CN112256234B - Volume control method and device and computer readable medium - Google Patents
Volume control method and device and computer readable medium Download PDFInfo
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- CN112256234B CN112256234B CN202011228455.0A CN202011228455A CN112256234B CN 112256234 B CN112256234 B CN 112256234B CN 202011228455 A CN202011228455 A CN 202011228455A CN 112256234 B CN112256234 B CN 112256234B
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Abstract
The embodiment of the application provides a method and a device for controlling volume. The method for controlling the volume comprises the following steps: in the moving process of the robot, acquiring a first environment sound through a sound acquisition device arranged on the robot per se, and acquiring a second environment sound acquired by the sound acquisition device arranged in a moving scene; determining a corresponding average ambient volume at a current location based on the first ambient sound and the second ambient sound; determining a target voice playing mode based on the average environment volume; and adjusting the current voice playing mode to the target voice playing mode, and broadcasting voice based on the volume in the target voice playing mode. The technical scheme of this application embodiment both can be appropriate remind the pedestrian, can not arouse too big noise interference external environment again, has improved the travelling comfort that the robot broadcast pronunciation to and the adaptability and the accuracy nature of robot volume control.
Description
Technical Field
The present application relates to the field of computer and communication technologies, and in particular, to a method and an apparatus for controlling volume.
Background
At present, a plurality of intelligent robots interact with people through voice, but the voice of the robots is difficult to control, and the problem of large sound or small sound is easy to occur. In the related art, the robot is generally controlled manually, for example, by a terminal, a remote controller, or the like, but this method requires manual care and has a problem of high noise cost. Thus, the problems of unstable sound volume control of the robot, difficult interaction with a human, and low comfort are caused.
Disclosure of Invention
The embodiment of the application provides a method and a device for controlling volume, so that the comfort of playing voice of a robot and the adaptivity and accuracy of volume control of the robot can be improved at least to a certain extent.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a method of controlling a volume, including: in the moving process of the robot, acquiring a first environment sound through a sound acquisition device arranged on the robot per se, and acquiring a second environment sound acquired by the sound acquisition device arranged in a moving scene; determining a corresponding average ambient volume at a current location based on the first ambient sound and the second ambient sound; determining a target voice playing mode based on the average environment volume; and adjusting the current voice playing mode to the target voice playing mode, and broadcasting voice based on the volume in the target voice playing mode.
In some embodiments of the present application, based on the foregoing solution, the determining an average ambient volume corresponding to the current location based on the first ambient sound and the second ambient sound includes: identifying a disturbing sound frequency in the first and second ambient sounds; filtering out the sound corresponding to the frequency of the interference sound in the first environment sound and the second environment sound to respectively obtain a first filtered sound and a second filtered sound; based on the first filtered sound and the second filtered sound, a corresponding average ambient volume at a current location is determined.
In some embodiments of the present application, based on the foregoing scheme, the disturbing sound frequency includes an ultra-high volume frequency having a frequency greater than a first set frequency, and an ultra-low volume frequency having a frequency less than a second set frequency; the identifying interfering sound frequencies in the first and second ambient sounds comprises: extracting an ambient volume feature from the first ambient sound and the second ambient sound; and identifying ultrahigh volume frequency and ultralow volume frequency contained in the first environmental sound and ultrahigh volume frequency and ultralow volume frequency contained in the second environmental sound based on the environmental volume characteristics and the set audio classification model.
In some embodiments of the present application, based on the foregoing solution, the determining the corresponding average ambient volume at the current location based on the first filtered sound and the second filtered sound comprises: detecting a first volume corresponding to the first filtered sound and a second volume corresponding to the second filtered sound; weighting the first volume based on a first weighting coefficient set for the robot to obtain a first volume component; weighting the second volume based on a second weighting coefficient set for the sound collection device to obtain a second volume component; based on the first volume component and the second volume component, a corresponding average ambient volume at a current location is calculated.
In some embodiments of the present application, based on the foregoing solution, the acquiring the second ambient sound collected by the sound collection device disposed in the traveling scene includes: determining a target sound collection device in a set area range based on the current traveling position; and acquiring a second ambient sound which is acquired by the target sound acquisition device and has a set time length.
In some embodiments of the present application, based on the foregoing solution, the determining a target voice playing mode based on the average ambient volume includes: acquiring a road identifier corresponding to a current traveling position, and acquiring a set voice mode corresponding to the road identifier; and determining a target voice playing mode based on the average environment volume and the set voice mode.
In some embodiments of the present application, based on the foregoing solution, the method further comprises: detecting a self-uttered voice in the first ambient sound and the second ambient sound; filtering the self-uttered speech from the first ambient sound and the second ambient sound.
According to an aspect of an embodiment of the present application, there is provided an apparatus for controlling a volume, including: the acquisition unit is used for acquiring first environmental sound through a sound acquisition device arranged on the robot in the advancing process of the robot and acquiring second environmental sound acquired by the sound acquisition device arranged in an advancing scene; a volume determining unit, configured to determine an average ambient volume corresponding to a current location based on the first ambient sound and the second ambient sound; a mode determination unit for determining a target voice play mode based on the average ambient volume; and the broadcasting unit is used for adjusting the current voice playing mode to the target voice playing mode and broadcasting voice based on the volume in the target voice playing mode.
In some embodiments of the present application, based on the foregoing scheme, the volume determination unit includes: an identifying unit configured to identify a frequency of an interfering sound in the first and second ambient sounds; the filtering unit is used for filtering the sound corresponding to the interference sound frequency in the first environment sound and the second environment sound to respectively obtain a first filtered sound and a second filtered sound; and the environment volume determining unit is used for determining the corresponding average environment volume at the current position based on the first filtered sound and the second filtered sound.
In some embodiments of the present application, based on the foregoing scheme, the disturbing sound frequency includes an ultra-high volume frequency having a frequency greater than a first set frequency, and an ultra-low volume frequency having a frequency less than a second set frequency; the identification unit is used for: extracting an ambient volume feature from the first ambient sound and the second ambient sound; and identifying ultrahigh volume frequency and ultralow volume frequency contained in the first environmental sound and ultrahigh volume frequency and ultralow volume frequency contained in the second environmental sound based on the environmental volume characteristics and the set audio classification model.
In some embodiments of the present application, based on the foregoing scheme, the environment volume determination unit is configured to: detecting a first volume corresponding to the first filtered sound and a second volume corresponding to the second filtered sound; weighting the first volume based on a first weighting coefficient set for the robot to obtain a first volume component; weighting the second volume based on a second weighting coefficient set for the sound collection device to obtain a second volume component; based on the first volume component and the second volume component, a corresponding average ambient volume at a current location is calculated.
In some embodiments of the present application, based on the foregoing solution, the obtaining unit includes: the device determining unit is used for determining a target sound collecting device in a set area range based on the current traveling position; and the sound acquisition unit is used for acquiring the second ambient sound which is acquired by the target sound acquisition device and has set duration.
In some embodiments of the present application, based on the foregoing scheme, the mode determining unit is configured to: acquiring a road identifier corresponding to a current traveling position, and acquiring a set voice mode corresponding to the road identifier; and determining a target voice playing mode based on the average environment volume and the set voice mode.
In some embodiments of the present application, based on the foregoing solution, the device for controlling volume is further configured to: detecting a self-uttered voice in the first ambient sound and the second ambient sound; filtering the self-uttered speech from the first ambient sound and the second ambient sound.
According to an aspect of embodiments of the present application, there is provided a computer-readable medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method of controlling volume as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of controlling volume as described in the above embodiments.
According to an aspect of embodiments herein, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method of controlling volume provided in the various alternative implementations described above.
In the technical scheme provided by some embodiments of the application, in the process of robot traveling, a first environmental sound is acquired through a sound acquisition device arranged on the robot, a second environmental sound acquired by the sound acquisition device arranged in a traveling scene is acquired, an average environmental volume corresponding to the current position is determined based on the first environmental sound and the second environmental sound, a target voice playing mode is determined based on the average environmental volume, and finally the current voice playing mode is adjusted to the target voice playing mode to broadcast voice based on the volume adaptive to the current environment, so that pedestrians can be properly reminded, the external environment cannot be interfered by excessive noise, the comfort of robot voice playing is improved, and the adaptability and accuracy of robot voice volume control are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 schematically shows a flow chart of a method of controlling volume according to an embodiment of the present application.
Fig. 2 schematically shows a schematic diagram of controlling volume according to an embodiment of the application.
Fig. 3 schematically illustrates determining a corresponding average ambient volume at a current location according to one embodiment of the application.
Fig. 4 schematically shows a schematic view of an application environment based on a robot controlling a volume according to an embodiment of the application.
Fig. 5 schematically shows a block diagram of an apparatus for controlling volume according to an embodiment of the present application.
FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
The implementation details of the technical solution of the embodiment of the present application are set forth in detail below:
fig. 1 illustrates a flowchart of a method of controlling volume according to an embodiment of the present application, which may be performed by a server, which may be a robot, a mobile device, or the like. Referring to fig. 1, the method for controlling the volume includes at least steps S110 to S140, which are described in detail as follows:
in step S110, during the robot moving process, a first environmental sound is acquired by a sound acquisition device disposed in the robot, and a second environmental sound acquired by the sound acquisition device disposed in the moving scene is acquired.
In one embodiment of the present application, a sound collection device is provided on the robot body, and a sound collection device is also provided in the environment, and the sound collection device in this embodiment may be an adaptive sensor or the like.
When the robot runs in an indoor environment and passes through a public area and an elevator to reach a destination, passersby needs to be reminded to avoid or reach a reminder, and the robot needs to remind people by making a sound. By using the invention, the machine can adjust the self sound according to the running position and real-time environment volume, and realize intelligent combination of the machine and the human and environment without mutual interference, thereby bringing new experience of human-computer interaction.
A radio sensor is deployed on the running environment of the machine and the body of the machine, and is collected and transmitted to the machine in real time, the machine combines the running position of the machine, and through big data and machine learning, which volume mode the current environment should use is calculated, the machine mode is dynamically adjusted, and the requirements of the environment on the sound of the machine are met in real time and accurately.
Fig. 2 is a schematic diagram of controlling volume according to an embodiment of the present disclosure.
As shown in fig. 2, in the present embodiment, the robot 250 acquires an environmental sound, i.e., a first environmental sound, by the robot sensor 220 provided in the robot itself during traveling. While the ambient sound, i.e., the second ambient sound, is collected by the on-site volume sensor 210 disposed in the traveling scene.
In this embodiment, by collecting the corresponding environmental sounds at different positions, the size of the environmental sound can be comprehensively obtained, the uncertainty of obtaining the sound from a single position is avoided, and the comprehensiveness of obtaining the sound is improved.
In one embodiment of the present application, acquiring a second ambient sound collected by a sound collection device disposed in a traveling scene includes: determining a target sound collection device in a set area range based on the current traveling position; and acquiring a second ambient sound which is acquired by the target sound acquisition device and has a set time length.
In one embodiment of the present application, the sound collection devices in the traveling scene are arranged at various positions, the number of which is at least two. In the moving process of the robot, different sound collecting devices are arranged around the robot, and in the embodiment, a region range is set, so that the robot can obtain a target sound collecting device in the region range; and acquiring a second ambient sound which is acquired by the target sound acquisition device and has a set time length.
In one embodiment of the present application, prior to determining the corresponding average ambient volume at the current location, the method further comprises: detecting self-uttered speech in the first environmental sound and the second environmental sound; the self-uttered speech is filtered from the first ambient sound and the second ambient sound. By detecting the self sound of the robot and filtering the self sound, the accuracy of sound control can be improved.
In step S120, based on the first ambient sound and the second ambient sound, a corresponding average ambient volume at the current location is determined.
In one embodiment of the application, after the first environment sound and the second environment sound are acquired, the corresponding average environment volume at the current position of the robot is determined based on the first environment sound and the second environment sound.
In an embodiment of the present application, as shown in fig. 3, the process of determining the average ambient volume corresponding to the current location based on the first ambient sound and the second ambient sound in step S120 includes steps S121 to S123, which are described in detail as follows:
in step S121, the frequencies of the interfering sound in the first and second ambient sounds are identified.
In one embodiment of the present application, the disturbing sound frequency includes an ultra-high volume frequency having a frequency greater than a first set frequency, and an ultra-low volume frequency having a frequency less than a second set frequency; identifying interfering sound frequencies in the first ambient sound and the second ambient sound, comprising: extracting an ambient volume feature from the first ambient sound and the second ambient sound; and identifying ultrahigh volume frequency and ultralow volume frequency contained in the first environmental sound and ultrahigh volume frequency and ultralow volume frequency contained in the second environmental sound based on the environmental volume characteristics and the set audio classification model.
In an embodiment of the present application, specifically, the sound characteristics in the present embodiment may include characteristic information such as timbre and frequency of sound; the audio classification model in this embodiment is used to determine the type or frequency level and the like corresponding to each sound, and by inputting the environment volume characteristics into the audio classification model, the ultra-high volume frequency and the ultra-low volume frequency in the environment sound can be identified.
In addition to this, the disturbing sound frequency in the present embodiment may also include noise or the like.
In step S122, the first ambient sound and the second ambient sound are filtered to obtain a first filtered sound and a second filtered sound respectively, where the sounds correspond to the frequencies of the interfering sound.
In an embodiment of the application, after the interference sound frequency in the first ambient sound and the second ambient sound is identified, the sound corresponding to the interference sound frequency in the first ambient sound and the second ambient sound is filtered, and the first filtered sound and the second filtered sound are obtained respectively. By the method, purer environment sound can be obtained, and the accuracy of sound control is improved.
In one embodiment of the application, sensors of the site and the machine collect environmental sounds in real time, the collected ultra-high volume frequency and ultra-low volume frequency are filtered by extracting environmental volume characteristics and designing audio models of score types, sounds emitted by the machine are also filtered, and the environmental sound within a fixed range is ensured to be real by matching with the sensors at multiple positions.
In step S123, based on the first filtered sound and the second filtered sound, a corresponding average ambient volume at the current location is determined.
In an embodiment of the present application, after obtaining the first filtered sound and the second filtered sound, the corresponding average ambient volume at the current location is determined based on the first filtered sound and the second filtered sound in this embodiment.
Specifically, in this embodiment, determining the average ambient volume corresponding to the current position based on the first filtered sound and the second filtered sound includes: detecting a first volume corresponding to the first filtered sound and a second volume corresponding to the second filtered sound; weighting the first volume based on a first weighting coefficient set for the robot to obtain a first volume component; weighting the second volume based on a second weighting coefficient set for the sound collection device to obtain a second volume component; based on the first volume component and the second volume component, a corresponding average ambient volume at the current location is calculated.
Referring to fig. 2, in an embodiment of the present application, for example, when the machine is operated in a certain area, volume data of the sensor in the last 5 minutes in the area is obtained, and the volume data is collected by the sensor of the machine itself, where the environmental sensor accounts for 80%, the machine sensor accounts for 20%, the on-site volume calculation 230 is performed, the average volume of the environment is calculated, and the average volume is matched with the volume mode of the machine, so as to obtain the volume mode required by the machine, and the machine is set, so as to achieve the purpose of adjusting the volume 240 in real time.
In step S130, a target voice play mode is determined based on the average ambient volume.
In one embodiment of the present application, after the average ambient volume is determined, a target voice playback mode is determined based on the average ambient volume. Illustratively, if the level corresponding to the average ambient volume is three levels, and the current voice playing mode of the robot is two levels, it is determined that the target voice playing mode is three levels. Wherein, the grade of the voice playing mode corresponds to the size of the playing volume.
In one embodiment of the present application, determining a target voice playback mode based on the average ambient volume includes: acquiring a road identifier corresponding to a current traveling position, and acquiring a set voice mode corresponding to the road identifier; and determining a target voice playing mode based on the average environment volume and the set voice mode.
The voice playing mode in this embodiment includes the volume, frequency, voice playing content, and set sound channel of the voice playing.
In an embodiment of the application, a camera device is arranged on the robot and used for collecting current road information to obtain a road identifier corresponding to a current position, and determining information such as a position corresponding to the road identifier and a set voice playing mode through a machine recognition mode and the like.
Fig. 4 is a schematic diagram of an application environment based on a robot to control volume according to an embodiment of the present disclosure.
As shown in fig. 4, the environment 430 in which the robot 420 operates includes various roads in which the pickup sensor 410 is disposed to collect sound volume in the environment. In addition, the road in the embodiment is provided with a road identifier for the robot to detect so as to determine a set voice mode corresponding to the current road identifier; and determining a target voice playing mode based on the average environment volume and the set voice mode.
Besides, the corresponding sound size can be set directly based on the current road identifier, so that when the vehicle travels to the position corresponding to the road identifier, voice broadcasting can be performed directly based on the set sound size of the identifier.
In step S140, the current voice playing mode is adjusted to the target voice playing mode, and the voice is broadcasted based on the volume in the target voice playing mode.
In one embodiment of the application, after the target voice play mode is determined, the current voice play mode is adjusted to the target voice play mode, and voice is broadcasted based on the volume in the target voice play mode.
For example, the robot in this embodiment may be a robot that carries an object, carries thereon an acquisition to be carried, and needs to travel in an environment, and there may be a pedestrian or an obstacle to block the travel of the robot, and the robot may also broadcast a voice to warn the pedestrian in the traveling process, and when the target voice play mode is determined, the voice may be broadcast based on the volume in the target voice play mode, so that the voice in the current environment may be adapted, and the pedestrian may be appropriately reminded, and excessive noise may not be caused.
The embodiment of the application combines a plurality of environment pickup sensors and a machine sensor; carrying out noise reduction and filtering on the environment volume, and identifying and extracting the real environment volume; the volume mode of the machine is adjusted in real time according to the environment volume and the scene.
Above-mentioned scheme, in the robot process of marcing, acquire first environment sound through the sound collection system who locates robot self, and acquire the second environment sound that the sound collection system who lays in the scene of marcing gathered, with based on first environment sound and second environment sound, confirm the average environment volume that current position department corresponds, and then based on average environment volume, confirm target voice playing mode, adjust current voice playing mode to target voice playing mode at last, report the pronunciation with the volume based on adaptation current environment, both can be appropriate remind the pedestrian, can not arouse too big noise interference external environment again, the travelling comfort of robot broadcast pronunciation has been improved, and the adaptability and the accuracy of robot volume control.
Embodiments of the apparatus of the present application are described below, which may be used to implement the method for controlling volume in the above-described embodiments of the present application. For details that are not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method for controlling the volume described above in the present application.
Fig. 5 shows a block diagram of an apparatus for controlling volume according to an embodiment of the present application.
Referring to fig. 5, an apparatus 500 for controlling a volume according to an embodiment of the present application includes: the acquiring unit 510 is configured to acquire a first environmental sound through a sound acquisition device disposed in the robot during the robot traveling process, and acquire a second environmental sound acquired by the sound acquisition device disposed in a traveling scene; a volume determining unit 520, configured to determine an average ambient volume corresponding to a current location based on the first ambient sound and the second ambient sound; a mode determining unit 530 for determining a target voice playing mode based on the average ambient volume; and a broadcasting unit 540, configured to adjust a current voice playing mode to the target voice playing mode, and broadcast voice based on a volume in the target voice playing mode.
In some embodiments of the present application, based on the foregoing scheme, the volume determining unit 520 includes: an identifying unit configured to identify a frequency of an interfering sound in the first and second ambient sounds; the filtering unit is used for filtering the sound corresponding to the interference sound frequency in the first environment sound and the second environment sound to respectively obtain a first filtered sound and a second filtered sound; and the environment volume determining unit is used for determining the corresponding average environment volume at the current position based on the first filtered sound and the second filtered sound.
In some embodiments of the present application, based on the foregoing scheme, the disturbing sound frequency includes an ultra-high volume frequency having a frequency greater than a first set frequency, and an ultra-low volume frequency having a frequency less than a second set frequency; the identification unit is used for: extracting an ambient volume feature from the first ambient sound and the second ambient sound; and identifying ultrahigh volume frequency and ultralow volume frequency contained in the first environmental sound and ultrahigh volume frequency and ultralow volume frequency contained in the second environmental sound based on the environmental volume characteristics and the set audio classification model.
In some embodiments of the present application, based on the foregoing scheme, the environment volume determination unit 520 is configured to: detecting a first volume corresponding to the first filtered sound and a second volume corresponding to the second filtered sound; weighting the first volume based on a first weighting coefficient set for the robot to obtain a first volume component; weighting the second volume based on a second weighting coefficient set for the sound collection device to obtain a second volume component; based on the first volume component and the second volume component, a corresponding average ambient volume at a current location is calculated.
In some embodiments of the present application, based on the foregoing solution, the obtaining unit 510 includes: the device determining unit is used for determining a target sound collecting device in a set area range based on the current traveling position; and the sound acquisition unit is used for acquiring the second ambient sound which is acquired by the target sound acquisition device and has set duration.
In some embodiments of the present application, based on the foregoing scheme, the mode determining unit 530 is configured to: acquiring a road identifier corresponding to a current traveling position, and acquiring a set voice mode corresponding to the road identifier; and determining a target voice playing mode based on the average environment volume and the set voice mode.
In some embodiments of the present application, based on the foregoing solution, the apparatus 500 for controlling volume is further configured to: detecting a self-uttered voice in the first ambient sound and the second ambient sound; filtering the self-uttered speech from the first ambient sound and the second ambient sound.
Above-mentioned scheme, in the robot process of marcing, acquire first environment sound through the sound collection system who locates robot self, and acquire the second environment sound that the sound collection system who lays in the scene of marcing gathered, with based on first environment sound and second environment sound, confirm the average environment volume that current position department corresponds, and then based on average environment volume, confirm target voice playing mode, adjust current voice playing mode to target voice playing mode at last, report the pronunciation with the volume based on adaptation current environment, both can be appropriate remind the pedestrian, can not arouse too big noise interference external environment again, the travelling comfort of robot broadcast pronunciation has been improved, and the adaptability and the accuracy of robot volume control.
FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 602 or a program loaded from a storage portion 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An Input/Output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output section 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted into the storage section 608 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. When the computer program is executed by a Central Processing Unit (CPU) 601, various functions defined in the system of the present application are executed.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with a computer program embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. A method of controlling volume, comprising:
in the moving process of the robot, acquiring a first environment sound through a sound acquisition device arranged on the robot per se, and acquiring a second environment sound acquired by the sound acquisition device arranged in a moving scene;
determining a corresponding average ambient volume at a current location based on the first ambient sound and the second ambient sound;
determining a target voice playing mode based on the average environment volume;
and adjusting the current voice playing mode to the target voice playing mode, and broadcasting voice based on the volume in the target voice playing mode.
2. The method of claim 1, wherein determining a corresponding average ambient volume at a current location based on the first ambient sound and the second ambient sound comprises:
identifying a disturbing sound frequency in the first and second ambient sounds;
filtering out the sound corresponding to the frequency of the interference sound in the first environment sound and the second environment sound to respectively obtain a first filtered sound and a second filtered sound;
based on the first filtered sound and the second filtered sound, a corresponding average ambient volume at a current location is determined.
3. The method of claim 2, wherein the interfering sound frequencies comprise an ultra-high volume frequency having a frequency greater than a first set frequency, an ultra-low volume frequency having a frequency less than a second set frequency;
identifying interfering sound frequencies in the first and second ambient sounds, comprising:
extracting an ambient volume feature from the first ambient sound and the second ambient sound;
and identifying ultrahigh volume frequency and ultralow volume frequency contained in the first environmental sound and ultrahigh volume frequency and ultralow volume frequency contained in the second environmental sound based on the environmental volume characteristics and the set audio classification model.
4. The method of claim 2, wherein determining a corresponding average ambient volume at a current location based on the first filtered sound and the second filtered sound comprises:
detecting a first volume corresponding to the first filtered sound and a second volume corresponding to the second filtered sound;
weighting the first volume based on a first weighting coefficient set for the robot to obtain a first volume component;
weighting the second volume based on a second weighting coefficient set for the sound collection device to obtain a second volume component;
based on the first volume component and the second volume component, a corresponding average ambient volume at a current location is calculated.
5. The method of claim 1, wherein acquiring the second ambient sound collected by the sound collection device disposed in the traveling scene comprises:
determining a target sound collection device in a set area range based on the current traveling position;
and acquiring a second ambient sound which is acquired by the target sound acquisition device and has a set time length.
6. The method of claim 1, wherein determining a target voice playback mode based on the average ambient volume comprises:
acquiring a road identifier corresponding to a current traveling position, and acquiring a set voice mode corresponding to the road identifier;
and determining a target voice playing mode based on the average environment volume and the set voice mode.
7. The method of claim 1, wherein prior to determining the corresponding average ambient volume at the current location, the method further comprises:
detecting a self-uttered voice in the first ambient sound and the second ambient sound;
filtering the self-uttered speech from the first ambient sound and the second ambient sound.
8. An apparatus for controlling volume, comprising:
the acquisition unit is used for acquiring first environmental sound through a sound acquisition device arranged on the robot in the advancing process of the robot and acquiring second environmental sound acquired by the sound acquisition device arranged in an advancing scene;
a volume determining unit, configured to determine an average ambient volume corresponding to a current location based on the first ambient sound and the second ambient sound;
a mode determination unit for determining a target voice play mode based on the average ambient volume;
and the broadcasting unit is used for adjusting the current voice playing mode to the target voice playing mode and broadcasting voice based on the volume in the target voice playing mode.
9. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of controlling volume according to any one of claims 1 to 7.
10. A robot, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of controlling volume according to any one of claims 1 to 7.
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