水果采摘机器人控制系统研究——基于英语语音识别技术
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摘要
在人机交互模式中,语言沟通是最便捷、最直接的交流方式之一,语音识别技术在现代机器人上得到广泛应用,现已推广到农业机器上。采摘机器人作为现代比较新型的农业机械,语音识别的应用增加了机器人的实用性。为此,设计出基于英语语音识别的水果采摘机器人控制系统,利用TMS320VC5416DSK板为平台,实现了水果采摘机器人的英语语音识别。英语语音识别主要包括前处理、特征提取及特征匹配等。在安静环境下提取了不同英语语音数据,并采用MATLAB对语音特征参数进行了仿真语音识别实验,结果表明:本设计的识别率可以达到90%以上,具有较强的鲁棒性。水果采摘机器人采用4个自由度的机械臂和英语语音识别模块等硬件电路,实现了英语控制机采摘器人完成采摘作业。
In the human-computer interaction mode,language communication is one of the most convenient and direct way of communication. Speech recognition technology in the modern robot has been widely used,and pushed to the agricultural machinery. Picking robots as a modern relatively new type of agricultural machinery,speech recognition applications in the picking robot has increased the practicality of the robot. China 's agricultural machinery as a large country,the proportion of agricultural machinery production is also rapidly expanding,agricultural machinery exports are increasing year by year,in order to adapt to foreign use of the environment,designed based on English speech recognition of the fruit picking robot control system,the use of TMS320 VC5416 DSK board As a platform to achieve fruit picking robot English speech recognition. English speech recognition mainly includes pre-processing,feature extraction,feature matching and so on. The experimental results show that the recognition rate of the design can reach more than 90%,and it has strong robustness. The experimental results show that the recognition rate of the design can reach more than 90%. Fruit picking robot uses four degrees of freedom of the robot and the English voice recognition module and other hardware circuits to achieve the English control machine picker to complete the picking operation. The experiment proves that the picking robot control system of English speech recognition can meet the picking requirements and complete the English speech recognition control of fruit picking.
In the human-computer interaction mode,language communication is one of the most convenient and direct way of communication. Speech recognition technology in the modern robot has been widely used,and pushed to the agricultural machinery. Picking robots as a modern relatively new type of agricultural machinery,speech recognition applications in the picking robot has increased the practicality of the robot. China 's agricultural machinery as a large country,the proportion of agricultural machinery production is also rapidly expanding,agricultural machinery exports are increasing year by year,in order to adapt to foreign use of the environment,designed based on English speech recognition of the fruit picking robot control system,the use of TMS320 VC5416 DSK board As a platform to achieve fruit picking robot English speech recognition. English speech recognition mainly includes pre-processing,feature extraction,feature matching and so on. The experimental results show that the recognition rate of the design can reach more than 90%,and it has strong robustness. The experimental results show that the recognition rate of the design can reach more than 90%. Fruit picking robot uses four degrees of freedom of the robot and the English voice recognition module and other hardware circuits to achieve the English control machine picker to complete the picking operation. The experiment proves that the picking robot control system of English speech recognition can meet the picking requirements and complete the English speech recognition control of fruit picking.
引文
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[5]Reinisch E.Natural Fast Speech is Perceived as Fasterthan Linearly Timecompressed Speech[J].Attention Perception&Psychophysics,2016,78(4):l-15.
[6]Di CP.Systems and methods for Responding to Natural Language Speech Utterance VJ 1[J].Journal of the Acoustical Society of America,2016,130(3):1781.
[7]张田芳,刘幺和,谭保华.基于语音识别的远程机器人控制系[J].湖北工业大学学报,2007,22(2):45-47.
[8]谷志伟,汉峰.基于改进的DTW算法的变电站巡检机器人语音识别的实现[J].机电信息,2014(6):139-141.
[9]李麟.家用机器人语音识别及人机交互系统的研究[D].哈尔滨:哈尔滨工业大学,2007.
[10]赵力.语音信号处理[M].2版.北京:机械工业出版社,2009.
[11]羿博,张秋余,袁占亭,等.融合MFCC和LPCC的语音感知哈希算法[J].华中科技大学学报:自然科学版,2015,43(2):124-128.
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[13]郝宗波.家庭移动服务机器人的若干关键技术研究[D].哈尔滨:哈尔滨工业大学,2006.
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