【作者】 李守轩；

【导师】 张华；

【作者基本信息】 南昌大学 ， 通信与信息系统， 2008， 硕士

【摘要】 机器人发展至今,智能机器人成为研究的热点之一。对于机器人的控制,语音控制无非是最自然、最便捷的控制方式。语音识别技术使机器人能听懂人的自然语言,由识别得到的信息可以作为声控信号应用到机器人的多种技术领域。智能轮椅作为助老/助残服务机器人系列产品中的一个重要研究领域,将语音识别技术应用于普通轮椅,用语音来控制轮椅的运动为使用者带来了极大的方便。因此研究并开发实用的机器人语音识别控制系统对于智能机器人的广泛应用具有重要的意义。论文的主要内容如下;首先,实现了轮椅机器人语音指令识别算法。基于语音识别的原理,对轮椅语音指令进行了预滤波、数字化、预加重处理、分帧、小波降噪和双门限端点检测;对Mel频率倒谱系数(MFCC)与线性预测倒谱系数(LPCC)的性能进行了对比分析,选取性能较好的MFCC作为识别特征参数,采用动态时间规整(DTW)的高效算法,实现了易于硬件实现、识别性能较好、执行效率较高的轮椅机器人语音指令识别算法。其次,设计完成了轮椅机器人的语音识别控制系统。采用凌阳16位单片机SPCE061A作为系统核心,完成了轮椅机器人语音识别控制系统的硬件设计;基于SPCE061A的集成开发环境编写了轮椅语音识别控制系统的软件。实验结果表明,实现的语音识别控制系统的识别性能及轮椅运动的机械性能较好。同时,该系统结构简单,性价比高,易于功能扩展和移植,具有广阔的应用前景。更多还原

【Abstract】 With the development of robot, the intelligent robot becomes one research focus. For the control of the robot, speech control is the most natural and convenient way. Speech recognition technology can make robot understand human language, the signal from recognition can be used as voice control signal and applied in many technology domains of robot. The intelligent wheelchair is one important research domain of the series of the elder-aid and handicapped-aid robots. By applying speech recognition technology to the common wheelchair, it is very convenient to use voice to control the movement of wheelchair. Therefore, it is very important to research and develop practical robot speech recognition control system in order to apply the service robot widely. The main content of the paper is below.Firstly, the speech instruction recognition algorithm of the wheelchair robot is realized. According to the theory of speech recognition, the speech instruction of the wheelchair is pre-processed, including pre-filtering, digitalization, pre-emphasis, packetization, wavelet denoising, endpoint detection with double threshold. The performance of mel frequency cepstral coefficients and linear predictive cepstral coefficients is contrasted and analyzed, MFCC has better performance and it is selected as the feature parameter. The more efficient dynamic time warping algorithm is adopted as the recognition algorithm. The wheelchair instruction recognition algorithm is programmed, it has better performance and efficiency and it is easily realized on hardware.Secondly, the speech recognition control system of the wheelchair robot is designed. The hardware design of the speech recognition control system which selects SPCE061A as the core is completed, and the software of the system is programmed in the integrated developing environment of SPCE061A. The experiment result shows that the system has better recognition performance and mechanical performance. In the meantime, the system has simple structure and better performance-price ratio, and it can be enlarged in function and transplanted easily. Therefore, the speech recognition system has broad application prospects.更多还原