<div class="document"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">注：* 为必填项</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><strong><span style="color: #0093e6;">请在报名阶段填写 ↓</span></strong></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 1、项目功能介绍</h3> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">    <span style="font-size: 16px;"> <span style="color: #000000;">家庭监护机器人项目（FamilyCare）来源于日常生活中，为解决室内环境监护，日常人机交互，通过语音的人性化方式，帮助人们实时了解日期，时间，闹钟体型，室内环境质量状态，并且融合了家庭娱乐，可以音乐播放，氛围灯进行呼吸配合，并为之后的家庭清洁功能，提供了兼容设计。</span></span></span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #000000; font-size: 16px;">       整体结构以万向轮小车为载体，底层驱动板+顶层核心板控制，并附以：激光雷达，陀螺仪加速度计，RGB摄像头，超声波测距和红外离地探测等综合传感器，为我们FamilyCare提供了强大的室内自主导航功能，配合我们可爱的外型设计，相信会成为我们生活中更好的伙伴。</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*2、项目属性</h3> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">该项目为首次公开，且项目为原创，从刚开始的项目功能定义，硬件设计，软件设计均为自主，历经7个月时间的设计，生产，调试，为第一版发行</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 3、开源协议</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #000000; font-size: 16px;">GPL3.0开源协议</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*4、硬件部分</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #000000; font-size: 16px;">MCU:HK32F103VET6</span></p> <div>    ARM® CortexTM-M3 内核,主频：120MHz，内置FLASH:512Kbytes，SRAM:65Kbytes</div> <div>电机驱动：TB6612FNG</div> <div>   搭配电流和电压采样电路，实时监控电机驱动状态，可以实现过流保护</div> <div>外置FLASH:W25Q256,</div> <div>     用于存放音频文件和语音交互资料</div> <div>WiFi通讯：RTL8723（暂未实现）</div> <div>     用于实时天气信息获取，及网络资源获取</div> <div>语音模块：LD3320语音识别方案</div> <div>     LD3320集成了语音识别处理器，AD,DA转换，麦克风接口，每次可设置多达50项候选识别语句，识别率高达95%，输出增加了音频放大器电路，实现左右声道双向3W的输出。</div> <div>娱乐：</div> <div>多达12路的RGB炫光灯，与音乐播放结合，构成我们家庭娱乐系统；</div> <div>家庭监护：</div> <div>*TB600B室内空气检测方案，实时检测室内温度，湿度，空气污染IQA指标（CO，VOC）等浓度，监护居家健康；</div> <div>*三路的超声波测距，3路红外离地检测电路，3路悬空红外检测电路，与激光雷达，RGB摄像头构成家庭自主吸尘功能（暂未实现）；</div> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/a1hcnjDRaOA5MVHrKXmLiAKYEuPfURSxaUY8iUc0.png" alt="" width="363" height="290"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #000000; font-size: 16px;">原理图，PCB图，GERBER文件资料见附件</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*5、软件部分</h3> <hr class="horizontal-splitline normal-bold-2"> <p> </p> <p><span style="font-family: 宋体;"><img src="//image.lceda.cn/pullimage/umenkUbjeIMHzTFjY7Pdq7v0eCm0ESDZiuLRyv8L.png"></span></p> <p><span style="font-family: 宋体;">代码分为两个部分，</span>linux<span style="font-family: 宋体;">端使用</span><span style="font-family: Calibri;">rk</span><span style="font-family: 宋体;">芯片，底层</span><span style="font-family: Calibri;">mcu</span><span style="font-family: 宋体;">使用</span><span style="font-family: Calibri;">hk</span><span style="font-family: 宋体;">单片机</span></p> <p><span style="font-family: 宋体;">其中</span>linux<span style="font-family: 宋体;">端代码目前只在树莓派调试</span></p> <p>Mcu<span style="font-family: 宋体;">端代码分为</span><span style="font-family: Calibri;">user(</span><span style="font-family: 宋体;">主函数</span><span style="font-family: Calibri;">)  theard(</span><span style="font-family: 宋体;">线程配置</span><span style="font-family: Calibri;">)</span></p> <p>Common(<span style="font-family: 宋体;">代码公用函数</span><span style="font-family: Calibri;">)</span></p> <p>Hal(<span style="font-family: 宋体;">逻辑层代码</span><span style="font-family: Calibri;">) hal_periphperal (</span><span style="font-family: 宋体;">硬件配置配置层代码</span><span style="font-family: Calibri;">)</span></p> <p>Other-daiver(<span style="font-family: 宋体;">传感器成熟的驱动</span><span style="font-family: Calibri;">)</span></p> <p>RTT(rthread <span style="font-family: 宋体;">库函数</span><span style="font-family: Calibri;">)</span></p> <p>Stdperiph_driver(<span style="font-family: 宋体;">航顺库函数</span><span style="font-family: Calibri;">)</span></p> <p><span style="font-family: 宋体;">主流程为：</span>main.cpp<span style="font-family: 宋体;">初始化一个启动线程，在启动线程里面初始化一个主线程、播放声音线程和</span><span style="font-family: Calibri;">led</span><span style="font-family: 宋体;">线程。</span></p> <p><span style="font-family: 宋体;">在主线程将陀螺仪等相关控制数据函数进行顺序执行。</span></p> <p><img src="//image.lceda.cn/pullimage/Q9vZKniYgE9Et8yKkayUniMNYTaa36fNbQ9MSw2b.png"></p> <p> </p> <p><span style="font-family: 宋体;">附录图：</span></p> <p><span style="font-family: 宋体;">USRE</span></p> <p><img src="//image.lceda.cn/pullimage/R7JtArYJKCXiF8crPqpaiILHoQR173DdHbyJpdpx.png"></p> <p><img src="//image.lceda.cn/pullimage/6QbySHYVP59X3m3joxGgotgNAHKrlMg64aKVx70p.png"></p> <p><img src="//image.lceda.cn/pullimage/4QNWmvrhmWEni9A6eZuWICll1BtDY45T6RMF6cAw.png"></p> <p><img src="//image.lceda.cn/pullimage/E4p9vw546oWw9B5ag9N2hNSaMvEY1pjz5qXUaLVM.png"></p> <p><img src="//image.lceda.cn/pullimage/XpiYSEsMSil2PyDjMGh37nh5q6Br2n8bxYVXx3i8.png"></p> <p> </p> <p> </p> <p><span style="font-family: 宋体;">包括电机控制</span> <span style="font-family: 宋体;">中断管理函数</span> <span style="font-family: 宋体;">按键管理函数</span> adc rtc<span style="font-family: 宋体;">等配置函数</span></p> <p><span style="font-family: 宋体;"><img src="//image.lceda.cn/pullimage/1ztsV0LYU21HTVbgUzEFD0I2uNV8cdp2qfQvSki2.png"></span></p> <p> </p> <p> </p> <p> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*6、BOM清单</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">BOM清单见附件</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*7、大赛LOGO验证</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/kLtGrnghy5X7IyWydptsTVqHD1LkCndNHwggukSV.jpeg" alt="" width="440" height="600"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 8、演示您的项目并录制成视频上传</h3> <hr class="horizontal-splitline normal-bold-2"> <p style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">视频见附件</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> </div>