CN113843814A

CN113843814A - Control system, method, device and storage medium for mechanical arm equipment

Info

Publication number: CN113843814A
Application number: CN202111061118.1A
Authority: CN
Inventors: 刘彦志; 陈孝良
Original assignee: Beijing SoundAI Technology Co Ltd
Current assignee: Beijing SoundAI Technology Co Ltd
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2021-12-28

Abstract

The application provides a control system, a method, a device and a storage medium of mechanical arm equipment, and belongs to the technical field of voice control. The system comprises: the device comprises an audio processing device, a controller and a mechanical arm device; the controller is respectively connected with the audio processing equipment and the mechanical arm equipment; the audio processing equipment is used for acquiring the voice signal, identifying a control instruction corresponding to the voice signal and sending the control instruction to the controller; the controller is used for receiving the control instruction and controlling the mechanical arm equipment to execute operation based on the executable file corresponding to the control instruction; and the controller is also used for generating feedback information and sending the feedback information to the audio processing equipment, wherein the feedback information is used for indicating the completion condition of the operation executed by the mechanical arm equipment. The system improves the flexibility of the voice control mechanical arm equipment.

Description

Control system, method, device and storage medium for mechanical arm equipment

Technical Field

The present disclosure relates to the field of voice control technologies, and in particular, to a system, a method, an apparatus, and a storage medium for controlling a robot arm device.

Background

The mechanical arm equipment is an automatic mechanical device widely applied to the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. At present, as the application of the voice control technology in the human-computer interaction system is more and more, the voice control technology is also gradually applied to control the mechanical arm equipment.

In the related art, when the voice control technology is applied to control the mechanical arm device, the mechanical arm device collects a voice signal and recognizes a control instruction corresponding to the voice signal through a voice signal collecting module and a voice signal processing module inside the mechanical arm device, so that the mechanical arm device can execute operation based on the control instruction.

In the related art, since the mechanical arm equipment recognizes the control instruction corresponding to the voice signal through the voice signal processing module therein, the mechanical arm equipment without the voice signal processing module cannot control the mechanical arm equipment by using the voice control technology, thereby reducing the flexibility of controlling the mechanical arm equipment by using voice.

Disclosure of Invention

The embodiment of the application provides a control system, a control method, a control device and a storage medium of mechanical arm equipment, which can improve the flexibility of voice control of the mechanical arm equipment. The technical scheme is as follows:

in one aspect, there is provided a control system of a robot arm apparatus, the system including: the device comprises an audio processing device, a controller and a mechanical arm device;

the controller is respectively connected with the audio processing equipment and the mechanical arm equipment;

the audio processing device is used for acquiring a voice signal, identifying a control instruction corresponding to the voice signal and sending the control instruction to the controller;

the controller is used for receiving the control instruction and controlling the mechanical arm equipment to execute operation based on the executable file corresponding to the control instruction;

the controller is further configured to generate feedback information and send the feedback information to the audio processing device, where the feedback information is used to indicate a completion condition of the operation performed by the mechanical arm device.

In one possible implementation, the control system further includes a server;

the controller and the audio processing equipment are respectively connected with the server through a network;

the audio processing device is used for sending the voice signal to the server;

and the server is used for receiving the voice signal, identifying a control instruction corresponding to the voice signal and sending the control instruction to the controller.

In one possible implementation, the server is configured to provide a voice recognition service for a plurality of controllers; the server is further configured to recognize a first device identifier of the controller based on the voice signal, determine the controller corresponding to the first device identifier from the plurality of controllers based on the first device identifier, and send the control instruction to the controller; alternatively, the first and second electrodes may be,

the controller is used for controlling a plurality of mechanical arm devices; the server is further used for recognizing a second equipment identifier of the mechanical arm equipment based on the voice signal and sending the second equipment identifier to the controller; the controller is further configured to receive the second device identifier, determine the robot arm device corresponding to the second device identifier from the plurality of robot arm devices, and control the robot arm device to execute the operation based on an executable file corresponding to the control instruction.

In a possible implementation manner, the controller is further configured to acquire an executable file corresponding to the control instruction, and send the executable file to the mechanical arm device; the mechanical arm equipment is used for receiving the executable file and executing the operation by running the executable file; alternatively, the first and second electrodes may be,

the controller is further used for sending the control instruction to the mechanical arm equipment; and the mechanical arm equipment is used for receiving the control instruction, acquiring an executable file corresponding to the control instruction, and executing the operation by operating the executable file.

In a possible implementation manner, the audio processing device is further configured to output the feedback information.

In another aspect, there is provided a method of controlling a robot arm apparatus, the method including:

acquiring a voice signal;

identifying a control instruction corresponding to the voice signal;

and sending the control instruction to a controller associated with the mechanical arm equipment, wherein the controller is used for controlling the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction.

In a possible implementation manner, the recognizing the control instruction corresponding to the voice signal includes:

sending a first identification instruction to a server, wherein the first identification instruction carries the voice signal and is used for indicating the server to identify a control instruction corresponding to the voice signal;

and receiving the control instruction sent by the server.

In a possible implementation manner, the recognizing a control instruction corresponding to the voice signal and sending the control instruction to a controller associated with a robot arm device includes:

and sending a second identification instruction to a server, wherein the server is used for providing voice identification service for a plurality of controllers, the second identification instruction carries the voice signal and a first equipment identifier of the controller and is used for indicating the server to identify the control instruction corresponding to the voice signal, and based on the first equipment identifier, determining the controller corresponding to the first equipment identifier from the plurality of controllers and sending the control instruction to the controller.

and sending a third identification instruction to a server, wherein the server is used for providing voice identification service for a plurality of controllers, the third identification instruction carries the voice signal and is used for indicating the server to identify a control instruction corresponding to the voice signal and a first device identifier of the controller, and based on the first device identifier, determining the controller corresponding to the first device identifier from the plurality of controllers and sending the control instruction to the controller.

receiving a control instruction corresponding to a voice signal sent by audio processing equipment;

controlling the mechanical arm equipment to execute operation based on the executable file corresponding to the control instruction;

generating feedback information of the mechanical arm equipment, wherein the feedback information is used for representing the completion condition of the operation executed by the mechanical arm equipment.

In a possible implementation manner, the controlling the robot arm device performs an operation based on an executable file corresponding to the control instruction, including:

acquiring an executable file corresponding to the control instruction, and sending the executable file to the mechanical arm equipment, wherein the mechanical arm equipment is used for executing the operation by running the executable file; alternatively, the first and second electrodes may be,

and sending the control instruction to the mechanical arm equipment, wherein the mechanical arm equipment is used for acquiring an executable file corresponding to the control instruction and executing the operation by operating the executable file.

In one possible implementation, the method further includes:

receiving configuration information, wherein the configuration information comprises a control instruction and an executable file;

and storing the control instruction and the executable file in an associated manner.

In a possible implementation manner, before the controlling the robot arm device performs an operation based on an executable file corresponding to the control instruction, the method further includes:

receiving a second equipment identifier corresponding to the voice signal, wherein the second equipment identifier is an identifier of mechanical arm equipment controlled by the control instruction;

determining the robotic arm device corresponding to the second device identification from a plurality of robotic arm devices.

In one possible implementation, the method further includes:

acquiring operation information of the mechanical arm equipment;

and sending notification information to the audio processing device under the condition that the mechanical arm device is determined to meet the voice control condition based on the operation information, wherein the notification information is used for notifying that the audio acquisition device is ready.

In one possible implementation, the method further includes:

and sending the feedback information to the audio processing equipment.

In another aspect, there is provided a control apparatus of a robot arm device, the apparatus including:

the first acquisition module is used for acquiring a voice signal;

the processing module is used for identifying a control instruction corresponding to the voice signal; and sending the control instruction to a controller associated with the mechanical arm equipment, wherein the controller is used for controlling the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction.

In one possible implementation manner, the processing module is configured to:

and receiving the control instruction sent by the server.

In one possible implementation manner, the processing module is configured to:

the first receiving module is used for receiving a control instruction corresponding to the voice signal sent by the audio processing equipment;

the control module is used for controlling the mechanical arm equipment to execute operation based on the executable file corresponding to the control instruction;

and the generating module is used for generating feedback information of the mechanical arm equipment, and the feedback information is used for representing the completion condition of the operation executed by the mechanical arm equipment.

In one possible implementation, the control module is configured to:

In one possible implementation, the apparatus further includes:

the second receiving module is used for receiving configuration information, and the configuration information comprises a control instruction and an executable file;

and the storage module is used for storing the control instruction and the executable file in an associated manner.

In one possible implementation, the apparatus further includes:

a third receiving module, configured to receive a second device identifier corresponding to the voice signal, where the second device identifier is an identifier of the mechanical arm device controlled by the control instruction;

and the determining module is used for determining the mechanical arm equipment corresponding to the second equipment identifier from a plurality of mechanical arm equipment.

In one possible implementation, the apparatus further includes:

the second acquisition module is used for acquiring the operation information of the mechanical arm equipment;

the first sending module is used for sending notification information to the audio processing device under the condition that the mechanical arm device is determined to meet the voice control condition based on the operation information, and the notification information is used for notifying that the audio acquisition device is ready.

In one possible implementation, the apparatus further includes:

and the second sending module is used for sending the feedback information to the audio processing equipment.

In another aspect, an audio processing apparatus is provided, which includes one or more processors and one or more memories, and at least one instruction is stored in the one or more memories, and the at least one instruction is loaded by the one or more processors and executes an operation performed by the control method of the robot arm apparatus according to any one of the above-described implementations.

In another aspect, a controller is provided, and the controller includes one or more processors and one or more memories, where at least one instruction is stored in the one or more memories, and the at least one instruction is loaded by the one or more processors and executed to implement the operations performed by the control method of the robot arm apparatus according to any one of the above-described implementations.

In another aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the operations performed by the control method of a robot arm apparatus according to any one of the above-described implementation manners.

In another aspect, a computer program product or a computer program is provided, the computer program product or the computer program comprising computer program code, the computer program code being stored in a computer readable storage medium. The processor of the electronic apparatus reads the computer program code from the computer-readable storage medium, and the processor executes the computer program code, so that the electronic apparatus performs the operations performed by the control method of the robot arm apparatus described above.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

the embodiment of the application provides a control system of mechanical arm equipment, because audio processing equipment can recognize a control instruction in a voice signal, a controller can control the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction; therefore, the mechanical arm equipment can execute the operation corresponding to the voice signal by connecting the audio processing equipment and the controller, the voice control of the mechanical arm equipment is realized, the situation that the voice control of the mechanical arm equipment is realized by arranging a voice signal processing module in each mechanical arm equipment is avoided, and the flexibility of the voice control of the mechanical arm equipment is further improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of a control system of a robot arm apparatus according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a control system of a robot arm apparatus according to an embodiment of the present disclosure;

fig. 3 is a flowchart of a control method for a robot apparatus according to an embodiment of the present disclosure;

fig. 4 is a flowchart of a control method for a robot arm apparatus according to an embodiment of the present disclosure;

fig. 5 is a block diagram of a control apparatus of a robot arm device according to an embodiment of the present disclosure;

fig. 6 is a block diagram of a control apparatus of a robot arm device according to an embodiment of the present disclosure;

fig. 7 is a block diagram of an electronic device according to an embodiment of the present application.

The reference numerals in the figures are denoted respectively by:

10-an audio processing device;

20-a controller;

30-a robotic arm device;

40-a server;

501-a first obtaining module;

502-a processing module;

601-a first receiving module;

602-a control module;

603-a generation module;

701-a processor;

702-a memory;

703-peripheral interface;

704-a radio frequency circuit;

705-display screen;

706-a camera assembly;

707-audio circuitry;

708-a positioning component;

709-power supply;

710-a sensor;

711-an acceleration sensor;

712-a gyroscope sensor;

713-pressure sensor;

714-fingerprint sensor;

715-an optical sensor;

716-proximity sensor.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the present application provides a control system of a robot arm device 30, and referring to fig. 1, the system includes: an audio processing device 10, a controller 20, and a robotic arm device 30. The controller 20 is connected to the audio processing apparatus 10 and the robot arm apparatus 30, respectively. The audio processing device 10 is configured to acquire a voice signal, recognize a control instruction corresponding to the voice signal, send the control instruction to the controller 20, the controller 20 is configured to receive the control instruction, and control the robot arm device 30 to perform an operation based on an executable file corresponding to the control instruction. The controller 20 is also configured to generate feedback information for indicating completion of the operation performed by the robot arm apparatus 30 and send the feedback information to the audio processing apparatus 10.

The embodiment of the present application provides a control system of a robot apparatus 30, since the audio processing apparatus 10 can recognize a control instruction in a voice signal, the controller 20 can control the robot apparatus 30 to perform an operation based on an executable file corresponding to the control instruction; in this way, the robot device 30 can execute the operation corresponding to the voice signal by connecting the audio processing device 10 and the controller 20, so as to realize the voice control of the robot device 30, and thus, it is avoided that a voice signal processing module is provided inside each robot device 30 to realize the voice control of the robot device 30. Further, since the controller 20 can also generate feedback information indicating the completion of the operation, the user can timely grasp the completion of the operation performed by the robot arm apparatus 30. Thus, the system improves the flexibility of voice control of the robot device 30 by connecting the audio processing device 10 and the controller 20 to the robot device 30.

It should be noted that the controller 20 and the robot arm apparatus 30 are located at the same position, and the controller 20 and the robot arm apparatus 30 are connected through a wired network or a wireless network. Alternatively, the controller 20 and the robot arm apparatus 30 are both located in a display hall of the display robot arm apparatus 30, and the controller 20 and the robot arm apparatus 30 are connected through a wired network.

Wherein the executable file is a file that can be executed by the robot arm apparatus 30. The executable file includes an executable program therein, the executable program including a program that performs an operation. The robotic arm device 30 performs operations by executing executable programs within the executable file.

In some embodiments, the operation is one of drawing, writing, pouring, and the like. Optionally, the drawing is a simple drawing, and the writing is writing with different fonts.

In some embodiments, the audio processing device 10 is a mobile terminal; optionally, the audio processing device 10 is one of a smart phone, a tablet computer, a notebook computer, or a desktop computer; in this way, it is possible to facilitate the user to control the robot arm device 30 by voice at any time and place.

In some embodiments, the controller 20 is a terminal controller capable of controlling one or more robotic arm devices 30. The terminal controller is at least one of equipment such as a smart phone, a tablet computer, a notebook computer or a desktop computer; alternatively, the controller 20 is an upper computer, and the upper computer is an electronic device capable of directly sending out a control instruction.

The feedback information is used to indicate the completion of the operation performed by the robot arm apparatus 30. The feedback information includes one of the robot arm apparatus 30 completing the operation, the robot arm apparatus 30 not completing the operation, the robot arm apparatus 30 malfunctioning during the execution of the operation, and the like.

Referring to fig. 2, the control system further includes a server 40. The controller 20 and the audio processing apparatus 10 are connected to the server 40 through a network, respectively.

Wherein, the audio processing device 10 is used for sending a voice signal to the server 40; the server 40 is configured to receive the voice signal, recognize a control command corresponding to the voice signal, and send the control command to the controller 20.

In another implementation, the audio processing device 10 includes a microphone and a server 40, the server 40 is electrically connected to the microphone, and the server 40 is connected to the controller 20 through a network. The sound pickup is used for acquiring a voice signal and sending the voice signal to the server 40, and the server 40 is used for receiving the voice signal, recognizing a control instruction corresponding to the voice signal and sending the control instruction to the controller 20.

In some embodiments, the sound pickup is one of a microphone, a sound recorder, a microphone, and the like.

It should be noted that the server 40 is one of a cloud server and a local server; the network to which the server 40 is connected with the controller 20 and the audio processing device 10, respectively, is one of a wired network, a wireless network, a broadband network, a local area network, an internet network, and the like.

Optionally, the server 40 is a cloud server, and the cloud server is remotely connected to the controller 20 and the audio processing device 10 through an internet network. In this way, even if the audio processing device 10 is not located at the same geographical position as the controller 20 and the robot arm device 30, the audio processing device 10 can remotely send the acquired voice signal to the cloud server, and the cloud server recognizes the control instruction in the voice signal and then remotely sends the control instruction to the controller 20.

For example, the audio processing device 10 is located in city a, and the controller 20 and the robot arm device 30 are located in city B, so that the voice signal of city a acquired by the audio processing device 10 can be remotely sent to the cloud server, and after the cloud server recognizes the control instruction corresponding to the voice signal, the control instruction is remotely sent to the controller 20 of city B. Thus, the user can remotely control the mechanical arm equipment 30, the user can control the mechanical arm equipment 30 by voice anytime anywhere, and the flexibility of controlling the mechanical arm equipment 30 by voice is improved.

Alternatively, the server 40 is a local server, and the local server is connected to the controller 20 and the audio processing device 10 through a wired network or a wireless network, respectively.

In the embodiment of the application, the application of the internet of things system in the control system is realized through the network connection among the audio processing device 10, the server 40 and the controller 20, so that the controller 20 and the robot arm device 30 are connected to the server 40 and the audio processing device 10 through the internet of things system, and the voice interaction control of the robot arm device 30 can be realized. Moreover, the manageability and maintainability of the control system can be improved through the internet of things system, and the control system can be managed and maintained uniformly.

In the embodiment of the application, the server 40 recognizes the control instruction in the voice signal, so that a voice signal processing module is not arranged inside each mechanical arm device 30 to recognize the control instruction in the voice signal, and resources are saved. Moreover, the audio processing device 10 can be any common device which does not have a voice signal processing module and collects voice signals, so that resources are saved, and voice recognition is more flexible and simpler.

In one implementation, the server 40 is used to provide voice recognition services for a plurality of controllers 20; the server 40 is further configured to recognize a first device identifier of the controller 20 based on the voice signal, determine a controller 20 corresponding to the first device identifier from the plurality of controllers 20 based on the first device identifier, and send a control instruction to the controller 20.

In this implementation, the server 40 is connected to a plurality of controllers 20 via a network, and provides a voice recognition service to the plurality of controllers 20, and each controller 20 is connected to one robot arm device 30. The first device identification is information for identifying the controller 20, and the content of the first device identification can be set and changed as needed. Optionally, the first device identification is number information of the controller 20. For example, if the numbers of the plurality of controllers 20 are respectively No. 1, No. 2, No. 3, etc., the first device identifier is at least one of the controller No. 1, the controller No. 2, the controller No. 3, etc.

In the implementation mode, the voice signal comprises a control instruction and a first device identifier; for example, if the voice signal is "controller No. 1 20 controls the robot apparatus 30 to draw" or "draw" No. 1, the first apparatus identified by the server 40 is identified as "controller No. 1 20", the identified control instruction is "draw", and a control instruction of "draw" is sent to the controller No. 1 20.

In some embodiments, the first device identifies the corresponding controller 20 as a plurality; for example, if the voice signal is "write words 1 and 2", the first device identified by the server 40 is identified as "controller 1 and controller 2 20", and a control command of "write words" is sent to the controller 1 and controller 2 20.

In this implementation, by connecting one robot arm device 30 to each controller 20, the controller 20 and the robot arm device 30 can be located at the same position, which avoids unstable connection signals caused by an excessively large distance between the controller 20 and the robot arm device 30, and avoids waste of network cable resources caused when the controller 20 and the robot arm device 30 are connected through a wired network.

In another implementation, the controller 20 is used to control a plurality of robotic arm devices 30; the server 40 is further configured to recognize a second device identifier of the robot arm device 30 based on the voice signal, and send the second device identifier to the controller 20; the controller 20 is further configured to receive the second device identifier, determine a robot arm device 30 corresponding to the second device identifier from the plurality of robot arm devices 30, and control the robot arm device 30 to perform an operation based on the executable file corresponding to the control instruction.

In this implementation, the controller 20 is connected to a plurality of robot arm apparatuses 30. The second device identification is information for identifying the robot arm device 30, and the content of the second device identification may be set and changed as necessary. Optionally, the second device identification is position information of the robot arm device 30. For example, the plurality of robot arm devices 30 are respectively located in a living room, a kitchen, a bedroom, or the like, and the second device is identified as at least one of the robot arm device 30 in the living room, the robot arm device 30 in the kitchen, the robot arm device 30 in the bedroom, or the like.

In the implementation manner, the voice signal includes a control instruction and a second device identifier; for example, if the speech signal is "robot arm device 30 in living room is pouring water" or "robot arm device 30 in living room", the second device identifier recognized by the server 40 is "robot arm device 30 in living room", the recognized control command is "pouring water", and the server 40 is also configured to send the second device identifier of "robot arm device 30 in living room" to the controller 20. The controller 20 is further configured to determine, based on the second device identifier of the "mechanical arm device 30 in the living room", that the mechanical arm device 30 in the living room corresponds to the second device identifier, and control the mechanical arm device 30 in the living room to perform the water pouring operation based on the executable file corresponding to the control instruction of "pour water".

Alternatively, the second device identification is the function information of the robot arm device 30. For example, the plurality of robot arm apparatuses 30 are used for drawing, pouring, writing, and the like, respectively. The second device is identified as at least one of a painting robot device 30, a pouring robot device 30, a writing robot device 30, etc. For example, if the voice signal is "water pouring", the server 40 recognizes that the second device identifier is "water pouring robot arm device 30", the recognized control command is "water pouring", and the server 40 is also configured to send the second device identifier of "water pouring robot arm device 30" to the controller 20. The controller 20 is further configured to determine, based on the second device identifier of the "water pouring robot arm device 30", that the robot arm device 30 for pouring water is the robot arm device 30 corresponding to the second device identifier, and control the robot arm device 30 for pouring water to perform the water pouring operation based on the executable file corresponding to the control instruction of "water pouring".

In some embodiments, the second device identifies the corresponding robot arm device 30 as a plurality.

In this implementation, a plurality of robot arm devices 30 are controlled by one controller 20, reducing the number of controllers 20, saving resources and reducing the cost of the controller 20.

In one implementation, the controller 20 is further configured to obtain an executable file corresponding to the control instruction, and send the executable file to the robot arm device 30; and the mechanical arm device 30 is used for receiving the executable file and executing operation by running the executable file.

In this implementation, the executable file is stored in the controller 20. Because the executable file is not stored in the mechanical arm device 30, when a new control instruction needs to be added, the executable file corresponding to the added control instruction can be directly edited and stored on the controller 20; when any control command needs to be deleted, the executable file corresponding to the control command can also be directly deleted on the controller 20. It can be seen that the implementation improves the flexibility of processing the control commands, and improves the efficiency of adding and deleting the control commands.

In another implementation, the controller 20 is also used to send control instructions to the robotic arm device 30. The robot arm device 30 is configured to receive the control instruction, obtain an executable file corresponding to the control instruction, and execute an operation by running the executable file.

In this implementation, the executable file is stored in the robot arm device 30. Since the executable file is not stored outside the robot arm apparatus 30, not only is the integration inside the robot arm apparatus 30 realized; moreover, when the controller 20 of the robot apparatus 30 fails and needs to be replaced, the normal operation of the robot apparatus 30 can be resumed by directly replacing the controller 20 without reconfiguring an executable file, thereby improving the efficiency of maintaining the normal operation of the robot apparatus 30.

In one implementation, the audio processing device 10 is further configured to output feedback information.

It should be noted that the audio processing device 10 further includes a player, and the server 40 is connected to the player and the controller 20 through a network.

In one implementation, the feedback information is a voice signal, the controller 20 is configured to send the voice signal to the player through the server 40, and the player is configured to output the voice signal. In another implementation, the controller 20 is further configured to send feedback information to the server 40, the server 40 is configured to receive the feedback information, recognize a voice signal corresponding to the feedback information, and send the voice signal to a player, and the player is configured to output the voice signal. Alternatively, the operation is drawing, and the voice signal output by the player is "drawing completed".

In this implementation manner, by outputting the feedback information, the user can timely grasp the completion of the operation performed by the mechanical arm device 30, and the effect of controlling the mechanical arm device 30 through voice interaction is achieved.

In another implementation, the feedback information is further used to indicate whether the control command corresponding to the voice signal is an invalid command.

For example, for the control instruction a, an executable file corresponding to the control instruction a cannot be acquired, that is, the control system does not store the control instruction a and the executable file corresponding to the control instruction a, and optionally, the voice signal corresponding to the feedback information is an "invalid instruction".

In another implementation manner, after the server 40 receives the voice signal sent by the audio processing device 10, if the definition of the voice signal is low or the voice signal does not include the control instruction, so that the server 40 cannot recognize the control instruction from the voice signal, the server 40 is further configured to send a reminder signal to a player, and the player is configured to output the reminder signal. Optionally, the reminder is "i do not hear, please say again".

In the embodiment of the application, the user can adjust the voice signal in time by outputting the feedback information and the reminding signal in time, so that the mechanical arm equipment 30 is controlled to perform operation in time, and the efficiency is improved.

An embodiment of the present application further provides a method for controlling a robot apparatus, where an execution subject of the method is an audio processing apparatus, and referring to fig. 3, the method includes:

step 301: an audio processing device acquires a speech signal.

In one implementation, the audio processing device obtains the speech signal without interruption and periodically.

In another implementation, the audio processing device wakes up before it begins acquiring the voice signal.

The audio processing equipment is provided with a voice awakening mode, and when a user sends a specific awakening word and the audio processing equipment detects the specific awakening word, the audio processing equipment starts to acquire a voice signal; thus, resource waste caused by acquiring voice signals constantly is avoided.

In another implementation mode, the audio processing device starts to acquire the voice signal after detecting that the user approaches through the infrared sensor, so that resource waste caused by acquiring the voice signal at any time is avoided.

Step 302: the audio processing equipment identifies the control instruction corresponding to the voice signal.

In one implementation manner, the audio processing device sends a first recognition instruction to the server, where the first recognition instruction carries a voice signal, and the first recognition instruction is used to instruct the server to recognize a control instruction corresponding to the voice signal. The audio processing equipment receives the control instruction sent by the server.

In one implementation, the audio processing device sends voiceprint information of the target user to a server in advance, and the server is used for storing the voiceprint information. The server is used for identifying the control instruction corresponding to the voice signal after determining that the voice signal is the voice signal sent by the target user based on the voiceprint information.

In the embodiment of the application, any voice signal acquired by the audio processing equipment connected with the server can be identified through the server, and the voice signal processing module is prevented from being installed in the audio processing equipment, so that the audio processing equipment can be any ordinary equipment without the voice signal processing module and used for acquiring the voice signal, resources are saved, and the control instruction corresponding to the identified voice signal is more flexible and simpler.

Step 303: the audio processing equipment sends a control instruction to a controller associated with the mechanical arm equipment, and the controller is used for controlling the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction.

In one implementation, steps 302 and 303 are implemented by way of (1):

(1) the audio processing device sends a second recognition instruction to the server, the server is used for providing voice recognition service for the plurality of controllers, the second recognition instruction carries voice signals and first device identifiers of the controllers and is used for indicating the server to recognize the control instructions corresponding to the voice signals, the controllers corresponding to the first device identifiers are determined from the plurality of controllers based on the first device identifiers, and the control instructions are sent to the controllers.

In the implementation mode, the server only needs to recognize the control instruction, the process of recognizing the first equipment identifier is avoided, and the efficiency of sending the control instruction to the controller based on the first equipment identifier by the server can be further improved.

In another implementation, steps 302 and 303 are implemented by the following method (2):

(2) the audio processing device sends a third recognition instruction to the server, the server is used for providing voice recognition service for the plurality of controllers, the third recognition instruction carries voice signals and is used for indicating the server to recognize control instructions corresponding to the voice signals and first device identifications of the controllers, the controllers corresponding to the first device identifications are determined from the plurality of controllers based on the first device identifications, and the control instructions are sent to the controllers.

In the implementation manner, the audio processing device can directly send the voice signal to the server as the third identification instruction by identifying the control instruction and the first device identifier through the server, so that the process that the audio processing device combines the voice signal and the first device identifier into the third identification instruction is avoided, and the efficiency of sending the third identification instruction to the server by the audio processing device is improved.

The embodiment of the application provides a control method of mechanical arm equipment, and the method can identify a control instruction in a voice signal and control the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction through a controller associated with the mechanical arm equipment.

An embodiment of the present application further provides a method for controlling a robot apparatus, where an execution main body of the method is a controller, and referring to fig. 4, the method includes:

step 401: the controller receives a control instruction corresponding to the voice signal sent by the audio processing equipment.

In one implementation, a controller obtains operation information of a mechanical arm device; in the case where it is determined that the robot arm device satisfies the voice control condition based on the operation information, notification information for notifying that the audio capture device is ready is sent to the audio processing device.

The operation information of the mechanical arm equipment comprises information such as whether the mechanical arm equipment is stably connected with the controller, whether the mechanical arm equipment can normally operate and whether the controller is connected to a network. The mechanical arm equipment meeting the voice control condition comprises that the mechanical arm equipment is stably connected with the controller, the mechanical arm equipment can normally run, the controller is connected to a network and the like, namely the controller and the mechanical arm equipment are ready to receive a control command and control the mechanical arm equipment based on the control command voice.

It should be noted that the controller sends notification information to the audio processing apparatus through the server, where the notification information is also used to indicate that the robot arm apparatus is ready to wait for the server to send a control command.

It should be noted that the audio processing device starts to acquire the voice signal after receiving the notification information.

In the implementation mode, the notification information is sent to the audio processing device, so that the invalid processing process of acquiring the voice signal and identifying the control instruction corresponding to the voice signal under the condition that the mechanical arm device and the controller are not ready is avoided, and the effectiveness of controlling the mechanical arm device by voice is further improved.

Step 402: and the controller controls the mechanical arm equipment to execute operation based on the executable file corresponding to the control instruction.

In one implementation, the controller obtains an executable file corresponding to the control instruction and sends the executable file to the mechanical arm device, and the mechanical arm device is used for executing operation by running the executable file.

Wherein, the executable file is stored in advance; the controller receives configuration information, wherein the configuration information comprises a control instruction and an executable file; the controller stores the control instructions and the executable file in association.

It should be noted that the control instruction in the configuration information is set in advance, and the administrator edits the executable file corresponding to the control instruction and inputs the configuration information including the control instruction and the executable file into the controller.

In the embodiment of the application, the control instruction and the executable file are stored in a correlated manner in advance, so that the executable file corresponding to the control instruction can be obtained after the control instruction in the voice signal is recognized, the condition that the control instruction needs to be recognized by training or recording a user in advance is avoided, and the method is efficient and economical.

In another implementation manner, the controller sends a control instruction to the mechanical arm device, and the mechanical arm device is configured to acquire an executable file corresponding to the control instruction and execute an operation by running the executable file.

In this implementation, the executable file is stored in the robotic arm device. The executable file is not stored outside the mechanical arm equipment, so that the integration inside the mechanical arm equipment is realized; and when the controller of the mechanical arm equipment breaks down and needs to be replaced, the controller can be directly replaced to recover the normal operation of the mechanical arm equipment without reconfiguring an executable file, so that the efficiency of maintaining the normal operation of the mechanical arm equipment is improved.

It should be noted that, before the controller controls the robot arm device to execute an operation based on an executable file corresponding to the control instruction, the method further includes the following steps (1) to (2):

(1) the controller receives a second device identification corresponding to the voice signal.

And the second equipment identifier is the identifier of the mechanical arm equipment controlled by the control command.

(2) The controller determines the robot arm device corresponding to the second device identifier from the plurality of robot arm devices.

In the embodiment of the application, the manipulator equipment corresponding to the second equipment identifier can be determined through the second equipment identifier, that is, which manipulator equipment is to be controlled by the voice signal can be determined; therefore, the plurality of mechanical arm devices are distinguished through the second device identification, the controller can control the plurality of mechanical arm devices, the number of the controllers is reduced, resources are saved, and the cost of the controller is reduced.

Step 403: the controller generates feedback information for the robotic arm apparatus.

The feedback information is used for indicating the completion condition of the operation executed by the mechanical arm equipment.

In one implementation, the controller sends the feedback information to the audio processing device, and the feedback information is output by the audio processing device.

In the step, the user can timely master the completion condition of the execution operation of the mechanical arm equipment by outputting the feedback information, and the effect of controlling the mechanical arm equipment through voice interaction is achieved.

The embodiment of the application provides a control method of mechanical arm equipment, and the method can be used for executing operation based on an executable file corresponding to a control instruction by controlling the mechanical arm equipment. And by generating the feedback information, the user can timely master the completion condition of the execution operation of the mechanical arm equipment, and the flexibility of the voice control of the mechanical arm equipment is further improved.

An embodiment of the present application further provides a control apparatus for a robot arm device, and referring to fig. 5, the apparatus includes:

a first obtaining module 501, configured to obtain a voice signal;

a processing module 502, configured to identify a control instruction corresponding to the voice signal; and sending a control instruction to a controller associated with the mechanical arm equipment, wherein the controller is used for controlling the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction.

In one possible implementation, the processing module 502 is configured to:

sending a first identification instruction to a server, wherein the first identification instruction carries a voice signal and is used for indicating the server to identify a control instruction corresponding to the voice signal;

and receiving a control instruction sent by the server.

In one possible implementation, the processing module 502 is configured to:

and sending a second recognition instruction to a server, wherein the server is used for providing voice recognition service for the plurality of controllers, the second recognition instruction carries a voice signal and a first equipment identifier of the controller and is used for indicating the server to recognize a control instruction corresponding to the voice signal, the controller corresponding to the first equipment identifier is determined from the plurality of controllers based on the first equipment identifier, and the control instruction is sent to the controller.

In one possible implementation, the processing module 502 is configured to:

and sending a third recognition instruction to the server, wherein the server is used for providing voice recognition service for the plurality of controllers, the third recognition instruction carries a voice signal and is used for indicating the server to recognize a control instruction corresponding to the voice signal and a first device identifier of the controller, determining the controller corresponding to the first device identifier from the plurality of controllers based on the first device identifier, and sending the control instruction to the controller.

An embodiment of the present application further provides a control apparatus for a robot arm device, and referring to fig. 6, the apparatus includes:

a first receiving module 601, configured to receive a control instruction corresponding to a voice signal sent by an audio processing device;

the control module 602 is configured to control the robot arm device to perform an operation based on an executable file corresponding to the control instruction;

the generating module 603 is configured to generate feedback information of the robot arm device, where the feedback information is used to indicate a completion of an operation performed by the robot arm device.

In one possible implementation, the control module 602 is configured to:

acquiring an executable file corresponding to the control instruction, and sending the executable file to mechanical arm equipment, wherein the mechanical arm equipment is used for executing operation by running the executable file; alternatively, the first and second electrodes may be,

and sending a control instruction to the mechanical arm equipment, wherein the mechanical arm equipment is used for acquiring an executable file corresponding to the control instruction and executing operation by running the executable file.

In one possible implementation, the apparatus further includes:

and the storage module is used for associating and storing the control instruction and the executable file.

In one possible implementation, the apparatus further includes:

the third receiving module is used for receiving a second equipment identifier corresponding to the voice signal, wherein the second equipment identifier is an identifier of the mechanical arm equipment controlled by the control instruction;

and the determining module is used for determining the mechanical arm equipment corresponding to the second equipment identifier from the plurality of mechanical arm equipment.

In one possible implementation, the apparatus further includes:

and the first sending module is used for sending notification information to the audio processing equipment under the condition that the mechanical arm equipment meets the voice control condition based on the operation information, and the notification information is used for notifying that the audio acquisition equipment is ready.

In one possible implementation, the apparatus further includes:

Fig. 7 shows a block diagram of an electronic device 700 according to an exemplary embodiment of the present application. The electronic device 700 may be provided as a controller or an audio processing device.

In general, the electronic device 700 includes: a processor 701 and a memory 702.

The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit) which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 702 may include one or more computer-readable storage media, which may be non-transitory. Memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 702 is used to store at least one instruction for execution by the processor 701 to implement the control method of the robotic arm apparatus provided by the method embodiments herein.

In some embodiments, the electronic device 700 may further optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, a positioning component 708, and a power source 709.

The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other electronic devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to capture touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, disposed on the front panel of the electronic device 700; in other embodiments, the number of the display screens 705 may be at least two, and the at least two display screens are respectively disposed on different surfaces of the electronic device 700 or are in a folding design; in other embodiments, the display 705 may be a flexible display disposed on a curved surface or on a folded surface of the electronic device 700. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.

The camera assembly 706 is used to capture images or video. Optionally, camera assembly 706 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of an electronic apparatus, and a rear camera is disposed on a rear surface of the electronic apparatus. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 706 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For stereo capture or noise reduction purposes, the microphones may be multiple and disposed at different locations of the electronic device 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.

The positioning component 708 is operable to locate a current geographic Location of the electronic device 700 to implement a navigation or LBS (Location Based Service). The Positioning component 708 can be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 709 is used to supply power to various components in the electronic device 700. The power source 709 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 709 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the electronic device 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: acceleration sensor 711, gyro sensor 712, pressure sensor 713, fingerprint sensor 714, optical sensor 715, and proximity sensor 716.

The acceleration sensor 711 may detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the electronic device 700. For example, the acceleration sensor 711 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 701 may control the display screen 705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 711. The acceleration sensor 711 may also be used for acquisition of motion data of a game or a user.

The gyro sensor 712 may detect a body direction and a rotation angle of the electronic device 700, and the gyro sensor 712 may cooperate with the acceleration sensor 711 to acquire a 3D motion of the user with respect to the electronic device 700. From the data collected by the gyro sensor 712, the processor 701 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensors 713 may be disposed on a side bezel of electronic device 700 and/or underlying display screen 705. When the pressure sensor 713 is disposed on a side frame of the electronic device 700, a user holding signal of the electronic device 700 may be detected, and the processor 701 may perform left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 713. When the pressure sensor 713 is disposed at a lower layer of the display screen 705, the processor 701 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 705. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 714 is used for collecting a fingerprint of a user, and the processor 701 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 714, or the fingerprint sensor 714 identifies the identity of the user according to the collected fingerprint. When the user identity is identified as a trusted identity, the processor 701 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, changing settings, and the like. The fingerprint sensor 714 may be disposed on the front, back, or side of the electronic device 700. When a physical button or vendor Logo is provided on the electronic device 700, the fingerprint sensor 714 may be integrated with the physical button or vendor Logo.

The optical sensor 715 is used to collect the ambient light intensity. In one embodiment, the processor 701 may control the display brightness of the display screen 705 based on the ambient light intensity collected by the optical sensor 715. Specifically, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is adjusted down. In another embodiment, processor 701 may also dynamically adjust the shooting parameters of camera assembly 706 based on the ambient light intensity collected by optical sensor 715.

A proximity sensor 716, also referred to as a distance sensor, is typically disposed on the front panel of the electronic device 700. The proximity sensor 716 is used to capture the distance between the user and the front of the electronic device 700. In one embodiment, the processor 701 controls the display screen 705 to switch from the bright screen state to the dark screen state when the proximity sensor 716 detects that the distance between the user and the front surface of the electronic device 700 is gradually decreased; when the proximity sensor 716 detects that the distance between the user and the front surface of the electronic device 700 is gradually increased, the processor 701 controls the display screen 705 to switch from the breath screen state to the bright screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 7 does not constitute a limitation of the electronic device 700 and may include more or fewer components than those shown, or combine certain components, or employ a different arrangement of components.

The embodiment of the present application further provides a computer-readable storage medium, where at least one instruction is stored in the computer-readable storage medium, and the at least one instruction is loaded and executed by a processor to implement the operations executed by the control method of the robot arm device according to any one of the above-mentioned implementation manners.

Embodiments of the present application also provide a computer program product or a computer program comprising computer program code, the computer program code being stored in a computer readable storage medium. The processor of the electronic apparatus reads the computer program code from the computer-readable storage medium, and the processor executes the computer program code, so that the electronic apparatus performs the operations performed by the control method of the robot arm apparatus described above.

In some embodiments, the computer program according to the embodiments of the present application may be deployed to be executed on one electronic device, or on a plurality of electronic devices located at one site, or on a plurality of electronic devices distributed at a plurality of sites and interconnected by a communication network, and the plurality of electronic devices distributed at the plurality of sites and interconnected by the communication network may constitute a block chain system.

The embodiment of the application provides a control system of mechanical arm equipment, because audio processing equipment can recognize a control instruction in a voice signal, a controller can control the mechanical arm equipment to execute operation based on an executable file corresponding to the control instruction; therefore, the mechanical arm equipment can execute the operation corresponding to the voice signal by connecting the audio processing equipment and the controller, so that the voice control of the mechanical arm equipment is realized, and the situation that the voice control of the mechanical arm equipment is realized by arranging a voice signal processing module in each mechanical arm equipment is avoided. And, because the controller can also generate the feedback information of the completion condition of the operation, and then make the user grasp the completion condition of the operation that the mechanical arm equipment carries out in time. Therefore, the system improves the flexibility of controlling the mechanical arm equipment by voice by connecting the audio processing equipment and the controller to the mechanical arm equipment.

The present application is intended to cover various modifications, alternatives, and equivalents, which may be included within the spirit and scope of the present application.

Claims

1. A control system of a robot arm apparatus, characterized in that the system comprises: the device comprises an audio processing device, a controller and a mechanical arm device;

2. The system of claim 1, wherein the control system further comprises a server;

the audio processing device is used for sending the voice signal to the server;

the server is used for receiving the voice signal, identifying a control instruction corresponding to the voice signal and sending the control instruction to the controller;

wherein the server is used for providing voice recognition service for a plurality of controllers; the server is further configured to recognize a first device identifier of the controller based on the voice signal, determine the controller corresponding to the first device identifier from the plurality of controllers based on the first device identifier, and send the control instruction to the controller;

alternatively, the first and second electrodes may be,

3. The system of claim 1,

the controller is further configured to acquire an executable file corresponding to the control instruction and send the executable file to the mechanical arm device; the mechanical arm equipment is used for receiving the executable file and executing the operation by running the executable file;

alternatively, the first and second electrodes may be,

4. A method of controlling a robot arm apparatus, the method comprising:

acquiring a voice signal;

identifying a control instruction corresponding to the voice signal;

5. The method of claim 4, wherein the identifying the control instruction corresponding to the voice signal comprises:

and receiving the control instruction sent by the server.

6. The method of claim 4, wherein the recognizing the control command corresponding to the voice signal and sending the control command to a controller associated with the robotic device comprises:

7. The method of claim 4, wherein the recognizing the control command corresponding to the voice signal and sending the control command to a controller associated with the robotic device comprises:

8. A method of controlling a robot arm apparatus, the method comprising:

9. The method of claim 8, wherein controlling the robotic arm device to perform operations based on the executable file corresponding to the control instruction comprises:

10. The method of claim 9, further comprising:

11. The method of claim 8, wherein before the controlling the robotic arm device to perform the operation based on the executable file corresponding to the control instruction, the method further comprises:

12. The method of claim 8, further comprising:

acquiring operation information of the mechanical arm equipment;

13. A control apparatus of a robot arm device, characterized in that the apparatus comprises:

and the generating module is used for generating feedback information and sending the feedback information to the audio processing equipment, wherein the feedback information is used for representing the completion condition of the operation executed by the mechanical arm equipment.

14. A computer-readable storage medium, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement the operations performed by the control method for a robot arm apparatus according to any one of claims 4 to 12.