacitor, and the output end of the amplification stage is behind it.

[0058] Reference Figure 5 and Figure 6 As shown, in this embodiment, the function of the peak detection circuit is to extract the output signal of the previous stage and generate an output voltage equal to V peak .

[0059] This V o will remain until a new larger peak value appears or the circuit is reset. This peak detection circuit is theoretically not affected by the amplitude and frequency of the measured signal.

[0060] In order to reduce the forward conduction voltage drop of the diode, the utility model uses "super diode" to replace the ordinary diode to complete.

[0061] Therefore, the whole peak detection circuit can be subdivided into several modules:

[0062] 1. Analog peak storage module, namely C3 capacitor, the capacitance of the capacitor determines the charging and discharging time of the peak;

[0063] 2. Unidirectional current switch module, namely "super diode" composed of operational amplifier and diode, and here, through the configuration of R6 and R7, the input signal is also amplified by 2 times.

[0064] 3. Capacitor discharge reset module, namely R10 resistor; The resistance value of the resistor determines the peak holding time.

[0065] The voltage follower is also called unit gain amplifier, buffer amplifier or isolation amplifier, and its voltage gain is 1, that is, the output signal voltage is equal to the input signal voltage.

[0066] When using the voltage follower, the power of the circuit will not be affected when the current is fed into a high impedance load; The current consumed by the whole voltage follower is very small, which does not interfere with the original circuit while providing the same voltage signal as the input.

[0067] Reference Figure 7 As shown in the figure, in the embodiment, the voltage follower is placed in the third stage, and the collection of the signal of the previous stage and the comparison of the signal of the subsequent stage are isolated, so that the previous stage and the subsequent stage do not affect each other. In most actual unit gain buffer circuits, there is a leakage current and a parasitic capacitor, so a low resistance (usually R11=1kΩ) resistor is needed in the feedback loop to help reduce the influence of these leakage currents, thereby providing stability.

[0068] Reference Figure 8 As shown in the figure, in the embodiment, the voltage comparator uses a same-phase Schmidt trigger, applies the input signal to the same-phase end of the operational amplifier, and applies the output to the input through positive feedback, so that V CC (3.3V) is input to the inverting end through the series connection of R14 and R15 as the threshold voltage of the comparator.

[0069] Because the same-phase Schmidt trigger is used, when Vin>V-, the comparator outputs high level, and when VinV-, the comparator outputs low level.

[0070] The calculation method of the threshold voltage is

[0071]

[0072] In the embodiment, V CC = 3.3V, R 15 = 10K, R 14 = 100K, according to the calculation:

[0073]

[0074] V - = 0.3V

[0075] In practical applications, by configuring different resistance values of R15 and R14, the input voltage value of V - can be conveniently adjusted, and different threshold voltage values can be set.

[0076] For example:

[0077] According to the calculation, R14 is kept unchanged at 100k, and R15 is adjusted.

[0078] When R15 = 4.7k, the threshold voltage = 148mv.

[0079] When R15 = 10k, the threshold voltage = 300mv.

[0080] In the utility model, the fourth level voltage comparison stage can also be expanded according to requirements, the output of the third level same-phase follower is connected with multiple fourth level voltage comparators, the threshold voltage of the multiple fourth level voltage comparators is set to different levels through resistance, so that different amplitude acoustic signals can be distinguished and judged, and then interactive judgment is carried out.

[0081] In the embodiment, a miniature MIC microphone is used as an acoustic signal collection port, signals pass through an amplification stage, a wave peak detection stage and a same-phase following stage, and then enter two voltage comparison stages synchronously, finally, two output ports MIC1 and MIC2 with different threshold values are provided. R14 and R18 are kept unchanged at 100K, and R15 and R19 are used as threshold adjustable resistance. When the acoustic signal is greater than 148mV, MIC1 outputs high level and MIC2 outputs low level; when the acoustic signal is greater than 300mV, MIC1 outputs high level and MIC2 outputs high level.

[0082] Signal value MIC1 MIC2 <148 mV 1 0 > 148 mV 1 1 > 300 mV 0 0

[0083] Table 4.1.1 output truth table

[0084] Figure 8 The simulation circuit diagram of the hardware acoustic multi-stage detection circuit of the robot interactive system provided by the embodiment is shown.

[0085] The hardware acoustic multistage detection circuit and system of the robot interaction system provided by the utility model, the system output port output is TTL logic level, the acoustic signal amplitude of switching high and low level can be adjusted according to demand, can be expanded through the expansion of operational amplifier to parallelly expand the output port, realizes the demand of single input multi-threshold threshold output.

[0086] Meanwhile, the system greatly reduces the complexity of software program writing in the robot embedded system, improves development efficiency, shortens development cycle, reduces the hardware cost of the acoustic detection part of the robot, reduces the influence of CPU frequency and other factors on the acoustic signal detection function, improves stability and accuracy, and has clear system arrangement principle and clear structure.

[0087] The above only describes the preferred embodiments of the utility model and does not limit the utility model, and any modification, equivalent replacement, improvement, etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A hardware acoustic multi-stage detection circuit of a robotic interaction system, characterized by: The device comprises a signal acquisition unit, a signal amplification unit, a wave peak detection unit, a buffer isolation unit and a plurality of wave peak amplitude comparison units connected in series. The signal acquisition unit is used for acquiring external acoustic signals. The signal amplification unit is used for amplifying the acoustic signals. The wave peak detection unit is used for detecting the peak value of the amplified acoustic signals. The buffer isolation unit is used for buffering and isolating the front-stage circuit. The wave peak amplitude comparison unit is used for comparing the wave peak amplitude output by the buffer isolation unit and outputting high and low levels to a robot main control unit.

2. The hardware acoustic multi-stage detection circuit of a robotic interaction system of claim 1, wherein: The signal acquisition unit comprises a MIC microphone, the positive terminal of which is connected to the signal amplification unit through a capacitor C1 and to a power supply through a resistor R1.

3. The hardware acoustic multi-stage detection circuit of a robotic interaction system of claim 1, wherein: The signal amplification unit comprises an operational amplifier U1A, the signal acquisition unit being connected to the inverting input terminal of the operational amplifier U1A. The inverting input terminal of the operational amplifier U1A is connected to the signal acquisition unit through a resistor R2, the output terminal of the operational amplifier U1A is connected to the wave peak detection unit through a capacitor C2, the output terminal and the inverting input terminal of the operational amplifier U1A are connected through a resistor R3, and the non-inverting input terminal of the operational amplifier U1A is connected to a power supply through a resistor R4 and grounded through a resistor R5.

4. The hardware acoustic multi-stage detection circuit of a robotic interaction system of claim 1, wherein: The wave peak detection unit comprises an operational amplifier U1B, the signal amplification unit being connected to the inverting input terminal of the operational amplifier U1B. The output terminal of the operational amplifier U1B is connected to the buffer isolation unit through a resistor R9, and the non-inverting input terminal of the operational amplifier U1B is grounded through a resistor R8. The inverting input terminal and the output terminal of the operational amplifier U1B are connected through a diode D1 and a diode D2, the diode D1 is connected in parallel with a resistor R7, and the inverting input terminal of the operational amplifier U1B is connected to the signal amplification unit through a resistor R6. The output terminal of the operational amplifier U1B is grounded through a capacitor C3, and the capacitor C3 is connected in parallel with a resistor R10.

5. The hardware acoustic multi-stage detection circuit of a robotic interaction system of claim 1, wherein: The buffer isolation unit is a voltage follower, the buffer isolation unit comprises an operational amplifier U1C, the wave peak detection unit is connected to the non-inverting input terminal of the operational amplifier U1C, the inverting input terminal and the output terminal of the operational amplifier U1C are connected through a resistor R11, and the output terminal of the operational amplifier U1C is connected to the wave peak amplitude comparison unit.

6. The hardware acoustic multi-stage detection circuit of a robotic interaction system of claim 1, wherein: The wave peak amplitude comparison unit comprises an operational amplifier U1D, the buffer isolation unit is connected to the non-inverting input terminal of the operational amplifier U1D. The non-inverting input terminal of the operational amplifier U1D is connected to the buffer isolation unit through a resistor R12, the inverting input terminal of the operational amplifier U1D is connected to a power supply through a resistor R14 and grounded through a resistor R15, the output terminal of the operational amplifier U1D is connected to the robot main control unit through a resistor R16, and the output terminal and the non-inverting input terminal of the operational amplifier U1D are connected through a resistor R13.

7. A hardware acoustic multi-stage detection system of a robotic interaction system, characterized in that, A hardware acoustic multistage detection circuit comprising the robotic interaction system of any of claims 1-6.

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