CN108501003A - A kind of sound recognition system and method applied to robot used for intelligent substation patrol - Google Patents
A kind of sound recognition system and method applied to robot used for intelligent substation patrol Download PDFInfo
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- CN108501003A CN108501003A CN201810430839.7A CN201810430839A CN108501003A CN 108501003 A CN108501003 A CN 108501003A CN 201810430839 A CN201810430839 A CN 201810430839A CN 108501003 A CN108501003 A CN 108501003A
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- 238000000034 method Methods 0.000 title claims description 15
- 230000003595 spectral effect Effects 0.000 claims abstract description 16
- 230000010358 mechanical oscillation Effects 0.000 claims description 23
- 238000007599 discharging Methods 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 6
- 238000009432 framing Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000003321 amplification Effects 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 abstract description 7
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- 238000012545 processing Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000000605 extraction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 239000000284 extract Substances 0.000 description 3
- 238000013139 quantization Methods 0.000 description 3
- 230000005236 sound signal Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011946 reduction process Methods 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 206010068150 Acoustic shock Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000002203 pretreatment Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Emergency Alarm Devices (AREA)
Abstract
Present invention is disclosed a kind of sound recognition system applied to robot used for intelligent substation patrol, microphone array is installed in robot, the source of sound of acquisition is delivered to processor by the microphone array, and the processor connects memory；The processor includes：Sound source signal processor unit：It will switch to digital signal after source of sound；DSP unit：Digital signal is switched into live sound spectral characteristic；Taxon：Live sound spectral characteristic is classified as impingement signal and leveling style signal；The memory includes the first storage unit for storing impingement feature templates and the second storage unit for storing leveling style feature templates；The advantage of the invention is that substation's environment-identification can be used, acquisition substation field sound rapidly and efficiently, and it is promptly and accurately effectively identified, after judging substation field sound composition, it can take timely measure and hidden danger is rectified and improved, further ensure that substation safety, stable operation.
Description
Technical field
The present invention relates to voice recognition technology fields.
Background technology
Inspecting substation equipment is the operating condition for supervision equipment, lacks limit to find and eliminate equipment in time, in advance
Accident prevention occurs, it is ensured that equipment safety operation.When Wuhu electric company power transformation O＆M room carries out inspection to substation equipment, usually
Way be the face such as integrated use vision, the sense of hearing, tactile, smell function and some corresponding instruments to substation equipment into
Row walkaround inspection.However as the development of power grid, substation's quantity increases sharply, and Wuhu electric company electricity O＆M room carries out inspection
It not only needs to expend a large amount of manpower and materials when operation, but also monitoring time is long, security risk is high, factors can all influence power transformation
The operational safety of station equipment.Inspecting substation equipment still relies on manual type to carry out at present, and in place always whether manual patrol
It is the main bugbear of power transformation O＆M room work, the routing inspection efficiency and inspection quality problems day that the increase of unattended operation transformer station is brought
Benefit is prominent, and there is an urgent need for develop a kind of robot suitable for substation equipment patrol inspection.
Current crusing robot can obtain live sound, by voice recognition technology to noise, electric discharge in substation
The spectrum analysis of sound, chatter, and judge the composition of live sound.Sound signal processing technology is built upon the number of sound
On the basis of learning model and Digital Signal Processing, it is related to multiple and different field such as Digital Signal Processing, pattern-recognition, is
One comprehensive branch of learning.
So-called voice recognition technology is exactly the process that machine can be identified and be understood, it refers in this process sound
Sound signal is converted into the high-tech of corresponding text or instruction, that is, machinery equipment is allowed to can be appreciated that the information in voice signal.
For sound recognition system, if computer is configured with the program groups of identification function, when sound is inputted by harvester
Inside computer and after storing in digital form, the voice signal that recognizer just starts just to have inputted performs some processing, and passes through
Specific algorithm extracts the voice signal property of input, later by the feature that extraction obtains and the multiple sound being previously stored
The feature of sample is compared.Sound characteristic comparison work complete after, computer will export one it considers that most " as " sound
The serial number of sound sample characteristics, we have any meaning it is known that voice signal was just now in this way, and then execute follow-up
Operation.
Experts and scholars all over the world have been successfully found a variety of methods in terms of signal processing, these sides up to now
Method has become essential data processing tools in each sound recognition system, as framing, short-time energy, zero-crossing rate,
Fourier transformation etc..They improve the performance of sound recognition system well, are the bases that voice recognition technology continues to develop
Plinth.Each sound recognition system is similar, although sometimes concrete implementation form is different in some step, it
All have following identical step：Sound transducer collected sound signal is used first and passes through certain compressed encoding
Mode carries out quantification treatment and obtains digital signal, secondly carries out pretreatment operation to obtained digital signal, then uses feature
Extraction algorithm extracts the feature vector of voice signal, and recognition result is provided eventually by algorithms of template matching recognition.
But for the robot of patrol formula, current sound processing method is difficult to quickly timely carry out to passing by equipment
Effectively identification, the practicability that discrimination lowly causes crusing robot sound recognition system to use reduce, it is difficult to popularize.
Invention content
The technical problem to be solved by the present invention is to realize a kind of voice recognition side that can use substation's environment-identification
Method.
To achieve the goals above, the technical solution adopted by the present invention is：One kind being applied to intelligent substation patrol machine
The sound recognition system of people, including robot, the microphone array being mounted in robot, the microphone array is by acquisition
Source of sound is delivered to processor, and the processor connects memory；
The processor includes：
Sound source signal processor unit：It will switch to digital signal after source of sound；
DSP unit：Digital signal is switched into live sound spectral characteristic；
The memory includes the first storage unit for storing impingement feature templates and for storing leveling style spy
Levy the second storage unit of template；
The processor further includes taxon：Live sound spectral characteristic is classified as impingement signal and leveling style letter
Number.
The processor further includes subclassification unit：It is electric discharge acoustical signal and mechanical oscillation sound letter by leveling style Modulation recognition
Number, second storage unit includes for storing the first of discharging sound feature templates the sub- storage unit and being used for mechanical oscillation sound
Second sub- storage unit of feature templates.
The processor connection communication unit, the processor is by communication unit to remote monitoring and/or warning device
Send signal.
A kind of sound identification method applied to robot used for intelligent substation patrol, step 1, robot pass through microphone array
Row switch to digital signal after obtaining source of sound；
The digital signal of acquisition is obtained live sound frequency spectrum by step 2 after amplification, framing, discrete Fourier transform
Characteristic；
Step 3 matches live sound spectral characteristic with the feature templates in feature database；
Step 4 obtains recognition result by matching；
Live sound spectral characteristic is divided into impingement signal and leveling style signal, the spy in the step 3 by the step 2
Sign template includes impingement feature templates and leveling style feature templates, the impingement signal for obtaining step 2 in the step 3 with
Impingement feature templates are matched, and the leveling style signal that step 2 obtains is matched with leveling style feature templates.
Energy jump of the feature database in advance according to discharging sound and mechanical oscillation sound in the step 3 obtains the characteristic
The feature templates of feature database are divided into impingement feature templates and leveling style feature templates, institute by characteristic quantity by the characteristic quantity
It is discharging sound and mechanical oscillation acoustic signature library to state impingement feature templates, and the leveling style feature templates are noise characteristic library.
The step 2 will be defined as by the interval between shock pulse moment energy duration and adjacent pulse
The live sound spectral characteristic of leveling style signal is divided into electric discharge acoustical signal and mechanical oscillation acoustical signal, and feature database is flat in step 3
Steady type feature templates are divided into discharging sound feature templates and mechanical oscillation acoustic signature template, are put what step 2 obtained in the step 3
Electroacoustic signal is matched with discharging sound feature templates, the mechanical oscillation acoustical signal that step 2 is obtained and mechanical oscillation acoustic signature
Template matches.
The advantage of the invention is that substation's environment-identification can be used, acquisition substation field sound rapidly and efficiently,
And be promptly and accurately effectively identified, judge substation field sound composition after, can take timely measure to hidden danger into
Row rectification, further ensures that substation safety, stable operation.
Description of the drawings
The content of every width attached drawing expression in description of the invention is briefly described below：
Fig. 1 is sound recognition system composition schematic diagram；
Fig. 2-7 is the common sound audio spectrogram of substation.
Specific implementation mode
Sound recognition system forms as shown in Figure 1, in sound recognition system, and acquisition and quantization are entire voice recognition systems
The basis of system, microphone are the most important components of gatherer process, it plays a part of " ear ", it hears we are daily
Sound by being converted into the electric signal of analog quantity.Quantization plays a part of analog-to-digital conversion, it can be by this analoglike of electric signal
Signal is converted into the digital signal that computer can identify and handle.Pre-treatment step is the important composition portion of sound recognition system
Point.In complete system, in order to reduce the calculation amount of system, the real-time of whole system is improved, is often examined using endpoint
Survey technology intercepts useful signal segment, and useless signal segment is calculated without handling.In order to facilitate processing, obtain
To signal segment be often divided into a bit of signal, here it is sub-frame processings.The foundation of sub-frame processing is voice signal tool
There are short-term stationarity, ordinary circumstance to take the length that 10-30 milliseconds are a frame signal.But compulsory sub-frame processing is carried out to signal
Afterwards, signal tends to occur the phenomenon that spectrum leakage, at this moment need windowing process.Difference is often obtained using different window functions
Effect, use the window functions such as Hamming window, Hanning window under normal circumstances.In practice by acquiring in the signal that quantization obtains often
It is mingled with many noise signals, in order to improve the signal-to-noise ratio of signal, to improve the recognition performance of entire identifying system, needs pair
Signal carries out some noise reduction process.Here end-point detection technology, framing windowing process and noise reduction process belongs to pretreatment step
Suddenly.
Pattern matching is the core of entire sound recognition system.Feature extraction can extract to obtain sound letter
Characteristic parameter in number, obtains feature vector.In the world of computer, voice signal can be indicated with eigen vector, side
Just calculation processing.Computer is matched the feature of extraction with the feature templates in feature database one by one, is finally provided system and is recognized
For a most like template number, which is exactly template matches.
Substation's sound is broadly divided into general noise, discharging sound, chatter, and robot obtains source of sound by microphone array
After switch to digital signal, live sound spectral characteristic, and same feature database are obtained after amplification, framing, discrete Fourier transform
In feature templates matched, to judge scene sound composition (wherein feature templates need at the scene collection analysis obtain
Go out), as illustrated in figs. 2-7.
The time-domain diagram of this two classes signal of discharging sound, mechanical oscillation sound has apparent pulse-like signal, sometime can
Amount has apparent mutation.And the comparison that the energy of general noise signal just shows is steady.One can be found according to this characteristic
Three classes signal can be divided into two classes by characteristic quantity to reflect the catastrophe of energy by this amount.One kind is impingement
Signal, i.e. discharging sound, mechanical oscillation sound, one kind are leveling style signal, i.e. noise.
The mechanical oscillation of equipment have periodically, by between shock pulse moment energy duration and adjacent pulse
Interval, it is estimated that the period of a certain signal is (between shock pulse moment energy duration and adjacent pulse
Every), i.e., self-defined in advance to the period, by the period, we can identify mechanical chatter and discharging sound, mechanical oscillation acoustic shock
Pulse time energy is sustained for longer than discharging sound shock pulse moment energy duration, mechanical oscillation sound adjacent pulse
Between interval be less than discharging sound adjacent pulse between interval.By these features, can design a grader by this two
Class impingement signal distinguishing.
According to the Special use environment and specific use of identifying system, by presorting to sound, and classify
Matching, the raising matching spent time that can be increased, improves the efficiency and accuracy rate of identification, quickly judges substation in this way
After live sound composition, it can take timely measure and hidden danger is rectified and improved, further ensure that substation safety, stable operation.
Above-mentioned recognition methods is applied to the sound recognition system of robot used for intelligent substation patrol, which includes machine
The source of sound of acquisition is delivered to processor by people, the microphone array being mounted in robot, microphone array, and the processor connects
Connect memory；Wherein processor includes：
Sound source signal processor unit：It will switch to digital signal after source of sound；
DSP unit：Digital signal is switched into live sound spectral characteristic；
Taxon：Live sound spectral characteristic is classified as impingement signal and leveling style signal；
Subclassification unit：It is electric discharge acoustical signal and mechanical oscillation acoustical signal by leveling style Modulation recognition；
Memory includes for storing the first storage unit of impingement feature templates, for storing leveling style feature templates
The second storage unit, wherein the second storage unit includes for storing the first of discharging sound feature templates the sub- storage unit and use
In the second sub- storage unit of mechanical oscillation acoustic signature template.
Processor connection communication unit, processor send signal by communication unit to remote monitoring and/or warning device.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is used, or without changing
Other occasions are directly applied to by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (6)
1. a kind of sound recognition system applied to robot used for intelligent substation patrol, including robot are mounted in robot
Microphone array, the source of sound of acquisition is delivered to processor by the microphone array, and the processor connects memory；
The processor includes：
Sound source signal processor unit：It will switch to digital signal after source of sound；
DSP unit：Digital signal is switched into live sound spectral characteristic；
It is characterized in that：The memory includes the first storage unit for storing impingement feature templates and flat for storing
Second storage unit of steady type feature templates；
The processor further includes taxon：Live sound spectral characteristic is classified as impingement signal and leveling style signal.
2. the sound recognition system according to claim 1 applied to robot used for intelligent substation patrol, it is characterised in that：
The processor further includes subclassification unit：It is acoustical signal and the mechanical oscillation acoustical signal of discharging by leveling style Modulation recognition, it is described
Second storage unit includes for storing the first of discharging sound feature templates the sub- storage unit and being used for mechanical oscillation acoustic signature mould
Second sub- storage unit of plate.
3. the sound recognition system according to claim 1 or 2 applied to robot used for intelligent substation patrol, feature exists
In：The processor connection communication unit, the processor send letter by communication unit to remote monitoring and/or warning device
Number.
4. a kind of sound identification method applied to robot used for intelligent substation patrol includes the following steps：
Step 1, robot switch to digital signal after obtaining source of sound by microphone array；
The digital signal of acquisition is obtained live sound spectral characteristic by step 2 after amplification, framing, discrete Fourier transform；
Step 3 matches live sound spectral characteristic with the feature templates in feature database；
Step 4 obtains recognition result by matching；
It is characterized in that：Live sound spectral characteristic is divided into impingement signal and leveling style signal, the step by the step 2
Feature templates in 3 include impingement feature templates and leveling style feature templates, the impact for obtaining step 2 in the step 3
Type signal is matched with impingement feature templates, and the leveling style signal that step 2 obtains is matched with leveling style feature templates.
5. the sound identification method according to claim 4 applied to robot used for intelligent substation patrol, it is characterised in that：
Feature database in the step 3 obtains the characteristic quantity of the characteristic according to the energy jump of discharging sound and mechanical oscillation sound in advance,
The feature templates of feature database are divided into impingement feature templates and leveling style feature templates, the impingement by the characteristic quantity
Feature templates are discharging sound and mechanical oscillation acoustic signature library, and the leveling style feature templates are noise characteristic library.
6. the sound identification method according to claim 4 or 5 applied to robot used for intelligent substation patrol, feature exists
In：The step 2 will be defined as leveling style by the interval between shock pulse moment energy duration and adjacent pulse
The live sound spectral characteristic of signal is divided into electric discharge acoustical signal and mechanical oscillation acoustical signal, and the leveling style of feature database is special in step 3
Sign template is divided into discharging sound feature templates and mechanical oscillation acoustic signature template, and the discharging sound for obtaining step 2 in the step 3 is believed
It number is matched with discharging sound feature templates, the mechanical oscillation acoustical signal that step 2 is obtained and mechanical oscillation acoustic signature template
Match.
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