CN109920425A - Robot voice control method and device, robot and medium - Google Patents
Robot voice control method and device, robot and medium Download PDFInfo
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- CN109920425A CN109920425A CN201910266361.3A CN201910266361A CN109920425A CN 109920425 A CN109920425 A CN 109920425A CN 201910266361 A CN201910266361 A CN 201910266361A CN 109920425 A CN109920425 A CN 109920425A
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Landscapes
- Engineering & Computer Science (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Electric Vacuum Cleaner (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the application provides a robot voice control method, a device, a robot and a medium, wherein the robot voice control method comprises the following steps: receiving a first voice instruction; and recognizing the sound source direction of the first voice command and enabling the robot to turn to the sound source direction. According to the embodiment of the application, when the first voice command is received, the voice recognition system of the robot is enabled to be in the activated state, and the robot is controlled to turn to the voice source direction, so that the robot is in the standby state. And then receiving a control command for controlling the execution operation within a certain time, and carrying out expected action according to the control command. The voice recognition control method and the voice recognition control device can be accurately operated according to the indication, improve the voice recognition control effect under the noise state, improve the recognition rate of the voice command input by the user, can accurately work according to the voice command of the user, and also increase the interestingness of man-machine interaction.
Description
Technical field
This application involves control technology field more particularly to a kind of robot voice control method, device, robot and Jie
Matter.
Background technique
With the development of technology, there are the various robots with speech recognition system, such as machine of sweeping the floor
People, floor-mopping robot, dust catcher, weeder etc..These robots can receive the language of user's input by speech recognition system
Sound instruction, to execute the operation of phonetic order instruction, this has not only liberated labour, also as save human cost.
In the related technology, above-mentioned robot can receive the phonetic order of user's input, then be known by the voice of itself
The phonetic order of other system identification input, to control the operation that robot executes phonetic order instruction.But user is in control machine
When device people, it is still desirable to can as control people it acted control nimbly and freely, for example, by using more humanized
Communication, robot can also respond corresponding language control command in real time, but current robot does not still have
Such voice control mode, however it remains control is more mechanical, the technical issues of carry out voice control that cannot be smooth.
Summary of the invention
It is situated between in view of this, the embodiment of the present application provides a kind of robot voice control method, device, robot and storage
Matter, to allow the robot to nimbly and freely receive phonetic control command.
In a first aspect, the embodiment of the present application provides a kind of robot voice control method, which comprises
Receive the first phonetic order；
It identifies the Sounnd source direction of first phonetic order and the robot is made to turn to the Sounnd source direction.
In some possible implementations, the Sounnd source direction of identification first phonetic order simultaneously makes the machine
People turns to the Sounnd source direction, further includes:
Identify the Sounnd source direction of first phonetic order；
Do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
Stop the operating of the driving motor.
In some possible implementations, the Sounnd source direction of identification first phonetic order simultaneously makes the machine
People turns to after the Sounnd source direction, further includes:
Judge whether to receive the second phonetic order for being used to indicate operation；
If it is determined that receiving second phonetic order, then the robot executes the behaviour of the second phonetic order instruction
Make.
In some possible implementations, further includes:
If it is determined that not receiving second phonetic order, then the robot goes back to former direction, continues to execute original
Operation.
It is described to judge whether to receive the second phonetic order for being used to indicate operation in some possible implementations,
Include:
Judge whether to receive the second phonetic order for being used to indicate operation within a preset time.
In some possible implementations, first phonetic order is to wake up class phonetic order, second voice
Instruction is manipulation class phonetic order.
In some possible implementations, the wake-up class phonetic order and the manipulation class phonetic order are stored in advance
In the robot or the cloud being connect with the robot.
Second aspect, the embodiment of the present application provide a kind of robot voice control device, comprising:
Receiving unit, for receiving the first phonetic order；
Recognition unit the Sounnd source direction of first phonetic order and makes the robot turn to the sound source for identification
Direction.
In some possible implementations, the recognition unit is also used to:
Identify the Sounnd source direction of first phonetic order；
Do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
Stop the operating of the driving motor.
In some possible implementations, further includes:
Judging unit receives the second phonetic order for being used to indicate operation for judging whether；
Execution unit, if it is determined that receiving second phonetic order, then the robot executes second voice and refers to
Enable the operation of instruction.
In some possible implementations, the execution unit is also used to:
If it is determined that not receiving second phonetic order, then the robot goes back to former direction, continues to execute original
Operation.
In some possible implementations, the judging unit is also used to:
Judge whether to receive the second phonetic order for being used to indicate operation within a preset time.
In some possible implementations, first phonetic order is to wake up class phonetic order, second voice
Instruction is manipulation class phonetic order.
In some possible implementations, the wake-up class phonetic order and the manipulation class phonetic order are stored in advance
In the robot or the cloud being connect with the robot.
The third aspect, the embodiment of the present application provide a kind of robot, including processor and memory, the memory storage
There are the computer program instructions that can be executed by the processor, it is real when the processor executes the computer program instructions
The existing any method and step of first aspect.
Fourth aspect, the embodiment of the present application provide a kind of non-transient computer readable storage medium, are stored with computer
Program instruction, the computer program instructions realize that any method of first aspect is walked when being called and being executed by processor
Suddenly.
5th aspect, the embodiment of the present application provide a kind of robot, including any robot control of second aspect
Device.
Compared with the existing technology, the present invention at least has following technical effect that
The embodiment of the present application when receiving the first phonetic order, can first be such that the speech recognition system of robot activates
State, and the Sounnd source direction that robot turns to voice is controlled, it is at armed state.Then control is received within a certain period of time
The control command for executing operation carries out expected movement according to control command.It can accurately be operated, be improved as indicated
Speech recognition controlled effect under noise state improves the discrimination of the phonetic order of user's input, can be relatively accurately
It works according to the phonetic order of user, also increases the interest of human-computer interaction.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this Shen
Some embodiments please for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is an application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 2 is robot architecture's top view provided by the embodiments of the present application；
Fig. 3 is robot architecture's bottom view provided by the embodiments of the present application；
Fig. 4 is robot architecture's front view provided by the embodiments of the present application；
Fig. 5 is robot architecture's perspective view provided by the embodiments of the present application；
Fig. 6 is robot architecture's block diagram provided by the embodiments of the present application；
Fig. 7 is the flow diagram for the robot voice control method that one embodiment of the application provides；
Fig. 8 is the flow diagram for the robot voice control method that the another embodiment of the application provides；
Fig. 9 is the flow diagram for the robot voice control method that the application another embodiment provides；
Figure 10 is the structural schematic diagram for the robot voice control device that one embodiment of the application provides；
Figure 11 is the structural schematic diagram for the robot voice control device that another embodiment of the application provides；
Figure 12 is the electronic structure schematic diagram of robot provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
It will be appreciated that though may be described in the embodiment of the present application using term first, second, third, etc..,
But these ... it should not necessarily be limited by these terms.These terms be only used to by ... be distinguished from each other out.For example, not departing from the application
In the case where scope of embodiments, first ... can also be referred to as second ..., and similarly, second ... can also be referred to as
One ....
In order to clearly describe the behavior of robot, following direction definition is carried out:
As shown in figure 5, robot 100 can be by being mutually perpendicular to the shifting of axis relative to the following three defined by main body 110
Dynamic various combinations are advanced on the ground: antero posterior axis X, lateral shaft Y and central vertical shaft Z.Along the forward side of antero posterior axis X
To being denoted as " forward direction ", and " backward " is denoted as along the rearward drive direction of antero posterior axis X.Lateral shaft Y be substantially along by
The axle center that the central point of driving wheel module 141 defines extends between the right wheel and revolver of robot.
Robot 100 can be rotated about the Y axis.When the forward portion of robot 100 tilts upwards, dip down to backward part
It is when tiltedly " facing upward ", and the forward portion for working as robot 100 tilts down, is when being tilted upwards to backward part " nutation ".Separately
Outside, robot 100 can turn about the Z axis.On the forward direction of robot, when robot 100 is to the inclination of the right side of X-axis
" right-hand rotation ", when robot 100 to the left side of X-axis be " left-hand rotation ".
Referring to Fig. 1, being a kind of possible application scenarios provided by the embodiments of the present application, which includes machine
People, such as sweeping robot, floor-mopping robot, dust catcher, weeder etc..In certain embodiments, which can be
Robot is specifically as follows sweeping robot, floor-mopping robot.In an implementation, speech recognition system has can be set in robot,
It to receive the phonetic order of user's sending, and is rotated according to phonetic order according to arrow direction, to respond the voice of user
Instruction.Robot is also provided with instantaneous speech power, to export suggestion voice.In other embodiments, robot can be set
It is equipped with touch-sensitive display, to receive the operational order of user's input.Robot is also provided with WIFI module, Bluetooth
The wireless communication modules such as module to connect with intelligent terminal, and are received user by wireless communication module and are passed using intelligent terminal
Defeated operational order.
The structure of correlation machine people is described as follows, as shown in Figure 2-5:
Robot 100 includes machine body 110, sensory perceptual system 120, control system, drive system 140, cleaning systems, energy
Source system and man-machine interactive system 170.As shown in Figure 2.
Machine body 110 includes forward portion 111 and backward part 112, and having approximate circular shape, (front and back is all round
Shape), there can also be other shapes, the approximate D-shape of circle including but not limited to behind front.
As shown in figure 4, sensory perceptual system 120 includes positioned at the position determining means 121 of 110 top of machine body, positioned at machine
The buffer 122 of the forward portion 111 of device main body 110, steep cliff sensor 123 and ultrasonic sensor, infrared sensor, magnetic force
The sensing devices such as meter, accelerometer, gyroscope, odometer provide the various positions information and movement of machine to control system 130
Status information.Position determining means 121 include but is not limited to camera, laser ranging system (LDS).Below with triangle telemetry
Laser ranging system for illustrate how carry out position determine.The basic principle of triangle telemetry based on similar triangles etc.
Than relationship, this will not be repeated here.
Laser ranging system includes luminescence unit and light receiving unit.Luminescence unit may include the light source for emitting light, light source
It may include light-emitting component, such as the infrared or luminous ray light emitting diode (LED) of transmitting infrared light or luminous ray.It is excellent
Selection of land, light source can be the light-emitting component of transmitting laser beam.In the present embodiment, the example by laser diode (LD) as light source
Son.Specifically, due to the monochrome of laser beam, orientation and collimation property, use the light source of laser beam can make measurement compared to
Other light are more accurate.For example, the infrared light or luminous ray of light emitting diode (LED) transmitting are by week compared to laser beam
Such environmental effects (such as color or texture of object) is enclosed, and may be decreased in measurement accuracy.Laser diode
(LD) it can be dot laser, measure the two-dimensional position information of barrier, be also possible to line laser, measure the certain model of barrier
Enclose interior three dimensional local information.
Light receiving unit may include imaging sensor, and the light for being reflected by barrier or being scattered is formed on the imaging sensor
Point.Imaging sensor can be the set of single or plurality of rows of multiple unit pixels.These light receiving elements can be by optical signal
Be converted to electric signal.Imaging sensor can be complementary metal oxide semiconductor (CMOS) sensor or charge coupled cell
(CCD) sensor, since the advantage in cost is preferably complementary metal oxide semiconductor (CMOS) sensor.Moreover, light
Unit may include sensitive lens component.The light for being reflected by barrier or being scattered can advance via sensitive lens component to scheme
As forming image on sensor.Sensitive lens component may include single or multiple lens.
Base portion can support luminescence unit and light receiving unit, and luminescence unit and light receiving unit are arranged on base portion and to each other
Every a specific range.For the barrier situation around robot measurement on 360 degree of directions, base portion can be made to be rotatably arranged
In main body 110, it can not also be rotated with base portion itself and rotate transmitting light, reception light by the way that rotating element is arranged.
The angular velocity of rotation of rotating element can be obtained by setting optic coupling element and code-disc, and optic coupling element incudes the tooth on code-disc and lacks,
By tooth lack spacing slip over time and tooth lack between distance value be divided by instantaneous angular velocity can be obtained.The scarce density of tooth is got on code-disc
Greatly, the accuracy rate and precision of measurement are also just corresponding higher but just more accurate in structure, and calculation amount is also higher；Conversely, tooth lacks
Density it is smaller, the accuracy rate and precision of measurement are accordingly also lower, but can be relatively easy in structure, and calculation amount is also got over
It is small, some costs can be reduced.
The data processing equipment connecting with light receiving unit, such as DSP, will be relative to all angles on 0 degree of angular direction of robot
Obstacle distance value at degree records and sends to the data processing unit in control system 130, such as the application processing comprising CPU
Device (AP), location algorithm of the CPU operation based on particle filter obtain the current location of robot, and are charted according to this position, supply
Navigation uses.It is preferable to use instant positioning and map structuring (SLAM) for location algorithm.
Although the laser ranging system based on triangle telemetry can measure the infinity other than certain distance in principle
Distance value at distance, but actually telemeasurement, such as 6 meters or more, realization be it is very difficult, be primarily due to light
The size limitation of pixel unit on the sensor of unit, while also by the photoelectric conversion speed of sensor, sensor and connection
The calculating speed of data transmission bauds, DSP between DSP influences.The measured value that laser ranging system is affected by temperature
The variation that meeting generating system can not put up with, the thermal expansion that the structure being primarily due between luminescence unit and light receiving unit occurs become
Shape leads to the angle change between incident light and emergent light, and luminescence unit and light receiving unit itself can also have temperature drift.Swash
Optical range finding apparatus be used for a long time after, as many factors such as temperature change, vibration accumulate and caused by deformation also can serious shadow
Ring measurement result.The accuracy of measurement result directly determines the accuracy of map making, is robot further progress strategy
The basis of implementation, it is particularly important.
As shown in figure 3, the forward portion 111 of machine body 110 can carry buffer 122, driving wheel during cleaning
Module 141 promotes robot in ground running, and buffer 122 detects machine via sensing system, such as infrared sensor
One or more events in the driving path of people 100, robot can pass through the event that is detected by buffer 122, such as obstacle
Object, wall, and controlling driving wheel module 141 makes robot to respond to the event, for example away from barrier.
Control system 130 is arranged on the circuit main board in machine body 110, including with non-transitory memory, such as
Hard disk, flash memory, random access memory, the computation processor of communication, such as central processing unit, application processor,
The obstacle information that application processor is fed back according to laser ranging system draws institute, robot using location algorithm, such as SLAM
Instant map in the environment.And combining buffer 122, steep cliff sensor 123 and ultrasonic sensor, infrared sensor, magnetic
Range information, the velocity information comprehensive descision sweeper of the sensing devices such as power meter, accelerometer, gyroscope, odometer feedback are worked as
It is preceding which kind of working condition be in, threshold is such as crossed, upper carpet is located at steep cliff, and either above or below is stuck, and dirt box is full, is taken
Rise etc., also specific next step action policy can be provided for different situations, so that the work of robot is more in line with owner
Requirement, have better user experience.Further, even if control system 130 can be based on the cartographic information planning that SLAM is drawn
Cleaning path the most efficient and rational and cleaning method greatly improve the sweeping efficiency of robot.
Drive system 140 can be based on having distance and an angle information, such as x, y and θ component, drive command and manipulate machine
Device people 100 crosses over ground run.Drive system 140 includes driving wheel module 141, and driving wheel module 141 can control a left side simultaneously
Wheel and right wheel, in order to more accurately control the movement of machine, preferably driving wheel module 141 respectively include left driving wheel module and
Right driving wheel module.Left and right driving wheel module is opposed along the lateral shaft defined by main body 110.In order to which robot can be on ground
It is moved more stablely on face or stronger locomitivity, robot may include one or more driven wheel 142, driven
Wheel includes but is not limited to universal wheel.Driving wheel module includes traveling wheel and drive motor and the control electricity for controlling drive motor
Road, driving wheel module can also connect the circuit and odometer of measurement driving current.Driving wheel module 141 can removably connect
It is connected in main body 110, easy disassembly and maintenance.Driving wheel can have biasing drop suspension system, movably fasten,
Such as be rotatably attached, robot body 110 is arrived, and receive spring that is downward and biasing far from robot body 110
Biasing.Spring biasing allows driving wheel with certain contact and traction of the Productivity maintenance with ground, while robot 100 is clear
Clean element is also with certain pressure contact ground 10.
Cleaning systems can be dry cleaning system and/or wet cleaning system.As dry cleaning system, main cleaning
The purging system 151 that connecting component of the function between round brush, dirt box, blower, air outlet and four is constituted.With ground
With the round brush centainly interfered by the rubbish on ground sweep up and winding between round brush and dirt box suction inlet front, then by
Blower generates and passes through the gas sucking dirt box for having suction of dirt box.The dust collection capacity of sweeper can use the sweeping efficiency of rubbish
DPU (Dust pick up efficiency) is characterized, and sweeping efficiency DPU is by roller brushes structure and Effect of Materials, by dust suction
The wind power utilization rate in the air duct that mouth, the connecting component between dirt box, blower, air outlet and four are constituted influences, by blower
Type and power influence, be a responsible system design problem.Compared to common plug-in dust catcher, the raising of dust collection capacity
Meaning is bigger for the clean robot of limited energy.Because the raising of dust collection capacity is directly effectively reduced for the energy
It is required that, that is to say, that the machine on 80 square meter ground can be cleaned by filling primary electricity originally, can be evolved flat to fill primary electricity cleaning 100
Rice is even more.And the service life for reducing the battery of charging times can also greatly increase, so that user replaces the frequency of battery
Rate also will increase.It is more intuitive and importantly, the raising of dust collection capacity is the most obvious and important user experience, Yong Huhui
Immediately arrive at sweep whether clean/wipe whether clean conclusion.Dry cleaning system also may include that there is the side of rotary shaft to brush
152, rotary shaft is angled relative to ground, for being moved to clast in the round brush region of cleaning systems.
Energy resource system includes rechargeable battery, such as nickel-metal hydride battery and lithium battery.Rechargeable battery can connect charge control
Circuit, battery pack charging temperature detection circuit and battery undervoltage observation circuit, charging control circuit, the detection of battery pack charging temperature
Circuit, battery undervoltage observation circuit are connected with single chip machine controlling circuit again.Host, which passes through, is arranged in fuselage side or lower section
Charging electrode connect with charging pile and charges.If having attached dust on exposed charging electrode, can during the charging process by
In the cumulative effect of charge, causes the plastics body of electrode perimeter to melt deformation, even result in electrode itself and deform, it can not
Continue to charge normal.
Man-machine interactive system 170 includes the key on host panel, and key carries out function selection for user；Can also include
Display screen and/or indicator light and/or loudspeaker, display screen, indicator light and loudspeaker to user show current machine status or
Function options；It can also include mobile phone client program.For path navigation type cleaning equipment, cell phone client can be to
The map of environment and machine present position where user's presentation device, can provide a user more horn of plenty and hommization
Function items.
Fig. 6 is the block diagram of sweeping robot according to the present invention.
Sweeping robot according to present example may include: the voice of user for identification microphone array unit,
Communication unit for being communicated with remote control equipment or other equipment, the mobile unit for driving main body, cleaning unit, with
And the memory cell for storing information.Input unit (key etc. of sweeping robot), object detection sensors, charging are single
Member, microphone array unit, angle detecting unit, position detection unit, communication unit, driving unit and memory cell can be with
It is connected to control unit, predetermined information is transmitted to control unit or receives predetermined information from control unit.
Microphone array unit can be by the information ratio of the voice inputted by receiving unit and storage in a memory cell
Compared with to determine whether input voice corresponds to specific order.If it is determined that the voice inputted corresponds to specific order, then
Corresponding order is transmitted to control unit.If information phase of the voice that can not be will test with storage in a memory cell
Compare, then detected voice can be considered as noise to ignore detected voice.
For example, the voice corresponding word " come, come here, arriving here, to here " detected, and exist and be stored in
The corresponding text control command of word (come here) in the information of memory cell.In such a case, it is possible to by right
The order answered is transmitted in control unit.
Angle detecting unit can be detected by using the time difference or level of the voice for being input to multiple receiving units
The direction of voice.The direction for the voice that angle detecting unit will test is transmitted to control unit.Control unit can be by making
Movement routine is determined with the voice direction detected by angle detecting unit.
Position detection unit can detecte coordinate of the main body in predetermined cartographic information.In one embodiment, by imaging
The cartographic information of the information and storage that head detects in a memory cell can be compared to each other to detect the current location of main body.
Other than camera, position detection unit can also use global positioning system (GPS).
In a broad sense, position detection unit can detecte whether main body is arranged on specific position.For example, position is examined
Surveying unit may include the unit whether being arranged on charging pile for detecting main body.
For example, whether can be input to according to electric power for detecting in the method whether main body is arranged on charging pile
Detect whether main body is arranged at charge position in charhing unit.In another example can be by being arranged on main body or charging pile
Charge position detection unit detect whether main body is arranged at charge position.
Predetermined information can be transmitted to by communication unit/received from remote control equipment or other equipment.Communication unit
The cartographic information of sweeping robot can be updated.
Driving unit can be with mobile unit operating and cleaning unit.Driving unit can be moved along what is determined by control unit
The mobile mobile unit in path.
Predetermined information related with the operation of sweeping robot is stored in memory cell.For example, sweeping robot institute cloth
The cartographic information in the region set, control command information corresponding with the voice that microphone array unit is identified, by angle detecting
It direction angle information that unit detects, the location information detected by position detection unit and is detected by object detection sensors
To obstacle information can store in a memory cell.
Control unit can receive the information detected by receiving unit, camera and object detection sensors.Control
Unit can identify the direction and detection sweeping robot that the voice of user, detection voice occur based on the information transmitted
Position.In addition, control unit can be with mobile unit operating and cleaning unit.
As shown in fig. 7, being applied to the robot in Fig. 1 application scenarios, the embodiment of the present application provides a kind of robot voice
Control method, described method includes following steps:
Step S702: the first phonetic order is received；
Under normal conditions, the speech recognition system of robot can have dormant state and state of activation.Such as work as robot
Be in working condition or unused state, speech recognition system at this time in a dormant state, in the dormant state, language
Sound identifying system hardly occupies the excess resource of robot, is other languages that will not go to identify in addition to the first phonetic order
Sound instruction.
It, can be by speech recognition system by stopping if speech recognition system in a dormant state receives the first phonetic order
Dormancy state switches to state of activation.In active state, speech recognition system can identify configuration in speech recognition system
Phonetic order, such as the first phonetic order, the second phonetic order etc..
Specifically, the first phonetic order: for waking up speech recognition system, i.e., instruction control speech recognition system, which is in, swashs
State living.In an implementation, if speech recognition system in a dormant state, when robot receives the first phonetic order, can incite somebody to action
Speech recognition system switches to state of activation by dormant state.If speech recognition system is active, voice knowledge is controlled
Other system keeps state of activation, can also do nothing.In the particular embodiment, the first phonetic order
It customized can be arranged, can also be arranged with system default, such as: the first phonetic order can be customized " the unlatching language of user
Sound ", " booting " " coming ", " coming here ", " to here ", " to here " etc..For convenience of description, hereafter it is with the first phonetic order
It is illustrated for " coming ".
Step S704: the Sounnd source direction of identification first phonetic order simultaneously makes the robot turn to the sound source side
To.
After the first activation instruction for example " to come " etc. has been received in robot, robot passes through angle detecting unit
Detect the direction of voice, for example, by using the voice for being input to multiple receiving units time difference or horizontal detect voice
Direction.The direction for the voice that angle detecting unit will test is transmitted to control unit.Control unit can be by using by side
The voice direction control drive system detected to detection unit, makes robot carry out the movement such as original place rotation, so that robot
Direction of advance turns to user's Sounnd source direction.After such human-computer interaction is uttered a sound similar to a people to work by people, stop
Work in hand turns to dialogue state, so that human-computer interaction is more humanized.
In some possible implementations, as shown in figure 8, the Sounnd source direction of identification first phonetic order is simultaneously
So that the robot is turned to the Sounnd source direction, specifically comprises the following steps:
Step S7042: the Sounnd source direction of identification first phonetic order；
Step S7044: do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
After the first activation instruction for example " to come " etc. has been received in robot, robot passes through angle detecting unit
Detect the direction of voice, for example, by using the voice for being input to multiple receiving units time difference or horizontal detect voice
Direction.The direction for the voice that angle detecting unit will test is transmitted to control unit.Control unit can be by using by side
The voice direction control drive system detected to detection unit, makes robot carry out the movement such as original place rotation, so that robot
Direction of advance turns to user's Sounnd source direction.This process, robot do not stop its working condition, clean motor and are still within booting shape
State.
Step S7046: stop the operating of the driving motor.
After waiting revolute to Sounnd source direction, robot only retains and is active about all drive systems
Speech recognition system, robot is in complete armed state at this time, has detected whether control command sending in real time.
The embodiment of the present application when receiving the first phonetic order, can first be such that the speech recognition system of robot activates
State, and the Sounnd source direction that robot turns to voice is controlled, it is at armed state.Then control is received within a certain period of time
The control command for executing operation carries out expected movement according to control command.It can accurately be operated, be improved as indicated
Speech recognition controlled effect under noise state improves the discrimination of the phonetic order of user's input, can be relatively accurately
It works according to the phonetic order of user, also increases the interest of human-computer interaction.
In other embodiment, as shown in figure 9, robot voice control method proposed by the present invention includes following step
It is rapid:
Step S902: the first phonetic order is received.
Under normal conditions, the speech recognition system of robot can have dormant state and state of activation.Such as work as robot
Be in working condition or unused state, speech recognition system at this time in a dormant state, in the dormant state, language
Sound identifying system hardly occupies the excess resource of robot, is other languages that will not go to identify in addition to the first phonetic order
Sound instruction.
It, can be by speech recognition system by stopping if speech recognition system in a dormant state receives the first phonetic order
Dormancy state switches to state of activation.In active state, speech recognition system can identify configuration in speech recognition system
Phonetic order, such as the first phonetic order, the second phonetic order etc..
Specifically, the first phonetic order: for waking up speech recognition system, i.e., instruction control speech recognition system, which is in, swashs
State living.In an implementation, if speech recognition system in a dormant state, when robot receives the first phonetic order, can incite somebody to action
Speech recognition system switches to state of activation by dormant state.If speech recognition system is active, voice knowledge is controlled
Other system keeps state of activation, can also do nothing.In the particular embodiment, the first phonetic order
It customized can be arranged, can also be arranged with system default, such as: the first phonetic order can be customized " the unlatching language of user
Sound ", " booting " " coming ", " coming here ", " to here ", " to here " etc..First phonetic order (waking up class phonetic order) is pre-
The cloud for being first stored in the robot or being connect with the robot.For convenience of description, hereafter with the first phonetic order for " mistake
Come " for be illustrated.
Step S904: the Sounnd source direction of identification first phonetic order simultaneously makes the robot turn to the sound source side
To.
After the first activation instruction for example " to come " etc. has been received in robot, robot passes through angle detecting unit
Detect the direction of voice, for example, by using the voice for being input to multiple receiving units time difference or horizontal detect voice
Direction.The direction for the voice that angle detecting unit will test is transmitted to control unit.Control unit can be by using by side
The voice direction control drive system detected to detection unit, makes robot carry out the movement such as original place rotation, so that robot
Direction of advance turns to user's Sounnd source direction.After such human-computer interaction is uttered a sound similar to a people to work by people, stop
Work in hand turns to dialogue state, so that human-computer interaction is more humanized.
Step S906: judge whether to receive the second phonetic order for being used to indicate operation.
Second phonetic order: being used to indicate operation, i.e., instruction control robot executes operation.The operation can be customized
The operation of setting is also possible to system default setting, such as: sweep operation, the operation that mops floor, weeding operation etc..Specific real
It applies in example, the second phonetic order customized can be arranged, can also be arranged with system default, such as: the second phonetic order can be
User's customized " sweeping the floor ", " mopping floor " or " cleaning ".Second phonetic order (manipulation class phonetic order) is pre-stored within institute
The cloud stating robot or being connect with the robot.It is hereafter that " cleaning " is with the second phonetic order for convenience of description
Example is illustrated.
It is described to judge whether that receiving the second phonetic order for being used to indicate operation can be judgement in the preset period,
Such as 1 minute, 2 minutes etc., which can be preset by touch apparatus.It is supervised according in the preset time range
Situation is surveyed, executes the following two kinds situation respectively.
The first situation executes step S908: if it is determined that receiving second phonetic order, then the robot executes
The operation of the second phonetic order instruction.
For example, monitoring the control command of " cleaning " in 1 minute, robot is making a reservation for according to the order of user
Direction or position are swept, until receiving another the first voice control command.
Second situation executes step S910: if it is determined that not receiving second phonetic order, then the robot turns
Former direction is gone back to, original operation is continued to execute.
For example, do not monitor the control command of " cleaning " in 1 minute, robot according to original cleaning direction or
Position is swept, until receiving the first voice control command again.
The embodiment of the present application when receiving the first phonetic order, can first be such that the speech recognition system of robot activates
State, and the Sounnd source direction that robot turns to voice is controlled, it is at armed state.Then control is received within a certain period of time
The control command for executing operation carries out expected movement according to control command.It can accurately be operated, be improved as indicated
Speech recognition controlled effect under noise state improves the discrimination of the phonetic order of user's input, can be relatively accurately
It works according to the phonetic order of user, also increases the interest of human-computer interaction.
In a further embodiment, as shown in Figure 10, the robot being conjointly employed in Fig. 1 application scenarios, the application are real
It applies example and a kind of robot voice control device, including receiving unit 1002 and recognition unit 1004 is provided, the description of each unit is such as
Under.The method that Figure 10 shown device can execute embodiment illustrated in fig. 7, the part that the present embodiment is not described in detail can refer to pair
The related description of embodiment illustrated in fig. 7.Retouching in implementation procedure and the technical effect embodiment shown in Figure 7 of the technical solution
It states, details are not described herein.
Receiving unit 1002, for receiving the first phonetic order；
Recognition unit 1004: the Sounnd source direction of first phonetic order and make described in the robot turns to for identification
Sounnd source direction.
After the first activation instruction for example " to come " etc. has been received in robot, robot passes through angle detecting unit
Detect the direction of voice, for example, by using the voice for being input to multiple receiving units time difference or horizontal detect voice
Direction.The direction for the voice that angle detecting unit will test is transmitted to control unit.Control unit can be by using by side
The voice direction control drive system detected to detection unit, makes robot carry out the movement such as original place rotation, so that robot
Direction of advance turns to user's Sounnd source direction.After such human-computer interaction is uttered a sound similar to a people to work by people, stop
Work in hand turns to dialogue state, so that human-computer interaction is more humanized.
In some possible implementations, recognition unit 1004 is also used to operate as follows:
Identify the Sounnd source direction of first phonetic order；
Do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
Stop the operating of the driving motor.
After waiting revolute to Sounnd source direction, robot only retains and is active about all drive systems
Speech recognition system, robot is in complete armed state at this time, has detected whether control command sending in real time.
In a further embodiment, as shown in figure 11, the robot being conjointly employed in Fig. 1 application scenarios, the application are real
It applies example and a kind of robot voice control device is provided, including receiving unit 1002, recognition unit 1004, judging unit 1006, hold
Row unit 1008.Each unit is described as follows.The method that Figure 11 shown device can execute embodiment illustrated in fig. 9, the present embodiment
The part being not described in detail can refer to the related description to embodiment illustrated in fig. 9.The implementation procedure and technology of the technical solution are imitated
Description in fruit embodiment shown in Figure 9, details are not described herein.
Receiving unit 1002, for receiving the first phonetic order.
Recognition unit 1004 Sounnd source direction of first phonetic order and makes described in the robot turns to for identification
Sounnd source direction.
Judging unit 1006 receives the second phonetic order for being used to indicate operation for judging whether.
It is described to judge whether that receiving the second phonetic order for being used to indicate operation can be judgement in the preset period,
Such as 1 minute, 2 minutes etc., which can be preset by touch apparatus.It is supervised according in the preset time range
Situation is surveyed, the following two kinds situation is executed by execution unit 1008 respectively.
The first situation, if it is determined that receiving second phonetic order, then the robot executes second voice
Instruct the operation of instruction.
For example, monitoring the control command of " cleaning " in 1 minute, robot is making a reservation for according to the order of user
Direction or position are swept, until receiving another the first voice control command.
Second situation, if it is determined that not receiving second phonetic order, then the robot goes back to former direction, continues
Execute original operation.
For example, do not monitor the control command of " cleaning " in 1 minute, robot according to original cleaning direction or
Position is swept, until receiving the first voice control command again.
The embodiment of the present application provides a kind of robot, including any robot voice control device of Figure 10-11.
The embodiment of the present application provides a kind of robot, including processor and memory, and the memory is stored with can be by
The computer program instructions that the processor executes when the processor executes the computer program instructions, realize aforementioned
The method and step of one embodiment.
The embodiment of the present application provides a kind of non-transient computer readable storage medium, is stored with computer program instructions,
The computer program instructions realize the method and step of aforementioned any embodiment when being called and being executed by processor.
As shown in figure 12, robot 1200 may include processing unit (such as central processing unit, graphics processor etc.)
1201, it can be loaded at random according to the program being stored in read-only memory (ROM) 1202 or from storage device 1208
It accesses the program in memory (RAM) 1203 and executes various movements appropriate and processing.In RAM 1203, it is also stored with electricity
Child robot 1200 operates required various programs and data.Processing unit 1201, ROM 1202 and RAM 1203 pass through total
Line 1204 is connected with each other.Input/output (I/O) interface 1205 is also connected to bus 1204.
In general, following device can connect to I/O interface 1205: including such as touch screen, touch tablet, keyboard, mouse, taking the photograph
As the input unit 1206 of head, microphone, accelerometer, gyroscope etc.；Including such as liquid crystal display (LCD), loudspeaker, vibration
The output device 1207 of dynamic device etc.；Storage device 1208 including such as tape, hard disk etc.；And communication device 1209.Communication
Device 1209 can permit electronic robot 1200 and wirelessly or non-wirelessly be communicated with other robot to exchange data.Although figure
7 show the electronic robot 1200 with various devices, it should be understood that being not required for implementing or having all show
Device.It can alternatively implement or have more or fewer devices.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communication device 1209, or from storage device
1208 are mounted, or are mounted from ROM 1202.When the computer program is executed by processing unit 1201, the disclosure is executed
The above-mentioned function of being limited in the method for embodiment.
It should be noted that the above-mentioned computer-readable medium of the disclosure can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the disclosure, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In open, computer-readable signal media may include in a base band or as the data-signal that carrier wave a part is propagated,
In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable and deposit
Any computer-readable medium other than storage media, the computer-readable signal media can send, propagate or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: electric wire, optical cable, RF (radio frequency) etc. are above-mentioned
Any appropriate combination.
Above-mentioned computer-readable medium can be included in above-mentioned robot；It is also possible to individualism, and without
It is incorporated in the robot.
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs are by the machine
When device people executes, so that the robot: obtaining at least two internet protocol addresses；It includes described for sending to Node evaluation robot
The Node evaluation of at least two internet protocol addresses is requested, wherein the Node evaluation robot is internet from described at least two
In protocol address, chooses internet protocol address and return；Receive the internet protocol address that the Node evaluation robot returns；Its
In, the fringe node in acquired internet protocol address instruction content distributing network.
Alternatively, above-mentioned computer-readable medium carries one or more program, when said one or multiple programs
When being executed by the robot, so that the robot: receiving the Node evaluation including at least two internet protocol addresses and request；From institute
It states at least two internet protocol addresses, chooses internet protocol address；Return to the internet protocol address selected；Wherein, it receives
To internet protocol address instruction content distributing network in fringe node.
The calculating of the operation for executing the disclosure can be write with one or more programming languages or combinations thereof
Machine program code, above procedure design language include object oriented program language-such as Java, Smalltalk, C+
+, it further include conventional procedural programming language-such as " C " language or similar programming language.Program code can
Fully to execute, partly execute on the user computer on the user computer, be executed as an independent software package,
Part executes on the remote computer or executes on a remote computer or server completely on the user computer for part.
In situations involving remote computers, remote computer can pass through the network of any kind --- including local area network (LAN)
Or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize Internet service
Provider is connected by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present disclosure can be realized by way of software, can also be by hard
The mode of part is realized.Wherein, the title of unit does not constitute the restriction to the unit itself under certain conditions, for example, the
One acquiring unit is also described as " obtaining the unit of at least two internet protocol addresses ".
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although
The application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (17)
1. a kind of robot voice control method, which is characterized in that the described method includes:
Receive the first phonetic order；
It identifies the Sounnd source direction of first phonetic order and the robot is made to turn to the Sounnd source direction.
2. the method according to claim 1, wherein the Sounnd source direction of identification first phonetic order is simultaneously
The robot is set to turn to the Sounnd source direction, further includes:
Identify the Sounnd source direction of first phonetic order；
Do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
Stop the operating of the driving motor.
3. the method according to claim 1, wherein the Sounnd source direction of identification first phonetic order is simultaneously
After so that the robot is turned to the Sounnd source direction, further includes:
Judge whether to receive the second phonetic order for being used to indicate operation；
If it is determined that receiving second phonetic order, then the robot executes the operation of the second phonetic order instruction.
4. according to the method described in claim 3, it is characterized by further comprising:
If it is determined that not receiving second phonetic order, then the robot goes back to former direction, continues to execute original operation.
5. according to the method described in claim 3, it is characterized in that, described judge whether to receive be used to indicate operation second
Phonetic order, comprising:
Judge whether to receive the second phonetic order for being used to indicate operation within a preset time.
6. according to the method described in claim 3, it is characterized by:
First phonetic order is to wake up class phonetic order, and second phonetic order is manipulation class phonetic order.
7. according to the method described in claim 6, it is characterized by: the wake-up class phonetic order and the manipulation class voice refer to
Enable the cloud for being pre-stored within the robot or connecting with the robot.
8. a kind of robot voice control device characterized by comprising
Receiving unit, for receiving the first phonetic order；
Recognition unit the Sounnd source direction of first phonetic order and makes the robot turn to the sound source side for identification
To.
9. device according to claim 8, which is characterized in that the recognition unit is also used to:
Identify the Sounnd source direction of first phonetic order；
Do not stop that the robot is made to turn to the Sounnd source direction while operating of driving motor；
Stop the operating of the driving motor.
10. device according to claim 8, which is characterized in that further include:
Judging unit receives the second phonetic order for being used to indicate operation for judging whether；
Execution unit, if it is determined that receiving second phonetic order, then the robot executes second phonetic order and refers to
The operation shown.
11. device according to claim 10, which is characterized in that the execution unit is also used to:
If it is determined that not receiving second phonetic order, then the robot goes back to former direction, continues to execute original operation.
12. device according to claim 10, which is characterized in that the judging unit is also used to:
Judge whether to receive the second phonetic order for being used to indicate operation within a preset time.
13. device according to claim 10, it is characterised in that:
First phonetic order is to wake up class phonetic order, and second phonetic order is manipulation class phonetic order.
14. device according to claim 13, it is characterised in that: the wake-up class phonetic order and the manipulation class voice
Instruct the cloud for being pre-stored within the robot or connecting with the robot.
15. a kind of robot voice control device, which is characterized in that including processor and memory, the memory is stored with
The computer program instructions that can be executed by the processor when processor executes the computer program instructions, are realized
Method and step as claimed in claim 1 to 7.
16. a kind of robot, which is characterized in that including such as described in any item devices of claim 8-14.
17. a kind of non-transient computer readable storage medium, which is characterized in that be stored with computer program instructions, the meter
Calculation machine program instruction realizes method and step as claimed in claim 1 to 7 when being called and being executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910266361.3A CN109920425B (en) | 2019-04-03 | 2019-04-03 | Robot voice control method and device, robot and medium |
| CN202111266100.5A CN114010102B (en) | 2019-04-03 | 2019-04-03 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910266361.3A CN109920425B (en) | 2019-04-03 | 2019-04-03 | Robot voice control method and device, robot and medium |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111266100.5A Division CN114010102B (en) | 2019-04-03 | 2019-04-03 | Cleaning robot |
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| CN109920425A true CN109920425A (en) | 2019-06-21 |
| CN109920425B CN109920425B (en) | 2021-11-12 |
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| CN201910266361.3A Active CN109920425B (en) | 2019-04-03 | 2019-04-03 | Robot voice control method and device, robot and medium |
| CN202111266100.5A Active CN114010102B (en) | 2019-04-03 | 2019-04-03 | Cleaning robot |
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| CN202111266100.5A Active CN114010102B (en) | 2019-04-03 | 2019-04-03 | Cleaning robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110534105A (en) * | 2019-07-24 | 2019-12-03 | 珠海格力电器股份有限公司 | Voice control method and device |
| CN113409786A (en) * | 2021-07-07 | 2021-09-17 | 北京京东乾石科技有限公司 | Voice control method and device, electronic equipment and computer readable storage medium |
| CN113539250A (en) * | 2020-04-15 | 2021-10-22 | 阿里巴巴集团控股有限公司 | Interaction method, device, system, voice interaction equipment, control equipment and medium |
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| CN114010102A (en) | 2022-02-08 |
| CN109920425B (en) | 2021-11-12 |
| CN114010102B (en) | 2023-01-03 |
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