CN109421053A - A kind of writing arm-and-hand system based on speech recognition - Google Patents
A kind of writing arm-and-hand system based on speech recognition Download PDFInfo
- Publication number
- CN109421053A CN109421053A CN201710733555.0A CN201710733555A CN109421053A CN 109421053 A CN109421053 A CN 109421053A CN 201710733555 A CN201710733555 A CN 201710733555A CN 109421053 A CN109421053 A CN 109421053A
- Authority
- CN
- China
- Prior art keywords
- driving motor
- writing
- speech recognition
- pen device
- timing belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
Abstract
The invention discloses a kind of writing arm-and-hand system based on speech recognition, its function is that the voice input based on user carries out semantic analysis, identify that dependent instruction is write, structure is held pen device, a single cog Timing Belt, two driving motors and other associated components by a processing unit, a cross slide way, a longitudinal rail, a central platform, one and formed；The processing unit integrated speech function and the operating for controlling mechanical structure, the cross slide way and longitudinal rail are combined by the central platform, longitudinal axis guide rail both ends are provided with the driving motor, the horizontal axis guide rail right end holds pen device described in being provided with, and the driving motor drives the single cog Timing Belt to change the position for holding pen device.Advantage is that structure is simple, has independent message processing module, does not need PC control；By phonetic acquisition information input, operation difficulty is reduced, realizes better human-computer interaction.
Description
Technical field
The present invention relates to a kind of intelligent machine equipment, specifically design a kind of writing manipulator based on speech recognition
System.
Background technique
Intelligent robot has panoramic internal information sensor and external information sensor, such as vision, the sense of hearing, touching
Feel, smell.In addition to receptor, there are also effectors for it, as the means for acting on ambient enviroment.Here it is muscles, or
Motor synchronizing motor, they move up hand, foot, long-snouted, feeler etc..Intelligent robot is the collection of an a variety of new and high technologies
Adult, it has merged the multi-disciplinary knowledge perhaps such as machinery, electronics, sensor, computer hardware, software, artificial intelligence, has been related to
The technology of current many Disciplinary Frontiers.Robot has entered the intelligent epoch, and many developed countries are all using intelligent robot as not
Come the commanding elevation of technology development.The U.S., Japan and Germany occupy clear superiority in Research on Intelligent Robots field at present.In recent years
Come, China researches and develops intelligent robot energetically, and achieves gratifying achievements.
It wherein writes the main usage scenario of mechanical device and is teaching field, to carry out teaching experiment, while also can
Serve student's practice of innovation.However the didactic works under Vehicles Collected from Market environment write the most huge structure of manipulator laboratory apparatus,
And the running for needing individual PC control machinist, increases the valence of the complexity of system, the inconvenience of operation and hardware
Lattice cost.
Summary of the invention
The purpose of the present invention is overcoming deficiency in the prior art, it is mechanical to be to provide a kind of writing based on speech recognition
Hand system solves the technical issues of writing manipulator operation difficulty in the prior art is high, and structure is complicated.
In order to solve the above-mentioned technical problem, the present invention is achieved through the following technical solutions:
A kind of writing arm-and-hand system based on speech recognition, structure is by a processing unit, a cross slide way, a longitudinal direction
Guide rail, a central platform, one hold pen device, a single cog Timing Belt, two driving motors and other associated components composition；Institute
It states processing unit integrated speech function and controls the operating of mechanical structure, there is no traditional in the system of speech identifying function
The modules such as independent acoustic model, pronunciation dictionary, language model, but it is straight from input terminal speech waveform to output end character string
It connects and is connected with a neural network, allow this neural network to undertake the function of original all modules and realize speech recognition.
It is run after system starting according to the constructed finite state machine of figure:
System has beginning, end, standby, speech recognition, writing, line feed and writes seven states of completion；
Standby mode is initially entered after system operation, starts speech recognition after pressing start button；
System according to speech recognition to content carry out different state and shift, write instruction, line feed instruction, END instruction
System is transferred to writing, line feed, end and the state for writing completion from speech recognition state respectively with instruction is completed.
The cross slide way and longitudinal rail are combined by the central platform, the setting of longitudinal axis guide rail both ends
The driving motor, the horizontal axis guide rail right end be provided with it is described hold pen device, the driving motor drives the single cog
Synchronous belt holds the position of pen device to change.
Pen device is held, structure holds a hole including a driving motor, a spring and one, holds under the elastic force effect of spring
Hole moves up, and moves down the position for holding a hole to complete movement of starting writing after driving motor is powered.
Change the driving mechanism for holding pen device writing position, structure is by a single cog Timing Belt, two driving motors
And other associated components composition, the single cog Timing Belt flank of tooth is inside, and is combined with the driving motor in place and place, with
The roller bearing at place is combined, and place is fixed at its both ends, is held pen device and is set to place.When driving motor is suitable together with driving motor
When hour hands rotate, writing device is longitudinally moved down；When driving motor rotates counterclockwise together with driving motor, write
Device longitudinally moves up；When driving motor, which rotates clockwise driving motor, to be rotated counterclockwise, writing device is laterally moved to left；
When driving motor, which rotates clockwise driving motor, to be rotated counterclockwise, writing device is laterally moved to left.
Compared with prior art, the beneficial effects of the present invention are: structure is simple, there is independent message processing module, no
Need PC control；By phonetic acquisition information input, operation difficulty is reduced, realizes better human-computer interaction.
Detailed description of the invention
Fig. 1 is a kind of writing arm-and-hand system structural schematic diagram based on speech recognition of the present invention.
Fig. 2 is a kind of writing arm-and-hand system structure top view based on speech recognition of the present invention.
Fig. 3 is a kind of driving mechanism schematic diagram of the writing arm-and-hand system based on speech recognition of the present invention.
Fig. 4 is finite state machine constructed by a kind of writing arm-and-hand system based on speech recognition of the present invention.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing, for make the purpose of the present invention and
Technical solution is clearer, and technical solution of the present invention is clearly and completely described below in conjunction with the embodiment of the present invention.
As shown in Figs 1-4, a kind of writing arm-and-hand system based on speech recognition, structure are horizontal by a processing unit 2, one
Direction guiding rail 10, a longitudinal rail 3, a central platform 9, one hold 8, two pen device 6, single cog Timing Belt driving motors 17 with
And other associated components composition；The processing unit integrated speech function and the operating for controlling mechanical structure, speech recognition function
Can system in there is no the modules such as traditional independent acoustic model, pronunciation dictionary, language model, but from input terminal voice
Waveform directly uses a neural network to be connected to output end character string, allows this neural network to undertake original all modules
Function simultaneously realizes speech recognition.
It is run after system starting according to the finite state machine that Fig. 4 is constructed:
System has beginning, end, standby, speech recognition, writing, line feed and writes seven states of completion；
Standby mode is initially entered after system operation, starts speech recognition after pressing start button；
System according to speech recognition to content carry out different state and shift, write instruction, line feed instruction, END instruction
System is transferred to writing, line feed, end and the state for writing completion from speech recognition state respectively with instruction is completed.
The cross slide way and longitudinal rail are combined by the central platform, the setting of longitudinal axis guide rail both ends
The driving motor, the horizontal axis guide rail right end be provided with it is described hold pen device, the driving motor drives the single cog
Synchronous belt holds the position of pen device to change.
Pen device 6 is held, structure holds a hole 5 including a driving motor 4, a spring and one, acts in the elastic force of spring
Under hold a hole and move up, the position for holding a hole is moved down to complete movement of starting writing after driving motor is powered.
Change the driving mechanism for holding pen device writing position, structure is by 18, two driving electricity of a single cog Timing Belt
Machine 1116 and other associated components composition, the single cog Timing Belt flank of tooth is inside, and electric with the driving at 11 and at 16
Machine is combined, and is combined with roller bearing, and its both ends is fixed at 19, is held pen device and is set at 13.When driving motor 11 with
When driving motor 16 rotates clockwise together, writing device 13 is longitudinal to be moved down；When driving motor 11 and driving motor 16 1
When playing rotation counterclockwise, writing device 13 is longitudinal to be moved up；When driving motor 11 rotates clockwise, driving motor 16 is counterclockwise
When rotation, writing device 13 is laterally moved to left；When driving motor 11 rotates clockwise, driving motor 16 rotate counterclockwise when
It waits, writing device 13 laterally moves to left.
Embodiment: onboard program brings into operation after energization, starts speech recognition after user presses start button, in root
According to.For the text of each writing, program is divided into several strokes, and a position is received in the first stroke of a Chinese character for calculating separately each stroke
And handwriting trace；Control, which holds pen device and is moved to stroke-starting position, in next step starts to be write according to handwriting trace, and in receiving pen
Position will hold pen device and pack up, and repeat the step for each stroke of each word and write completion.
Undeclared part involved in the present invention is same as the prior art or is realized using the prior art.
Claims (3)
1. a kind of writing arm-and-hand system based on speech recognition, structure by a processing unit (2), a cross slide way (10),
One longitudinal rail (3), a central platform (9), one hold pen device (6), a single cog Timing Belt (8), two driving motors (1)
(7) and other associated components form；It is characterized in that, the processing unit integrated speech function and controlling the fortune of mechanical structure
Turn, there is no modules such as traditional independent acoustic model, pronunciation dictionary, language models in the system of speech identifying function,
But a neural network is directly used to be connected from input terminal speech waveform to output end character string, allow this neural network to hold
It carries on a shoulder pole the function of original all modules and realizes speech recognition；The cross slide way and longitudinal rail are combined by the central platform
Together, longitudinal axis guide rail both ends are provided with the driving motor, and the horizontal axis guide rail right end holds pen device provided with described,
The driving motor drives the single cog Timing Belt to change the position for holding pen device；
After system starting, run according to the finite state machine that Fig. 4 is constructed:
System has beginning, end, standby, speech recognition, writing, line feed and writes seven states of completion；
Standby mode is initially entered after system operation, starts speech recognition after pressing start button；
System according to speech recognition to content carry out different state and shift, write instruction, line feed instruction, END instruction and complete
System is transferred to writing, line feed, end from speech recognition state respectively at instruction and writes the state completed.
2. the writing arm-and-hand system based on speech recognition as described in claim 1, which is characterized in that described to hold pen device
(6), structure includes a driving motor (4), a spring and one holds a hole (5), when normal state, is acted in the elastic force of spring
Under hold a hole and move up, the position for holding a hole is moved down to complete movement of starting writing after driving motor is powered.
3. the writing arm-and-hand system based on speech recognition as claimed in claim 2, which is characterized in that pen dress is held in the change
Set the driving mechanism of writing position, structure by a single cog Timing Belt (18), two driving motors (11) (16) and other
Associated components composition, the single cog Timing Belt flank of tooth is inside, and is combined with the driving motor at (11) and at (16), with
(20) roller bearing at (12) (14) (15) (17) is combined, and its both ends is fixed at (19), is held pen device and is set to (13)
Place.When driving motor (11) and driving motor (16) rotate clockwise together, writing device (13) is longitudinally moved down；Work as drive
When dynamic motor (11) and driving motor (16) rotate counterclockwise together, writing device (13) is longitudinally moved up；Work as driving motor
(11) it rotates clockwise, when driving motor (16) rotates counterclockwise, writing device (13) is laterally moved to left；Work as driving motor
(11) it rotates clockwise, when driving motor (16) rotates counterclockwise, writing device (13) is laterally moved to left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733555.0A CN109421053A (en) | 2017-08-24 | 2017-08-24 | A kind of writing arm-and-hand system based on speech recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710733555.0A CN109421053A (en) | 2017-08-24 | 2017-08-24 | A kind of writing arm-and-hand system based on speech recognition |
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| CN109421053A true CN109421053A (en) | 2019-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710733555.0A Pending CN109421053A (en) | 2017-08-24 | 2017-08-24 | A kind of writing arm-and-hand system based on speech recognition |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015631A (en) * | 2019-12-24 | 2020-04-17 | 上海理工大学 | Flexible exoskeleton hand-assisted grasping training control method based on finite state machine |
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|---|---|---|---|---|
| US5063334A (en) * | 1989-07-24 | 1991-11-05 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN1150852A (en) * | 1994-06-06 | 1997-05-28 | 摩托罗拉公司 | Speech-recognition system utilizing neural networks and method of using same |
| CN102166889A (en) * | 2011-01-18 | 2011-08-31 | 深圳市创造机电有限公司 | Voice-controlled writing machine and writing method thereof |
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN106346459A (en) * | 2016-10-26 | 2017-01-25 | 宁波创控智能科技有限公司 | Cross writing and drawing robot |
-
2017
- 2017-08-24 CN CN201710733555.0A patent/CN109421053A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5063334A (en) * | 1989-07-24 | 1991-11-05 | Canon Kabushiki Kaisha | Orthogonal two-axis moving apparatus |
| CN1150852A (en) * | 1994-06-06 | 1997-05-28 | 摩托罗拉公司 | Speech-recognition system utilizing neural networks and method of using same |
| CN102166889A (en) * | 2011-01-18 | 2011-08-31 | 深圳市创造机电有限公司 | Voice-controlled writing machine and writing method thereof |
| CN106166741A (en) * | 2016-05-27 | 2016-11-30 | 宁波创控智能科技有限公司 | High-precision intelligent writing robot |
| CN106346459A (en) * | 2016-10-26 | 2017-01-25 | 宁波创控智能科技有限公司 | Cross writing and drawing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015631A (en) * | 2019-12-24 | 2020-04-17 | 上海理工大学 | Flexible exoskeleton hand-assisted grasping training control method based on finite state machine |
| CN111015631B (en) * | 2019-12-24 | 2022-11-11 | 上海理工大学 | Flexible exoskeleton hand-assisted grasping training control method based on finite state machine |
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Application publication date: 20190305 |