Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A Study on Intelligent Control of Mobile Robot for Human-Robot Cooperative Operation in Manufacturing Process

인간-로봇 상호협력작업을 위한 모바일로봇의 지능제어에 관한 연구

  • Received : 2018.11.02
  • Accepted : 2019.03.08
  • Published : 2019.03.31
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Abstract

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.

Keywords

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Fig. 1 The coordinate frame of mobile with 2 wheel

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Fig. 2 Voice recognition model

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Fig. 3 The block diagram of proposed trajectory controller structure for mobile robot

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Fig. 4 Remote control schematic diagram of voice recognition robot control system

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Fig. 5 Voice recognition word registration program

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Fig. 6 Performance experiment scene of voice recognition for mobile robot

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Fig. 7 Voice recognition experiment result(I)

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Fig. 8 Voice recognition experiment result)(II)

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Fig. 9 Voice recognition experiment result)(III)

Table 1. Voice recognition words

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