CN1508723A - Mobile robot intelligent movement control system based on embedded language module - Google Patents
Mobile robot intelligent movement control system based on embedded language module Download PDFInfo
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- CN1508723A CN1508723A CNA021571163A CN02157116A CN1508723A CN 1508723 A CN1508723 A CN 1508723A CN A021571163 A CNA021571163 A CN A021571163A CN 02157116 A CN02157116 A CN 02157116A CN 1508723 A CN1508723 A CN 1508723A
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Abstract
The invention is a kind of movable robot intelligent moving control system based on embedded voice model, which includes: the center processor which is used to communicate with the voice model and moving servo control communication; the moving servo controller is used in the control of moving mechanism and the feedback of the information; the voice model processes affairs related to voice.
Description
Technical field
The present invention relates to general mobile robot's speech control system, particularly based on mobile robot's smart motion control system of embedded speech module.
Background technology
Traditional robot with phonetic function sees shown in Figure 1.This system directly imports central processing unit to the voice signal that obtains by pronunciation receiver, by the content that central processing unit is answered by speech recognition output, finishes simple man-machine conversation function.There are three basic shortcomings in this system: the one, the processing of voice is rested on the basis of man-machine voiced interaction, the control of the processing of voice signal and total system is not combined, therefore can't make full use of this important extraneous intelligent information source of voice signal, therefore, the phonetic function of robot is more single; The 2nd, this system is directly inputted to central processing unit to voice signal and handles, and has seriously taken the calculation resources of central processing unit, has reduced the speed that central processing unit is handled voice signal, has damaged the real-time of total system.The 3rd, this structure lacks modular thought, and over-burden to make central processing unit, and task is too numerous and diverse, can not concentrate topmost resource to handle the affairs of most important comprehensive coordination, whole scheduling.In a word, traditional robot with phonetic function does not have the independently DSP of processed voice, and not with voice signal and the good combination of mobile robot control, lacks modular architecture simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of mobile robot's smart motion control system based on the embedded speech module.
For achieving the above object, a kind of mobile robot's smart motion control system based on the embedded speech module comprises:
Central controller is used for interactive communication and the communication of motion servo controller with voice module;
The motion servo controller is used for the control of motion and the feedback of movable information;
Voice module is used to handle the affairs relevant with voice.
The present invention has adopted modular architecture, the voice module independent processing is almost with all relevant affairs of voice, save a large amount of hardware resources and shared heavy task for central processing unit, strengthened the mobile-robot system real-time of voice signal response to external world.
Description of drawings
Fig. 1 is the part-structure block diagram of the traditional robot with phonetic function;
Fig. 2 is the part-structure block diagram that the present invention is based on the mobile robot of embedded speech driving.
Embodiment
As shown in Figure 2, the present invention mainly is 2 points with the pure difference based on the speech processing system of central processing unit:
At first, increased the voice control subsystem, be used for voice signal and mobile robot's motion control is combined.This voice control subsystem not only recognizing voice is instructed and its processing back information is passed to central processing unit, and can receive control signal from central processing unit, and the behavior of control voice module has bidirectional characteristic.
Secondly, increase the speech processes dsp system, comprised DSP processing unit and jumbo internal storage location fast.The affairs that this dsp system independent processing is relevant with voice make whole mobile-robot system all have significant improvement at the aspects such as vocabulary, discrimination, recognition speed and response speed of speech processes.Therefore the travelling speed and the efficient of total system have also been strengthened.
As shown in Figure 2, the mobile robot's who drives based on embedded speech smart motion control system mainly contains three parts and forms: voice module, central processing unit and motion servo controller.Wherein, voice module is responsible for handling the nearly all affairs relevant with voice, comprise voice signal and control information conversion, speech recognition, voice typing and voice output, man-machine conversation than large vocabulary, with task such as central processing unit communication; Central processing unit is except that being responsible for overall scheduling and carrying out the Communication Control with other module, also be responsible for the interactive communicate of voice module and with the communication of motion servo controller; The motion servo controller is responsible for the control of motion and the feedback of movable information.Voice module has comprised two subsystems, i.e. voice control subsystem and man-machine conversation subsystem.The voice control subsystem is responsible on the one hand and will be carried out speech recognition by the voice signal that the transmission of man-machine conversation subsystem comes, and the information that identification obtains is issued the man-machine conversation subsystem, becomes this information translation the signal of control to pass to central control processor simultaneously; On the other hand, the voice control subsystem is responsible for receiving the signal that central control processor transmits, and this signal is passed to the man-machine conversation subsystem.The man-machine conversation subsystem also is responsible for two affairs: be responsible for receiving the extraneous voice signal that transmits on the one hand, it is passed to the voice control subsystem, and the information after the identification that the voice control subsystem is transmitted handles accordingly, makes voice answering to external world; On the other hand central control processor is translated into voice messaging through the control information that the voice control subsystem passes over, boundary outside accusing with the mode of voice after this information processing.In a word, the voice control subsystem be responsible for speech recognition and and internal communication, and the man-machine conversation subsystem responsible and the external world carry out communication.
The present invention has expanded the envelop of function of mobile robot's smart motion control.System has been dissolved into speech recognition technology in the moveable robot movement control, it is mutual to make robot not only can carry out the man machine language, and the more important thing is and to finish task and other service functions of keeping away barrier and path planning in conjunction with the voice signal perception environment in the external world and the action of planning oneself.Secondly, the processing speed and the voice application occasion of having widened robot of system have been accelerated.The present invention has been applied to digital signal processing (DSP) technology in the middle of mobile robot's the voice module, independently finish the affairs relevant with voice, as transmission of speech recognition, interactive voice and voice messaging etc., also undertaken the task that voice messaging and control information are changed and transmitted simultaneously.Independently the DSP speech processing system almost is responsible for whole speech transaction, utilize its powerful safe digital signal processing capability and arithmetic speed fast, with and finish real-time processing with the voice relevant issues, further improved the travelling speed and the efficient of total system.Simultaneously, used jumbo Flash internal memory in the DSP speech processing system, increased but make that having a large vocabulary of processed voice is big, thus widened the mobile robot use the voice occasion.Speech processes incorporate with the introducing of DSP processing module perfect mobile robot's speech-sound intelligent and control intelligent function, increased the mode of mobile robot's motion control, expanded the territory that the mobile robot uses.Simultaneously, modular construction of the present invention makes system architecture clear simple, is convenient to safeguard and expand new function.The user can be according to the needs flexible configuration system that controls oneself, and other modular system of exploitation is finished the function that native system does not have on the native system basis.
Embodiment
In an embodiment, the core DSP voice module that system of the present invention adopts is the TMS320VC54X of TIX (TI), and this example uses the FLASH internal memory that is 1M-16bit to the maximum.Central control processor adopts the ANVANTECHPCM-3680 built-in industrial control machine PCI04 of band plug-in type CAN bus communication adapter.When moveable robot movement, the people can send voice command or propose phonetic problem and its talk to it by wireless microphone, the mobile robot utilizes wireless Mike's receiver to receive voice command and passes to the man-machine interaction subsystem of voice module, the man-machine interaction subsystem passes to the voice control subsystem to voice signal, the voice control subsystem is carried out speech recognition, and passing to man-machine interaction subsystem and central control processor after the recognition result processing.The man-machine interaction subsystem is handled the back to recognition result again and is sent voice response by the voice dispensing device, realizes man-machine conversation.Central control processor is then handled the information of being come by the transmission of voice control subsystem, merges the information that other modules transmit, and carries out path planning and navigation, keeps away task such as barrier.Other modules feed back to central control processor with the displacement parameter, after central processing unit is handled these feedback informations, issue voice control subsystem control signal.After the voice control subsystem is received this signal, simply handle and pass to the man-machine interaction subsystem.The man-machine interaction subsystem is translated into voice signal to these signals, and sends by the voice dispensing device.Thereby realized that interactive voice, voice combine with motion control, realized then voice-based mobile robot Based Intelligent Control, keep away barrier, motion planning.
Claims (3)
1. mobile robot's smart motion control system based on the embedded speech module comprises:
Central controller is used for interactive communication and the communication of motion servo controller with voice module;
The motion servo controller is used for the control of motion and the feedback of movable information;
Voice module is used to handle the affairs relevant with voice.
2. by the described system of claim 1, it is characterized in that described voice module comprises:
The voice transmitting-receiving device is used for receiving and transmitting voice;
The speech processes dsp system is used to handle the voice messaging that R-T unit transmits, and with the central controller communication.
3. by the described system of claim 2, it is characterized in that described speech processes dsp system comprises:
The voice control subsystem, the voice signal that the man-machine conversation subsystem is transmitted carries out speech recognition, the information that identification obtains is issued the man-machine conversation subsystem, send this information to central controller simultaneously, also send this signal to the man-machine conversation subsystem from the central controller received signal;
The man-machine conversation subsystem, the voice signal that reception comes from the outside also sends this signal to the voice control subsystem, information after the identification that processing is transmitted from the voice control subsystem, central controller is translated into voice messaging through the control information that the voice control subsystem sends, send to the external world after by the voice dispensing device voice messaging of translation being handled.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 02157116 CN1266631C (en) | 2002-12-17 | 2002-12-17 | Mobile robot intelligent movement control system based on embedded language module |
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| CN 02157116 CN1266631C (en) | 2002-12-17 | 2002-12-17 | Mobile robot intelligent movement control system based on embedded language module |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419204A (en) * | 2012-05-22 | 2013-12-04 | 林其禹 | Finger guessing game robot system |
| CN104723344A (en) * | 2015-03-17 | 2015-06-24 | 江门市东方智慧物联网科技有限公司 | Smart home service robot system |
| CN105425648A (en) * | 2016-01-11 | 2016-03-23 | 北京光年无限科技有限公司 | Portable robot and data processing method and system thereof |
| CN105768169A (en) * | 2016-03-08 | 2016-07-20 | 四川烟叶复烤有限责任公司 | Control method for tobacco redrying automatic swinging and batching robot clusters |
| CN110299031A (en) * | 2019-05-30 | 2019-10-01 | 合肥阿拉丁智能科技有限公司 | Teaching assistants robotic artificial intelligence autonomous operation system |
-
2002
- 2002-12-17 CN CN 02157116 patent/CN1266631C/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103419204A (en) * | 2012-05-22 | 2013-12-04 | 林其禹 | Finger guessing game robot system |
| CN104723344A (en) * | 2015-03-17 | 2015-06-24 | 江门市东方智慧物联网科技有限公司 | Smart home service robot system |
| CN105425648A (en) * | 2016-01-11 | 2016-03-23 | 北京光年无限科技有限公司 | Portable robot and data processing method and system thereof |
| CN105768169A (en) * | 2016-03-08 | 2016-07-20 | 四川烟叶复烤有限责任公司 | Control method for tobacco redrying automatic swinging and batching robot clusters |
| CN110299031A (en) * | 2019-05-30 | 2019-10-01 | 合肥阿拉丁智能科技有限公司 | Teaching assistants robotic artificial intelligence autonomous operation system |
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| Publication number | Publication date |
|---|---|
| CN1266631C (en) | 2006-07-26 |
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Application publication date: 20040630 Assignee: Jiangsu Tonghe Painting Machinery Co., Ltd. Assignor: Institute of Automation, Chinese Academy of Sciences Contract record no.: 2013990000214 Denomination of invention: Mobile robot intelligent movement control system based on embedded language module Granted publication date: 20060726 License type: Exclusive License Record date: 20130509 |
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