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題名 | Design and Implementation of a Novel Voice-Driven Wheelchair Controller=改良的語音控制式輪椅實踐理論 |
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作 者 | 陳瑞熙; | 書刊名 | 新埔學報 |
卷期 | 17 1999.10[民88.10] |
頁次 | 頁319-337 |
分類號 | 448.942 |
關鍵詞 | 語音控制; 輪椅; 複合可程式邏輯元件; CPLD; |
語文 | 英文(English) |
中文摘要 | 本文論述使用複合可程式邏輯元件(CPLD)設計與實現的語音式電子輪椅控制系統。文中介紹語音命令類型、相關控制方法、與所使用的人機界面。系統共建立二種操作模式:其一為與傳統電子輪椅相容的搖桿操作模式;另一則專為輔助特定身心障礙無法駕駛傳統輪椅者使用的語音駕駛模式。這個系統合併了平行處理功能,且由擷取、控制、及動力區塊所組成,區塊與區塊問並定義了界面匯流排。擷取區塊包含操縱桿和語音識別器等人機界面。動力區塊含脈寬調變轉換器以及驅動直流馬達的H-電橋放大器。控制區塊包括一個命令解譯器和二個資料演算器等三個副區塊。一個簡化的控制模型導引出駕駛命令和輪子的速度之間的關係。控制過程包括下列三個步驟;命令解譯、速度估計、以及速度伺服。最後量測和分析命令執行的結果可做為進一步發展的參考。 |
英文摘要 | In this paper, the design and implementation of a novel voice-driven electric wheelchair control system based on CPLD's is presented. The description of the voice command type, the corresponding control algorithms, and the human interface are introduced. Two operating modes have been established in this system: one is the joystick manual mode, which is compatible to those functions of traditional electric wheelchair; the other is the voice driving mode that may be used to assist certain people who have physical limitations to drive electric wheelchair. This system incorporates concurrent functions, and is composed of acquisition, control and power blocks. Interface buses are defined among blocks. The acquisition block acts as human interface and consists of joystick and voice recognizer. The power block accommodated with PWM converters and H-bridge amplifiers for DC-motors driving interface. Three sub-blocks, including one command interpreter and two datapaths, existed in control block. A simplified control model introduced the relations between driving commands and wheel speeds. Control process following three steps: command decode, speed estimate, and speed servo. The command execution results are measured and analyzed for advanced development. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。