博碩士論文 102521063 詳細資訊




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姓名 高于涵(Yu-han Kao)  查詢紙本館藏   畢業系所 電機工程學系
論文名稱 友善的家庭陪伴型機器人
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摘要(中) 本論文主要為設計及製作一個可以利用語音控制來做互動的家庭式機器人。該機器人除了具備可愛的外觀及可以置於桌上的小巧體積外,其特殊身體結構利用三個AI馬達不同的旋轉量,呈現出各種身體姿勢。同時,我們在人頭前後左右設有四個聲音感測器搭配演算法,可使機器人更精準地找出聲音源方位。此機器人有四個主要的功能,分別為簡單對話,照相,遠端監控與定時提醒。這四種功能所需要用到的配備像是7吋LCD螢幕、攝影機及麥克風皆鑲嵌於機器人頭上,而揚聲器則因尺寸關係置於機器人本體側邊。機器人可以利用麥克風接收使用者語音指令,並通過語音識別系統中之設定來完成簡單對話功能。在對話的同時,機器人除了有不同的應答動作外,螢幕也可以顯示相對應的臉部表情像是喜、怒或悲傷。在語音照相模式部分,機器人可以根據使用者的命令進行拍照,而所拍攝的照片可以通過網路被保存在雲端硬碟中。使用者可以根據在LCD螢幕上顯示的QR code連至特定網站進行照片的存取與瀏覽。我們還可以遠端控制機器人的轉動,以監測機器人週遭環境狀況。最後一種模式是定時提醒,使用者可以設定提醒時間與事項,當設定的時間到了,機器人會利用語音提醒待辦事項,伴隨著音樂及身體動作來吸引人們的注意。
摘要(英) This thesis introduces the design and fabrication of a cute and small family robot which can be put on a table. The robot has four main capabilities which are simple dialogue, photo taking, remote monitoring, and timed reminder to interact with people by voice and speech. To recognize people’s voice and show some messages, there are four sound sensors, a micro-phone, a webcam, a speaker and a 7 inches LCD screen installed on the head of robot. There are also three motors which rotate with different degrees to perform the postures of its body. The four sound sensors can detect the sound source position and the motor in the base can turn the robot’s body to face the direction of the sound. The microphone receives the speech of users and by speech recognition system the robot can have simple dialogue with users. At the same time of the dialogue, the LCD screen shows the corresponding facial expression which may be happiness, anger, or sadness. Furthermore, the robot’s body also has some postures corresponding to the dialogue. On the other hand, the robot can take photos according to the command of users, and the photos will be saved in the cloud drive by internet and users can pick up the photos according to the QR codes shown in the LCD screen. We also can remotely control the turning of the robot to monitor and take photos to the environment in front of the robot. The last mode is the “timed reminder” which can remind users with voice, music and motions to do something when the set time is up.
關鍵字(中) ★ 家庭型機器人
★ 語音辨識
★ 遠端控制
★ 雲端硬碟
關鍵字(英) ★ family robot
★ speech recognition
★ remote control
★ cloud drive
論文目次 摘要.................................i
Abstract............................ii
致謝...............................iii
目錄................................iv
圖目錄.............................. vi
表目錄.............................viii
第一章 緒論...........................1
1.1文獻回顧與研究動機..................1
1.2論文目標...........................3
1.3本文架構...........................4
第二章 機構設計與硬體規格...............5
2.1機器人之機構設計....................5
2.2硬體規格..........................11
2.3機器人之系統架構...................16
第三章 軟體及演算法設計................19
3.1語音辨識設計.......................19
3.2聽聲辨位演算法.....................20
3.2.1訊號取樣........................20
3.2.2音源位置推算 ....................22
3.3遠端即時影像傳輸設計................23
第四章 動作流程與模式設計..............25
4.1動作流程..........................25
4.2簡單對話模式.......................27
4.2.1日常對話........................27
4.2.2音樂舞動........................29
4.3語音照相模式.......................30
4.4遠端監控模式.......................32
4.5定時提醒模式.......................33
第五章 實驗結果.......................35
5.1簡單對話模式.......................36
5.1.1日常生活.........................36
5.1.2音樂舞動模式.....................38
5.1.3聽聲辨位.........................40
5.2語音照相模式.......................41
5.3遠端監控模式.......................42
5.4定時提醒模式.......................44
第六章 結論與未來展望..................45
6.1結論..............................45
6.2未來展望...........................45
參考文獻..............................47
附錄.................................50
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[12]J. K. Lee, R. L. Toscano, W. D. Stiehl, and C. Breazeal, “The design of a semi-autonomous robot avatar for family communication and education,” in IEEE Int. Symposium Robot Hum. Interact. Commun., Munich, Germany, Aug. 2008, pp. 166-173.
[13]N. Akalin, P. Uluer, H. Kose, and G. Ince, “Humanoid robots communication with participants using sign language: an interaction based sign language game,” in IEEE Workshop Adv. Robot. Soc. Shibaura Inst. Technol., Tokyo, JAPAN, Nov., 2013, pp. 181-186.
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[16]Jibo 首頁,https://www.jibo.com/,2015年5月。
[17]日本仿真機器人,https://www.youtube.com/watch?v=O8hn-fF4v-M,2015年5月。
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[21]黃仕翰 (王文俊教授指導), “手勢及聲音遙控家電技術”,國立中央大學電機工程研究所碩士論文,2011年7月。
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[25]Oktay Alkin, Signals and Systems: A MATLAB® Integrated Approach. CRC Press, 2014.
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指導教授 王文俊 審核日期 2015-7-31
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