Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

38
THIT K CH TO ROBOT IU KHIN T XA BNG GING NI
DESIGN AND MANUFACTURING REMOTE CONTROL ROBOT BY VOICE

SVTH: Nguyn Ph Sinh
Lp 05CT1, Khoa C kh, Trng i hc Bch khoa
GVHD: PGS.TS. Trn Xun Ty
Khoa C kh, Trng i hc Bch khoa

TM TT
Lnh vc Robot ngy cng chim c s quan tm ca cc nh nguyn cu v x hi.
Mt trong nhng vn rt c quan tm khi nghin cu robot l lm th no c th giao tip
gia ngi - robot. Bo co ny s trnh by kt qu nghin cu, thit k ch to robot iu khin
t xa bng ging ni. Trong gii thiu cc tnh ton c bn cc c cu ca robot, thit k mch
iu khin t xa v chng trnh nhn dng ging ni ting Vit.
ABSTRACT
Nowadays, robot research field has been attracted attention from researchers and society.
One of the most concerned matters when researching on robot is how to get into communication
between human and robot. This report will present results of researching, designing and
manufacturing remote control robot by voice. In which, we would like to introduce basic calculations
of robots structures, the design of remote control circuit and the program for Vietnamese voice
identification.
1. M u
t lu con ngi lun m c ch to c nhng my mc thng minh, c mt
s chc nng thay th con ngi, nh kh nng nhn v nhn dng c cc vt th, nghe
v thc hin theo li ni ca con ngi. Nhng cho mi n nhng nm gn y, khi c
nhng l thuyt mi v x l thng tin v cng ngh pht trin, th m c mi dn tr
thnh hin thc. Tuy th, cho n nay, giao tip gia ngi vi my c ci thin rt
nhiu nhng vn cn mc nh thng qua bn phm hay cc thit b xut nhp khc.
Giao tip gia ngi vi my bng ging ni s l phng thc giao tip hin i v c
ngha quan trng trong cuc sng nh xe ln cho ngui tn tt c iu khin bng ging
ni, hay con ngi s khng dng bn phm hoc chut giao tip vi my tnh, m thay
vo s iu khin my tnh theo mnh lnh bng ngn ng.
Trn th gii c nhiu h thng nhn dng ging ni (ting Anh) v ang
c ng dng rt hiu qu nh: ViaVoice, Dragon Naturally Speaking, Spoken
Toolketnhng do s khc bit v ngn ng nn chng ta khng th p dng chng
trnh trn nhn dng ting Vit. Do , mt h thng nhn dng ging ni ting Vit cn
phi c xy dng. ti ny xin trnh by qu trnh nghin cu thit k, ch to robot
c iu khin t xa bng ging ni (ting Vit) vi mt b t vng nh, thit lp h
thng iu khin robot t xa theo tp lnh c nh.


Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010
39
2. Ni dung
2.1. Tnh ton thit k c kh
Xc nh momen v lc ng xut hin trong qu trnh chuyn ng ca robot s
quyt nh n chn cng sut ng c,
kim tra bn, cng vng, m bo
tin cy cho robot. C nhiu phng
php xc nh nh phng php c hc
Lagrange, c hc c inBo co ny
trnh by phng php tnh ton n gin
l c hc c in, vi phng php ny s
b qua qun tnh, tng h, ly tmCc
thng s c chn trc c th tnh
ton: khi lng ca mi khu, khi lng ti mi khp, khi lng ca i tng cn
nng, chiu di mi khu.
W1, W2: l trng lng quy i ca cc khu 2 v khu 3 v v tr tm ca mi khu
W4, W3: l trng lng ca khp 3 v khi lng ca vt cn nng.
L1, L2: l chiu di ca khu th 2 v khu th 3
L3: l khong cch t tm vt cn nng n khp th 3
Ta s d dng xc nh c mmen s b ti cc khp 2 v khp 3 (hnh 1)
Mmen ti khp 2: M1 = W1*L1/2 + L1*W4 + (L1+L2/2)*W2+ (L1+L3)*W3
Mmen ti khp 3: M2 = L2/2*W2 + L3*W3
T c th chn c c cu truyn ng v cc ng c hp l.

Chuyn ng ca khu 3 c ng c tc ng thng qua c cu tay quay con
trt (hnh 2). C cu tay quay con trut l c cu bn khu bn l c bn khp thp.
trnh ma st ln trong c cu m con trt ch ng, tay quay b dn th c cu cn tha
mn iu kin:

ax m o | m o = + s
(1)
Hm v tr ca c cu khi con trt ch ng:
Hnh 2. C cu tay quay con trt Hnh 3. ng c khp 2 sau khi gn hp gim tc
Hnh 1. S phn tch lc hai bc ca cnh tay robot
Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010
40

( )
( )
2
2 2 2
0
2
2
0
0
ar arcsin
2
r e x s l
e
ctg
x s
r x s e
m
+ +
=

+
(2)
Trong :
2 2
0
( ) x e r e = (3)
Du di tng ng vi trng hp lch tm e pha bn tri. Ta chn e = 0,
tc lch tm bng khng th:

2 2 2 2
arcsin(2. ) / [2.r. -s] l r s l r m = (4)
Kch thc ca cc khu chn trc l L1 = L2 = 300 mm, l = 140 mm, r = 45
mm, v gc xoay cn t c l 120 , ta s tnh c hnh trnh ca vt me l 150 mm.
V vy ta chn vt me 10, chiu di 180 mm. ng c dn ng l ng c Pitman DC
24v, 80 vng/pht.
Khp th 2 c truyn ng bng ng c DC 24V, 30W, 120 vng/pht. Do tc
ng c qu ln nn kh iu khin v tr chnh xc, c bit l vi tay my i hi
chnh xc cao. Nn ta cn phi gim tc cho ng c thng qua hp gim tc Hospital c
t s truyn 1:60 t ng c Maxon, Nht Bn. ng c khp 2 sau khi gn hp gim tc
Hospital nh hnh 2.
5
3
8
0
246
2
8
0
5
5
1
0
0
430
13
12
11
10
9
8
7 6 5
4
3
2
1
14

Hnh 4. Kt cu chung ca robot
1 - robot; 2 - nhm hp 25x50; 3 eru 6; 4 - khp xoay 1; 5 - bi 12; 6 - ng c Pitman nh;
7 - trc vt me 10; 8 - vt 6; 9 - bnh xe; 10 - ng c lp; 11- ng c khp 2; 12 - hp gim tc;
13 - bc bi 12; 14 - khu 2.
2.2. Tnh ton thit k mch iu khin
Mch iu khin gm hai phn: Phn mch pht dng nhn tn hiu t my tnh v
truyn tn hiu i, phn mch thu (hnh 3) dng thu v x l tn hiu, t iu khin robot.
TANG NGUON
TANG DIEU KHIEN TRUNG TAM
TANG CCH LY
J6301
CON2
1
2
5V
RELAY6
RELAY4
C207
104
RELAY3
RELAY2
RELAY1
RL1
D607
RLA1
MT6
MT5
J202
CON3
3
2
1
R112
24V
U201
7805
VIN 1 VOUT 3
G N D
2
Q201
2
3 1
12v
PWM2
24V
RLA2
J7
DC2
1
2
CB6
LS7
3
5
1
4
6
2
7
8
D192
MT4
AB
CB3
U3 ULN2803
C O M
1 0
G N D
9
IN1 1
IN2 2
IN3 3
IN4 4
IN5 5
IN6 6
IN7 7
IN8 8
OUT1 18
OUT2 17
OUT3 16
OUT4 15
OUT5 14
OUT6 13
OUT7 12
OUT8 11
CB4
CB5
12v
D608
PWM1
RELAY5
C46
104
D106
LED
PWM3
U4
PIC18F4331
RC7/RX/DT 26
G N D
1 2
G N D
3 1
RC0/T1OSO/T1CLK 15
RC1/CCP2/FLTA 16
RC2/CCP1/FLTB 17
RC3/SCK/SCL 18
RC4/SDI/SDA 23 RC5/SDO 24 RC6/TX/CK 25
RA0/AN0 2
RA1/AN1 3
RA2/AN2 4
RA3/AN3 5
RA4/AN4 6
RA5/AN5 7
RB0/PWM0 33 RB1/PWM1 34 RB2/PWM2 35 RB3/PWM3 36 RB4/PWM5 37 RB5/PWM4 38 RB6/PGC 39 RB7/PGD 40 MCLR/VPP 1
OSC1/CLK 13
V D D
1 1
V D D
3 2
RD0/PSP0 19
RD1/SDO 20
RD2/SDI/SDA 21 RD3/SCK/SCL 22
RD4 27 RD5/(PWM4) 28
RD6/PWM6 29 RD7/PWM7 30
RE0/AN6 8
RE1/AN7 9
RE2/AN8 10
OSC2/CLKOUT 14
D107
LED
R203
220
J8
DC1
1
2
RLA4
clock
RLA3
Vpp
RLA1
R7001
470
1 2
3
4
5
6
7
CB6
1
3
2
Q25
CB5
CB3
CB4
CB1
CB2
5v
5v
DC2
DC1
RS
DC3
+
C5
220
12VC
C47
104
PWM2
D609
OK2
D47
RL1
LS8
3
5
1
4
6
2
7
8
D52
PWM3
1
3
2
Q26
RL2
RL4
RL3
PWM4
ENCOR4
OP13
1
2
4
3
R113
R114
+ C208
220
R115
CB1
R116
+
C201
2200
24V
D108
D109
RELAY6
RELAY4
PWM6
D110
D53
OP14
1
2
4
3
J203
1
2
PWM5
+
C711
220_16v
C731
104
U5 ULN2803
C O M
1 0
G N D
9
IN1 1
IN2 2
IN3 3
IN4 4
IN5 5
IN6 6
IN7 7
IN8 8
OUT1 18
OUT2 17
OUT3 16
OUT4 15
OUT5 14
OUT6 13
OUT7 12
OUT8 11
OP15
1
2
4
3
C6
+
C7
220
PWM1
RX
J11
DC3
1
2
12v
OP16
1
2
4
3
C48
104
C209
104
J707
1
2
3
4
5
5v
5v
SW701
RST
ENCOR3
5v
RLA5
R12
10k
1 2
3
4
5
6
7
RELAY1
D1003
D181
R204
1k
D1007
J6003
CON8
1
2
3
4
5
6
7
8
D1008
R705
10k
CLK74
Vpp
E
C210
104
R13
10k
1 7
6
5
4
3
2
TANG KHUYECH DAI
RELAY2
Y2
4M
C702
22p
C703
22p
J924
I2C
1 2 3
D610
C49
104
24V
MT4
OSC1
R7
330
12v
OSC2
OP17
1
2
4
3
D62
1N4007
1
2
data
OSC1
1
3
2
Q27
1
3
2
Q28
OSC2
12v
D57
DIODE
D58
Q29
A1013
2
3
1
Q30
C2383 2
3
1
LS9
3
5
1
4
6
2
7
8
+
C211
2200
OP18
1
2
4
3
OP19
1
2
4
3
D611
DC5
DC6
ENCOR1
LS10
3
5
1
4
6
2
7
8
D1009
LED
RL4
R117
J910
ENCODER7-8
1 2
J12
DC4
1
2
R118
D1010
LED
D1011
PWM6
PWM5
5v
5v
12v
data
clock
D111
LED
D612
1
3
2
Q31
12v
OP20
1
2
4
3
R119
R120
J6005
CON3
1
2
3
MT2
R8
330
Q32
A1013
2
3
1 D48
1 2
1
3
2
Q33
CB1
D72
1N4007
1
2
CB3
CB2
CB5
CB4
TX
CB6
Q34
C2383 2
3
1
OP21
1
2
4
3
DC1
TANG CONG SUAT
RLA4
D193
Vdd
DC2
DC3
24V
R9
330
1
3
2
Q37
MT3
MT1
Q38
A1013
2
3
1
MT2
RLA6
MT3
Vdd
RELAY3
Q41
C2383 2
3
1
OP22
1
2
4
3
D42
4007
OP23
1
2
4
3
OP24
1
2
4
3
C8
D74
1N4007
1
2
RL5
RL6
Vpp
MT1
DC4
R15
330_1W
DC5
DC4
Q44
A1013
2
3
1 D43
1 2
R205
10_1W
DC6
R121
1
3
2
Q45
PWM4
D75
1N4007
1
2
CB2
Q48
C2383 2
3
1
ENCOR2
R122
RELAY5
R123
RL2 RLA2
RL5
RL6
RLA3 RL3

Hnh 3. S nguyn l mch thu.
Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010
41
2.2.1. Tng x l trung tm
S dng chip PIC18F4331, do chip ny c 4 chn h tr iu xung PWM, ngoi ra
cn 2 chn CCP c th hot ng ch PWM. Vy tng cng c 6 chn iu xung, ph
hp vi robot thit k, c 6 ng c DC cn phi iu khin tc .
2.2.2. Tng cch ly
V tng x l trung tm c tn hiu ra l 5V, trong khi cc ng c dng trong
robot u hot ng 12V- 24V do ta phi dng opto coupler nh mt kho chuyn t
5V sang 12V. Mch ny s dng b cch quang PC817.

CC LED DIODE
LED
V V V 5 1,7 1,2
R 210
I 10

= = =

Ta chn in tr R = 330 hoc 470
2.2.3. Tng cng sut
Mch cng sut s dng transistor hiu ng trng MOSFET IRF540 c kh nng
cung cp dng ln ln n 5A, iu khin bng p trn ng vo G. Mch kch c la
chn l y ko(PUSH PULL) cho p ng xung tt. ULN2803 gm 8 BJT ghp
darlington c sn cc in tr v diode bo v, cung cp dng 500mA, in p lm vic ln
n 50V. iu kin lm vic bnh thng ca ULN2803: IC =100mA, IB=250A,
VCE=2V.
Gi tr ca in tr cng sut trn ti ra ca mch y ko.

CESAT
CS
CESAT
12 V 12 0,2
R 236
50 I

= = =

Do th trng khng c loi in tr 236 nn ta chn R
cs
=330 .
Cng sut tiu th trn in tr
2 2
CESAT CS
Pcs = I .R 50 .330 0,82W = =
Chn in tr R = 330 , P =1 n 2 W.
2.3. Xy dng h thng nhn dng ging ni
S tng qut ca mt h thng nhn dng ting ni c th hin trn hnh 6.

Hnh 6. S tng qut ca h thng nhn dng ting ni.
2.3.1. Thc hin ghi m v tch t
Ting ni c thu m qua mt micro kt ni vi my tnh. Ting ni sau khi c
thu m t micro, dng k thut x l u cui tch tn hiu ting ni ra khi nn nhiu.
Tuy c nhiu phng php tch ting ni khc nhau, nhng qua qu trnh nghin cu tc
gi thy phng php kt hp gia hm nng lng thi gian ngn v t l qua im zero
cho kt qu tt hn.
Vi mt ca s kt thc ti mu th m, hm nng lng thi gian ngn E(m) c
xc nh:
Tch t

Trch c trng
MFCC
i snh
mu
Kt qu
Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010
42
( ) ( ( ) * ( ))
n
E m S n W n m

=
=

(5)
T l qua im zero (zero crossing rate) l s ln m bin tn hiu i qua im
zero trong mt khong thi gian cho trc c xc inh:

{ } { }
1
sgn ( ) sgn ( 1)
1
( ) ( )
2
m
n m N
s n s n
Zs m w m n
N
= +

=

(6)
Hnh 7. S tng quan ca tn hiu ting ni, t l qua im zero
v hm nng lng thi gian ngn ca t Ba
Phng php ny tuy n gin nhng s khng cn chnh xc nu mi trng c nhiu
qu ln. Tuy nhin trong mi trng khng qu n, gii thut ny c th chp nhn c.
2.3.2. Trch c trng ting ni
Qu trnh nhn dng mu c pha hun luyn u tri qua giai on trch c trng
ting ni. Bc ny thc hin cc phn tch nhm xc nh cc thng tin quan trng, c
trng, n nh ca tn hiu ting ni, gim khi lng d liu cn x l. C nhiu phng
php trch c trng v ang c s dng nh FBA, MFCC, LPC, PLP...Mi phng
php u c nhng u nhc
im ring. Hin nay MFCC
(Mel- scale Frequency
Cepstral Coefficient) c s
dng ph bin v hiu qu
nht. V vy s dng MFCC
lm c trng ca h nhn
dng c trnh by trong bo
co ny.
MFCC l phng php
trch c trng da vo c
im cm th t tn s m ca tai ngi : tuyn tnh i vi tn s nh hn 1kHz v phi
tuyn i vi tn s trn 1kHz (Theo thang tn s Mel). Ngoi ra trong h nhn dng cn
b xung them cc h s delta MFCC.
2.3.3. i snh mu
i snh mu l mt trong nhng cch tip cn c bn gii quyt bi ton nhn
dng. Trong lnh vc nhn dng ting ni, cch tip cn ny cng c s dng v c hiu
Hnh 8. S trch c trng ting ni MFCC

Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010
43
qu. i snh mu tc l s xc nh tng ng gia cc mu, hay ni cch khc l o
lng khong cch gia cc mu. Ty theo c t ca h thng m ta s dng cc k thut
so snh mu khc nhau. Cc k thut c th dng l DTW, HMM... Cui cng, lut quyt
nh l pha tr gip my tnh a ra kt qu nhn dng mu tn hiu no gn ging nht,
hai lut c s dng rng ri l NN v KNN. M hnh iu khin ny thc hin theo k
thut cn chnh thi gian ng DTW (Dynamic Time Warping) v s dng lut K-NN (K-
Nearest Neighbor Rule)

Hnh 9. Giao din iu khin v m hnh robot iu khin t xa
3. Kt lun
Vi kt qu thu c trong qu trnh th nghim trn m hnh thc t, ta nhn thy
tuy h thng cn nhiu hn ch nh tc x l cn chm, mi trng hot ng yu cu
khng qu n nhng cng p ng c mc tiu ca ti. M hnh hot ng kh tt
vi cc lnh: h mt t : Tin, Li, Tri, Phi v h hai t : Mt tri, Mt
phi, Hai ln, Hai xung, Ba ln, Ba xung. Trong thi gian n tc gi s tip
tc nghin cu ti u ha chng trnh t c kt qu tt hn.

TI LIU THAM KHO

[1] L B Dng, Khoa Cng ngh Thng tin, i hc Hng Hi Vit Nam, Ti liu tham
kho mn x l ting ni.
[2] TS Nguyn Vn Gip, KS Trn Vit Hng, B mn C in t, Khoa C kh, i
hc Bch khoa Thnh Ph H Ch Minh, K thut nhn dng ting ni v ng dng
trong iu khin.
[3] Quch Tun Ngc (1997), X l tn hiu s, Nh xut bn gio dc.
[4] GS.TSKH. Nguyn Thin Phc (2006), Robot cng nghip, NXB khoa hc k thut.
[5] TS Nguyn c Thnh (2005), Matlab v ng dng trong iu khin, Nh xut bn
i hc Quc gia Thnh ph H Ch Minh
[6] http://www.mathworks.com