ASR机器人系统中无线语音控制系统的应用研究
摘要
语音取代键盘进行信息和指令的输入,是控制系统设计中具有潜在优势的重要人机交互方式之一,已成为信息技术中的一个热点,也是现代机器人应用技术研究中的一个重要课题。
机器人的研究显然不能局限于实验室环境,因为机器人的实际使用环境是复杂多变的,因而不可避免的会引入各种各样的噪声,这些噪声会破坏语音原有的特性,如果不能够对这些噪声进行有效的消减,就有可能会影响到后期的语音识别和控制。本人为此在合肥工业大学运动控制与机器人实验室ASR机器人系统的基础上,对机器人协调控制中语音技术的应用进行研究,重点对语音信号处理,语音接口电路,语音信息编码和无线传输等问题进行了探讨。
在论文工作中还基于TI公司的MSP430F149单片机设计了一个语音无线传输卡,充分利用了该款处理器的低功耗特性,实现了数字滤波器以弥补硬件资源的不足。
本文的工作重点如下:
1.语音信号调理技术研究。
要想对语音信号进行有效的数字处理,首先需要有一个性能优良的模拟前端。从麦克风出来的信号是一个微弱的信号,需要对它进行必要的放大;另一方面语音信号是一个宽带信号,而模数转换器的采样速率是有限的,为了不违背奈奎斯特定理,必须在语音信号进入模数转换器之前进行带宽限制,也就是要引入抗混叠滤波器。
2.模数转换部分:任何低通滤波器从通带到阻带的过渡带的衰减速率都是有限的,如果只是机械的照搬奈奎斯特定理,就不可避免的会引入很大的混叠效应。因此,我们在模数转换部分采用了过采样技术。一方面它可以有效的降低混叠效应;另一方面它可以提高模数转换部分的信噪比,等效于提高了模数转换的精度。
3.为了降低无线通讯芯片Nrf401的传输数据量,在发送端采用ADPCM算法把16位采样样本压缩为4位发送,在接收端用ADPCM解压恢复为原数据。
Speech-control is one of the most important human-machine interactive methods. Now, most of the research of speech-control is based on PC and without consideration of the noise. But the environment where robot works is various, so the speech signal maybe corrupted by various noises. Without eliminating them, the corrupted speech signal maybe useless for us. This thesis uses Msp430F149 from TI corp. as the micro processer in wireless transmitter system. Although Msp430F149 does not have the same hardware resourses for speech signal processing as DSP does, Msp430F149 has an attractive trait as the low power consumption. Because the remote control robots system works consistently for a long time and the speech orders are very simple, the lower power consumption matters the most. Otherwise, using digital-filiter in software can offset the shorten of hardware.
The main work of this thesis can be separated into three parts:
1. Signal Conditioning: A good analog front end is a need for digital signal processing. As for the speech signal, on one hand, it should be amplified because the output signal of microphone is feeble, on the other hand, it is a wide band signal and the sample rate of analog to digital converter( ADC) is finite, so an anti-aliasing filter is need to be added before it gets into the ADC.
2. Analog to Digital Converter: The attenuation rate from pass-band to stop-band is finite in any real low pass filter. If we design a signal processing system only awkwardly following Nyquist Theorem, aliasing will be introduced into the system for the non-ideal anti-aliasing filter. In this thesis, the over-sampling Techniques are adopted to solute this problem. It can help us in two ways. First, it is an effective way to eliminate the aliasing. Second, it can improve the Signal to Noise Ratio( SNR)in an ADC, which equals to improve the precision of conversion.
3. ADPCM Aalgorithm: Due to the amount of sampling data that the wireless chip nRF401 transmits, the whole transmission job takes a long time which obviously slow the system down. This thesis uses ADPCM algorithm to zip the sampling data from 16 bits to 4 bits in sending part, however, in receiving part, ADPCM unzips data from 4 bits to 16 bits.
机器人的研究显然不能局限于实验室环境,因为机器人的实际使用环境是复杂多变的,因而不可避免的会引入各种各样的噪声,这些噪声会破坏语音原有的特性,如果不能够对这些噪声进行有效的消减,就有可能会影响到后期的语音识别和控制。本人为此在合肥工业大学运动控制与机器人实验室ASR机器人系统的基础上,对机器人协调控制中语音技术的应用进行研究,重点对语音信号处理,语音接口电路,语音信息编码和无线传输等问题进行了探讨。
在论文工作中还基于TI公司的MSP430F149单片机设计了一个语音无线传输卡,充分利用了该款处理器的低功耗特性,实现了数字滤波器以弥补硬件资源的不足。
本文的工作重点如下:
1.语音信号调理技术研究。
要想对语音信号进行有效的数字处理,首先需要有一个性能优良的模拟前端。从麦克风出来的信号是一个微弱的信号,需要对它进行必要的放大;另一方面语音信号是一个宽带信号,而模数转换器的采样速率是有限的,为了不违背奈奎斯特定理,必须在语音信号进入模数转换器之前进行带宽限制,也就是要引入抗混叠滤波器。
2.模数转换部分:任何低通滤波器从通带到阻带的过渡带的衰减速率都是有限的,如果只是机械的照搬奈奎斯特定理,就不可避免的会引入很大的混叠效应。因此,我们在模数转换部分采用了过采样技术。一方面它可以有效的降低混叠效应;另一方面它可以提高模数转换部分的信噪比,等效于提高了模数转换的精度。
3.为了降低无线通讯芯片Nrf401的传输数据量,在发送端采用ADPCM算法把16位采样样本压缩为4位发送,在接收端用ADPCM解压恢复为原数据。
Speech-control is one of the most important human-machine interactive methods. Now, most of the research of speech-control is based on PC and without consideration of the noise. But the environment where robot works is various, so the speech signal maybe corrupted by various noises. Without eliminating them, the corrupted speech signal maybe useless for us. This thesis uses Msp430F149 from TI corp. as the micro processer in wireless transmitter system. Although Msp430F149 does not have the same hardware resourses for speech signal processing as DSP does, Msp430F149 has an attractive trait as the low power consumption. Because the remote control robots system works consistently for a long time and the speech orders are very simple, the lower power consumption matters the most. Otherwise, using digital-filiter in software can offset the shorten of hardware.
The main work of this thesis can be separated into three parts:
1. Signal Conditioning: A good analog front end is a need for digital signal processing. As for the speech signal, on one hand, it should be amplified because the output signal of microphone is feeble, on the other hand, it is a wide band signal and the sample rate of analog to digital converter( ADC) is finite, so an anti-aliasing filter is need to be added before it gets into the ADC.
2. Analog to Digital Converter: The attenuation rate from pass-band to stop-band is finite in any real low pass filter. If we design a signal processing system only awkwardly following Nyquist Theorem, aliasing will be introduced into the system for the non-ideal anti-aliasing filter. In this thesis, the over-sampling Techniques are adopted to solute this problem. It can help us in two ways. First, it is an effective way to eliminate the aliasing. Second, it can improve the Signal to Noise Ratio( SNR)in an ADC, which equals to improve the precision of conversion.
3. ADPCM Aalgorithm: Due to the amount of sampling data that the wireless chip nRF401 transmits, the whole transmission job takes a long time which obviously slow the system down. This thesis uses ADPCM algorithm to zip the sampling data from 16 bits to 4 bits in sending part, however, in receiving part, ADPCM unzips data from 4 bits to 16 bits.
引文
[1]李杰,胡建明,张秀丽.基于单片机的单工无线呼叫及数据传送系统的设计[J].天津工业大学学报,2006,(04).
[2]金亮,廉小亲.基于TMS320C5409的语音处理系统[J].北京工商大学学报(自然科学版),2005,(02).
[3]杨占军,杨英杰,王强.基于DSP的语音识别系统的设计与实现[J].东北电力学院学报,2006,(02).
[4]鲍金宝,袁冰冰,郭黎利.基于89C52和射频芯片NRF401无线数传模块的设计[J].应用科技,2005,(12).
[5]付彬.利用nRF401实现微机间无线通信[J].世界电子元器件,2004,(11).
[6]姚玉坤,张华,高小明,刘强,唐小丁.基于nRF401的无线通信模块在竞赛机器人中的应用[J].重庆邮电学院学报(自然科学版),2005,(05).
[7]陈红梅,陈健.射频收发芯片nRF401在语音传输中的应用[J].电子技术,2003,(05).
[8]卜佑军,李建新,邵高平.基于RF芯片nRF401的无线数传模块设计[J].世界电子元器件,2003,(04).
[9]江冰,赵辉,奚吉.采用nRF401实现单片机与PC机无线数据通信[J].微计算机信息,2002,(09).
[10]欧阳缮,陈云宇,方惠均.一种改进的语音信号非线性自适应预测编码方案[J].电路与系统学报,1999,(02).
[11]Second generation wireless information networks.Goodman,D.J..Vehicular Technology,IEEE Transactions on.Volume 40,Issue 2,May 1991 Page(s):366 - 374
[12]Self-adaptive transmission scheme of integrated services over an IEEE 802.11WLAN.Li,C.;Li,J.;Cai,X..Electronics Letters.Volume 40,Issue 25,9 Dec.2004 Page(s):1596 - 1597
[13]Comparison of ISMA and DECT-DCS channel access policies for indoor wireless communications systems.Atkinson,R.C.;Dunlop,J..Electronics Letters.Volume 36,Issue 15,20 July 2000 Page(s):1307 - 1309.
[14]Feature analysis of the transmission of voice/data in a frame.Xuejun Sun;Yu Gao;Tiange Meng;Pilian He;Li Gong.Wireless Communications,Networking and Mobile Computing,2005.Proceedings.2005 International Conference on.Volume 2,23-26 Sept.2005 Page(s):1122- 1124.
[15]Robust perceptual assessment of end-to-end audio quality.Rix,A.;Reynolds,R.;Hollier,M..Applications of Signal Processing to Audio and Acoustics,1999 IEEE Workshop on 17-20 Oct.1999 Page(s):39 - 42.
[16]Subjective quality quantification of digital voice communication systems.Dimolitsas,S..Communications,Speech and Vision,IEE Proceedings I.Volume 138,Issue 6,Dec.1991 Page(s):585- 595.
[17]A dependence between average call duration and voice transmission quality:measurement and applications.Holub,J.;Beerends,J.G.;Staid,R..Wireless Telecommunications Symposium,2004.14-15 May 2004 Page(s):75 - 81.
[18]陈亚芳.无线语音通信降噪技术的研究与实现[D].国防科学技术大学,2005.
[19]张坤.说话人识别系统的硬件设计及相关软件实现[D].吉林大学,2004.
[20]刘雪飞.基于小波分析方法的含噪声语音信号增强技术研究[D].燕山大学,2006.
[21]张景达.数字录音中噪声抑制相关技术的研究[D].合肥工业大学,2006.
[22]王秀丽.说话人识别系统中特征提取和端点检测算法研究及系统的DSP实现[D].吉林大学,2006.
[23]蔡自兴.机器人学[M].北京:清华大学出版社,2003.
[24]蒋新松.未来机器人技术发展方向的探讨[J].机器人,1996,18(5):285-291.
[25]蔡鹤皋.机器人将是21世纪技术发展的热点[J].中国机械工程,2000,11(1):58-60.
[26]王炎,周大威.移动式服务机器人的发展现状及我们的研究[J].电气传动,2000,(4):3-7.
[27]孙增圻.智能控制理论与技术[M].北京:清华大学出版社,1997.
[28]秦龙.MSP430单片机应用系统开发典型实例,中国电力出版社,2004.12
[29]秦龙.MSP430单片机C语言应用程序设计,电子工业出版社,2006.5
[30]戴先中.微机硬件应用实践--系统与综合,东南大学出版社,2001.3
[31]王幸之.单片机应用系统抗干扰技术,北京航空航天大学出版社,2001
[32]李朝青.PC机与单片机数据通信技术,北京航空航天大学出版社,2002
[2]金亮,廉小亲.基于TMS320C5409的语音处理系统[J].北京工商大学学报(自然科学版),2005,(02).
[3]杨占军,杨英杰,王强.基于DSP的语音识别系统的设计与实现[J].东北电力学院学报,2006,(02).
[4]鲍金宝,袁冰冰,郭黎利.基于89C52和射频芯片NRF401无线数传模块的设计[J].应用科技,2005,(12).
[5]付彬.利用nRF401实现微机间无线通信[J].世界电子元器件,2004,(11).
[6]姚玉坤,张华,高小明,刘强,唐小丁.基于nRF401的无线通信模块在竞赛机器人中的应用[J].重庆邮电学院学报(自然科学版),2005,(05).
[7]陈红梅,陈健.射频收发芯片nRF401在语音传输中的应用[J].电子技术,2003,(05).
[8]卜佑军,李建新,邵高平.基于RF芯片nRF401的无线数传模块设计[J].世界电子元器件,2003,(04).
[9]江冰,赵辉,奚吉.采用nRF401实现单片机与PC机无线数据通信[J].微计算机信息,2002,(09).
[10]欧阳缮,陈云宇,方惠均.一种改进的语音信号非线性自适应预测编码方案[J].电路与系统学报,1999,(02).
[11]Second generation wireless information networks.Goodman,D.J..Vehicular Technology,IEEE Transactions on.Volume 40,Issue 2,May 1991 Page(s):366 - 374
[12]Self-adaptive transmission scheme of integrated services over an IEEE 802.11WLAN.Li,C.;Li,J.;Cai,X..Electronics Letters.Volume 40,Issue 25,9 Dec.2004 Page(s):1596 - 1597
[13]Comparison of ISMA and DECT-DCS channel access policies for indoor wireless communications systems.Atkinson,R.C.;Dunlop,J..Electronics Letters.Volume 36,Issue 15,20 July 2000 Page(s):1307 - 1309.
[14]Feature analysis of the transmission of voice/data in a frame.Xuejun Sun;Yu Gao;Tiange Meng;Pilian He;Li Gong.Wireless Communications,Networking and Mobile Computing,2005.Proceedings.2005 International Conference on.Volume 2,23-26 Sept.2005 Page(s):1122- 1124.
[15]Robust perceptual assessment of end-to-end audio quality.Rix,A.;Reynolds,R.;Hollier,M..Applications of Signal Processing to Audio and Acoustics,1999 IEEE Workshop on 17-20 Oct.1999 Page(s):39 - 42.
[16]Subjective quality quantification of digital voice communication systems.Dimolitsas,S..Communications,Speech and Vision,IEE Proceedings I.Volume 138,Issue 6,Dec.1991 Page(s):585- 595.
[17]A dependence between average call duration and voice transmission quality:measurement and applications.Holub,J.;Beerends,J.G.;Staid,R..Wireless Telecommunications Symposium,2004.14-15 May 2004 Page(s):75 - 81.
[18]陈亚芳.无线语音通信降噪技术的研究与实现[D].国防科学技术大学,2005.
[19]张坤.说话人识别系统的硬件设计及相关软件实现[D].吉林大学,2004.
[20]刘雪飞.基于小波分析方法的含噪声语音信号增强技术研究[D].燕山大学,2006.
[21]张景达.数字录音中噪声抑制相关技术的研究[D].合肥工业大学,2006.
[22]王秀丽.说话人识别系统中特征提取和端点检测算法研究及系统的DSP实现[D].吉林大学,2006.
[23]蔡自兴.机器人学[M].北京:清华大学出版社,2003.
[24]蒋新松.未来机器人技术发展方向的探讨[J].机器人,1996,18(5):285-291.
[25]蔡鹤皋.机器人将是21世纪技术发展的热点[J].中国机械工程,2000,11(1):58-60.
[26]王炎,周大威.移动式服务机器人的发展现状及我们的研究[J].电气传动,2000,(4):3-7.
[27]孙增圻.智能控制理论与技术[M].北京:清华大学出版社,1997.
[28]秦龙.MSP430单片机应用系统开发典型实例,中国电力出版社,2004.12
[29]秦龙.MSP430单片机C语言应用程序设计,电子工业出版社,2006.5
[30]戴先中.微机硬件应用实践--系统与综合,东南大学出版社,2001.3
[31]王幸之.单片机应用系统抗干扰技术,北京航空航天大学出版社,2001
[32]李朝青.PC机与单片机数据通信技术,北京航空航天大学出版社,2002