基金项目:湖南省自然科学基金项目(04JJ40044)
基于 SPCE061A 单片机的家居智能机器人设计
张晓虎
12
, 李晓峰
2
,敖章洪
2
,刘洁3(1 湖南大学电气与信息工程学院,长沙 410082;2 湖南文理学院电气工程系,常德 415000;3 湖南文理学
院计算机系,常德 415000)
摘要:家居智能机器人的核心控制部分采用双CPU体系,主从CPU分布计算,保证了实时性要
求.主机以SPCE061A单片机为核心,外扩了嵌入式语音识别应答模块、智能报警及灭火模块、
电机驱动控制模块等功能模块.从机作为专门的定位处理芯片,实现系统定位的功能,同时
将处理得到的信息通过串口通信传递给上位机.超声波传感器、红外传感器、霍尔传感器、
接触传感器等多传感器信息融合技术的采用,保证了智能机器人系统信息处理的快速性和正
确性.
关键词:智能机器人;单片机;多传感器技术;数据融合;
中图分类号:TP242.6 文献标识码:A
Design of intelligent family robot based on SPCE061A
Zhang xiao-hu12
, Li xiao-feng2
, Ao zhang-hong2
, Liu Jie3
(1.College of Electric and Info. Eng.,Hunan University, Changsha 410082 China;2.Hunan University of Arts and
Science of Electrician Department, Changde 415000 China;3. Hunan University of Arts and Science of Computer
Science and Technology Department, Changde 415000 China)
Abstract: The control core of intelligent family robot based on two CPU, and all jobs can be processed in real
time with the distributing calculation of the two CPU. The host based on SPCE061A MCU and expands some
function module such as embedded module which can distinguish the different speech, intelligent module which
can give an alarm and put out a fire, and a function module which can drive and control the motor, etc. As a special
chip, the slaver can realize the navigation for the system and transfer the information which has already been
processed to the host. Intelligent robot can process the information rapidly and accurately better, for adopting the
multi-sensor fusion technology, the multi-sensor includes ultrasonic senor, infrared sensor, magnetic sensor, touch
sensor etc.
Keywords: intelligent robot, MCU, multi-sensor technology, data fusion
引言
21世纪的智能机器人将给人们的生活带来巨大的变化.当家居机器人进入我们的家庭
后,它不但可以为我们带来娱乐性的欢乐,还在一定程度帮助我们解决部分的家务工作.本
系统的主从控制器均采用由台湾凌阳公司生产的一款十六位单片机SPCE061A,该单片机体积

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