CN109119078A - Automatic robot's control method, device, automatic robot and medium - Google Patents
Automatic robot's control method, device, automatic robot and medium Download PDFInfo
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- CN109119078A CN109119078A CN201811257000.4A CN201811257000A CN109119078A CN 109119078 A CN109119078 A CN 109119078A CN 201811257000 A CN201811257000 A CN 201811257000A CN 109119078 A CN109119078 A CN 109119078A
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- 238000000034 method Methods 0.000 title claims abstract description 47
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- 238000004590 computer program Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000001052 transient effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 15
- 238000011022 operating instruction Methods 0.000 description 13
- 238000004140 cleaning Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 6
- 238000011156 evaluation Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 238000010408 sweeping Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000009333 weeding Methods 0.000 description 3
- 230000005059 dormancy Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000005291 magnetic effect Effects 0.000 description 2
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
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Abstract
The embodiment of the present application provides a kind of automatic robot's control method, device, automatic robot and medium, wherein automatic robot's control method includes: to receive the first phonetic order；It is state of activation according to the speech recognition system of automatic robot described in the first voice command control, and controls the automatic robot and be in mute state.The speech recognition system that the embodiment of the present application when receiving the first phonetic order, can control automatic robot is state of activation, and the state for controlling automatic robot is in mute state.Since the power of component each under mute state is extremely low, the noise generated under working condition compared with greatly reducing, therefore the embodiment of the present application can be improved the discrimination of the phonetic order of user's input, can relatively accurately identify the phonetic order of user's input.
Description
Technical field
This application involves automatic control technology field more particularly to a kind of automatic robot's control methods, device, automatic machine
Device people and medium.
Background technique
With the development of technology, there are the various automatic robots with speech recognition system, for example sweep the floor
Robot, floor-mopping robot, dust catcher, weeder etc..These automatic robots can receive user by speech recognition system
The phonetic order of input, with execute the phonetic order instruction operation, this has not only liberated labour, also a save manpower at
This.
In the related technology, above-mentioned automatic robot can receive the phonetic order of user's input, then pass through the language of itself
The phonetic order of sound identifying system identification input, to control the operation that automatic robot executes phonetic order instruction.But it is automatic
Robot memory can generate larger noise when working in the components such as blower, motor, these components, when use voice mode is to automatic
When robot is controlled, noise caused by above-mentioned component is likely to make speech recognition system that can not identify that user inputs very well
Phonetic order.
Summary of the invention
In view of this, the embodiment of the present application provides a kind of automatic robot's control method, device, automatic robot and deposits
Storage media, to make automatic robot can be improved the discrimination of phonetic order.
In a first aspect, the embodiment of the present application provides a kind of automatic robot's control method, which comprises
Receive the first phonetic order；
It is state of activation according to the speech recognition system of automatic robot described in the first voice command control, and described in control
Automatic robot is in mute state.
In some possible implementations, the control automatic robot is in after mute state, further includes:
Judge whether the speech recognition system receives the second phonetic order for being used to indicate operation；
If it is determined that receiving second phonetic order, then controls the automatic robot and execute second phonetic order
The operation of instruction.
In some possible implementations, the method also includes:
If it is determined that not receiving second phonetic order, then controls the automatic robot and be in off working state.
In some possible implementations, the control automatic robot is in after off working state, is also wrapped
It includes:
Judge whether the speech recognition system receives second phonetic order；
If it is determined that receiving second phonetic order, then controls automatic robot and execute the second phonetic order instruction
Clean operation.
In some possible implementations, the method also includes:
If it is determined that do not receive second phonetic order, judgement do not receive second phonetic order number whether
More than preset threshold；
Judge whether the speech recognition system receives second phonetic order if it is not, then repeating, until sentencing
The fixed number for not receiving second phonetic order is more than preset threshold or determines to receive second phonetic order.
In some possible implementations, the control automatic robot is in described in off working state and judgement
Whether speech recognition system receives between second phonetic order, further includes: output is for prompting the second voice of input to refer to
The hint instructions of order.
In some possible implementations, the control automatic robot is in mute state, comprising:
Judge whether the automatic robot is in mute state, if it is determined that the automatic robot is not in mute shape
The state of the automatic robot is then switched to mute state by state.
Second aspect, the embodiment of the present application provide a kind of automatic robot's control device, comprising:
Receiving unit, for receiving the first phonetic order；
Control unit, the speech recognition system for the automatic robot according to the first voice command control are activation shape
State, and control the automatic robot and be in mute state.
In some possible implementations, described device further include:
Judging unit is used to indicate the second voice of operation and refers to for judging whether the speech recognition system receives
It enables；
First judging unit, for if it is determined that receive second phonetic order, then controlling the automatic robot and holding
The operation of row the second phonetic order instruction.
In some possible implementations, described device further include:
Second judging unit, for if it is determined that do not receive second phonetic order, then controlling the automatic robot
In off working state.
In some possible implementations, second judging unit is also used to trigger the judging unit and judges institute
State whether speech recognition system receives second phonetic order.
In some possible implementations, second judging unit is also used to:
If it is determined that do not receive second phonetic order, judgement do not receive second phonetic order number whether
More than preset threshold；
If it is not, then the execution of judging unit described in repeated trigger judges whether the speech recognition system receives described second
Phonetic order, until second judging unit determine do not receive second phonetic order number be more than preset threshold,
Or the first judging unit judgement receives second phonetic order.
In some possible implementations, described device further includes output unit: for exporting for prompting input the
The hint instructions of two phonetic orders.
In some possible implementations, described control unit is specifically used for:
Judge whether the automatic robot is in mute state, if it is determined that the automatic robot is not in mute shape
The state of the automatic robot is then switched to mute state by state.
The third aspect, the embodiment of the present application provide a kind of automatic robot, including processor and memory, the memory
The computer program instructions that can be executed by the processor are stored with, the processor executes the computer program instructions
When, realize any method and step of first aspect.
Fourth aspect, the embodiment of the present application provide a kind of non-transient computer readable storage medium, are stored with computer
Program instruction, the computer program instructions realize that any method of first aspect is walked when being called and being executed by processor
Suddenly.
5th aspect, the embodiment of the present application provide a kind of automatic robot, including any automatic machine of second aspect
Device people's control device.
The embodiment of the present application can be when receiving the first phonetic order, and the speech recognition system for controlling automatic robot is
State of activation, and the state for controlling automatic robot is in mute state.Since the power of component each under mute state is extremely low, because
Noise that this is generated under working condition compared with greatly reducing, therefore the embodiment of the present application can be improved the knowledge of the phonetic order of user's input
Not rate can relatively accurately identify the phonetic order of user's input.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this Shen
Some embodiments please for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is an application scenarios schematic diagram provided by the embodiments of the present application；
Fig. 2 is the flow diagram for automatic robot's control method that one embodiment of the application provides；
Fig. 3 a is the flow diagram for automatic robot's control method that another embodiment of the application provides；
Fig. 3 b is the flow diagram for automatic robot's control method that the application another embodiment provides；
Fig. 3 c is the flow diagram for automatic robot's control method that the another embodiment of the application provides；
Fig. 3 d is the flow diagram for automatic robot's control method that other embodiments of the application provide；
Fig. 4 is the structural schematic diagram for automatic robot's control device that one embodiment of the application provides；
Fig. 5 is the structural schematic diagram for automatic robot's control device that another embodiment of the application provides；
Fig. 6 is the structural schematic diagram for automatic robot's control device that the application another embodiment provides；
Fig. 7 is the structural schematic diagram for automatic robot's control device that other embodiments of the application provide；
Fig. 8 is the structural schematic diagram of automatic robot provided by the embodiments of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
It will be appreciated that though may be described in the embodiment of the present application using term first, second, third, etc..,
But these ... it should not necessarily be limited by these terms.These terms be only used to by ... be distinguished from each other out.For example, not departing from the application
In the case where scope of embodiments, first ... can also be referred to as second ..., and similarly, second ... can also be referred to as
One ....
Clearly to explain that scheme provided by the embodiments of the present application, the embodiment of the present application first carry out relevant technical terms
It explains.
Mute state: several components such as the blower of automatic robot, main brush, traveling wheel, side brush are concurrently or separately in pole
Low power state, the noise of generation under working condition compared with greatly reducing.
Off working state: several components such as the blower of automatic robot, main brush, traveling wheel, side brush are in halted state, and
Noise will not be generated.
Working condition: several components such as the blower of automatic robot, main brush, traveling wheel, side brush are concurrently or separately in work
Make state, and above-mentioned component is typically in calibration power state.
The above mute state, off working state and working condition are three kinds of common states of automatic robot.
State of activation: a kind of state of the speech recognition system of automatic robot, in this state, speech recognition system energy
Enough receive and identify the second phonetic order.Optionally, the second phonetic order can be voice operating instruction.
Dormant state: a kind of state of the speech recognition system of automatic robot, in this state, speech recognition system energy
The first phonetic order is enough received and identified, and speech recognition system is switched into activation shape when receiving the first phonetic order
State.Optionally, the first phonetic order can be voice wake up instruction.
In the related technology, there are components such as blower, motors in automatic robot, these components can generate larger make an uproar when working
Sound, when being controlled using voice mode automatic robot, noise caused by above-mentioned component is likely to make speech recognition
System can not identify the phonetic order of user's input very well.
In view of this, the embodiment of the present application provides a kind of scheme, can be controlled automatic when receiving the first phonetic order
The speech recognition system of robot is state of activation, and the state for controlling automatic robot is in mute state.Due to mute shape
The power of each component is extremely low under state, therefore the noise generated is under working condition compared with greatly reducing, therefore the embodiment of the present application can mention
The discrimination of the phonetic order of high user's input, can relatively accurately identify the phonetic order of user's input.
Referring to Fig. 1, being a kind of possible application scenarios provided by the embodiments of the present application, which includes automatic machine
Device people, such as sweeping robot, floor-mopping robot, dust catcher, weeder etc..In certain embodiments, the automatic robot
It can be automatic automatic robot, be specifically as follows automatic sweeping machine device people, automatic floor cleaning machine people.In an implementation, automatic machine
Speech recognition system has can be set in device people, to receive the phonetic order of user's sending.Automatic robot is also provided with voice
Output device, to export suggestion voice.In other embodiments, touch-sensitive display has can be set in automatic robot, to receive
The operational order of user's input.Automatic robot is also provided with the wireless telecommunications moulds such as WIFI module, Bluetooth module
Block to connect with intelligent terminal, and receives the operational order that user utilizes intelligent terminal transmission by wireless communication module.
As shown in Fig. 2, being applied to the automatic robot in Fig. 1 application scenarios, the embodiment of the present application provides a kind of automatic machine
Device people's control method.
In step 202, the first phonetic order is received.
Under normal conditions, the speech recognition system of automatic robot can have dormant state and state of activation.In suspend mode shape
Under state, speech recognition system hardly occupies the excess resource of automatic robot, is that identification will not be gone except the first phonetic order
Except other phonetic orders.
It, can be by speech recognition system by stopping if speech recognition system in a dormant state receives the first phonetic order
Dormancy state switches to state of activation.In active state, speech recognition system can identify configuration in speech recognition system
Phonetic order, such as the first phonetic order, the second phonetic order, third phonetic order (being properly termed as voice out code)
Deng.
Specifically, the first phonetic order: for waking up speech recognition system, i.e., instruction control speech recognition system, which is in, swashs
State living.In an implementation, if speech recognition system in a dormant state, when automatic robot receives the first phonetic order,
Speech recognition system can be switched to state of activation by dormant state.If speech recognition system is active, language is controlled
Sound identifying system keeps state of activation, can also do nothing.In the particular embodiment, the first voice
Instruction customized can be arranged, and can also be arranged with system default, such as: the first phonetic order can be the customized " unlatching of user
Voice " or " booting ".For convenience of description, hereafter it is illustrated so that the first phonetic order is " booting " as an example.
Second phonetic order: being used to indicate operation, i.e., instruction control automatic robot executes operation.The operation can be certainly
The operation for defining setting is also possible to system default setting, such as: sweep operation, the operation that mops floor, weeding operation etc..Specific
Embodiment in, the second phonetic order customized can be arranged, can also be arranged with system default, such as: the second phonetic order can
To be user's customized " sweeping the floor ", " mopping floor " or " cleaning ".It is hereafter " to sweep with the second phonetic order for convenience of description
It is illustrated for health ".
Third phonetic order: it is used to indicate and closes automatic robot.In the particular embodiment, third phonetic order can be with
Customized setting can also be arranged with system default, such as: third phonetic order can be user's customized " closing " or " close
Machine ".For convenience of description, hereafter it is illustrated so that third phonetic order is " shutdown " as an example.
It is state of activation according to the speech recognition system of automatic robot described in the first voice command control in step 204,
And it controls the automatic robot and is in mute state.
The embodiment of the present application can be when receiving the first phonetic order, and the speech recognition system for controlling automatic robot is
State of activation, and the state for controlling automatic robot is in mute state.Since the power of component each under mute state is extremely low, because
Noise that this is generated under working condition compared with greatly reducing, therefore the embodiment of the present application can be improved the knowledge of the phonetic order of user's input
Not rate can relatively accurately identify the phonetic order of user's input.
Fig. 3 a is please referred to, as shown in connection with fig. 1 application scenarios, automatic robot's controlling party that another embodiment of the application provides
Method is as follows.
In step 300, automatic robot is initialized, the speech recognition system of automatic robot may be at suspend mode shape at this time
State.
Under normal conditions, the speech recognition system of automatic robot can have dormant state and state of activation.In suspend mode shape
Under state, speech recognition system hardly occupies the excess resource of automatic robot, is that identification will not be gone except the first phonetic order
Except other phonetic orders.
It, can be by speech recognition system by stopping if speech recognition system in a dormant state receives the first phonetic order
Dormancy state switches to state of activation.In active state, speech recognition system can identify configuration in speech recognition system
Phonetic order, such as the first phonetic order, the second phonetic order, third phonetic order (being properly termed as voice out code)
Deng.
Second phonetic order: being used to indicate operation, i.e., instruction control automatic robot executes operation.The operation can be certainly
The operation for defining setting is also possible to system default setting, such as: sweep operation, the operation that mops floor, weeding operation etc..Specific
Embodiment in, the second phonetic order customized can be arranged, can also be arranged with system default, such as: the second phonetic order can
To be user's customized " sweeping the floor ", " mopping floor " or " cleaning ".It is hereafter " to sweep with the second phonetic order for convenience of description
It is illustrated for health ".
Third phonetic order: it is used to indicate and closes automatic robot.In the particular embodiment, third phonetic order can be with
Customized setting can also be arranged with system default, such as: third phonetic order can be user's customized " closing " or " close
Machine ".For convenience of description, hereafter it is illustrated so that third phonetic order is " shutdown " as an example.
In step 301, the first phonetic order is received.Specifically, the first phonetic order: for waking up speech recognition system,
I.e. instruction control speech recognition system is active.
In an implementation, if speech recognition system in a dormant state, when automatic robot receives the first phonetic order,
Speech recognition system can be switched to state of activation by dormant state.If speech recognition system is active, language is controlled
Sound identifying system keeps state of activation, can also do nothing.In the particular embodiment, the first voice
Instruction customized can be arranged, and can also be arranged with system default, such as: the first phonetic order can be the customized " unlatching of user
Voice " or " booting ".For convenience of description, hereafter it is illustrated so that the first phonetic order is " booting " as an example.
It is state of activation according to the speech recognition system of automatic robot described in the first voice command control in step 302,
And it controls the automatic robot and is in mute state.
In an implementation, mute state is in for control automatic robot, may include following two situation.
The first situation judges whether the automatic robot is in mute state, if it is determined that automatic robot is not in
The state of the automatic robot is then switched to mute state by mute state.
If second situation, automatic robot are in mute state, the mute state of automatic robot is continued to,
Or, doing nothing.
In step 303, judge whether the speech recognition system receives the second phonetic order for being used to indicate operation.
Wherein, the second phonetic order: being used to indicate operation, i.e., instruction control automatic robot executes operation.The operation can
To be the operation of customized setting, it is also possible to system default setting, such as: sweep operation, the operation that mops floor, weeding operation etc..
In the particular embodiment, the second phonetic order customized can be arranged, and can also be arranged with system default, such as: the second voice
Instruction can be user's customized " sweeping the floor ", " mopping floor " or " cleaning ".For convenience of description, hereafter it is with the second phonetic order
It is illustrated for " cleaning ".
In step 304, if it is determined that receiving second phonetic order: " cleaning ", then controls automatic robot and hold
The operation of row the second phonetic order instruction, i.e. control automatic robot carry out cleaning.
The embodiment of the present application can be when receiving the first phonetic order, and the speech recognition system for controlling automatic robot is
State of activation, and the state for controlling automatic robot is in mute state.If it is determined that speech recognition system receives described second
Phonetic order then controls the operation that automatic robot executes the second phonetic order instruction.Due to component each under mute state
Power it is extremely low, therefore the noise generated is under working condition compared with greatly reducing, therefore the embodiment of the present application can relatively accurately be known
The phonetic order of other user's input, improves the discrimination of phonetic order.
Fig. 3 b is please referred to, in conjunction with Fig. 3 a, automatic robot's control method provided by the embodiments of the present application further include: step
305, if it is determined that not receiving second phonetic order, then controls the automatic robot and be in off working state.
In the embodiment of the present application, if in the mute state, automatic robot still fails to receive the second phonetic order, then
The state of automatic robot can be switched into off working state, not generate noise completely, can known to the maximum extent in this way
The phonetic order of other user's input.
Fig. 3 c is please referred to, in conjunction with Fig. 3 b, automatic robot's control method provided by the embodiments of the present application also executes step
303, and step 304 is executed in the case where determining to receive second phonetic order.
In the case where determining not receive second phonetic order, if not receiving time of second phonetic order
Number is less than preset threshold N, then repeats step 303, until determining that the number for not receiving second phonetic order is super
It crosses preset threshold N or determines to receive second phonetic order.Wherein, N is positive integer.It at this time can be with return step 300.
The embodiment of the present application is after attempting n times and judging whether to receive the second phonetic order, if automatic robot is still not
The second phonetic order can be received, it may be considered that user does not continue input instruction, can control speech recognition system switching
To dormant state, the first phonetic order next time is waited.
Certain automatic robot still fails to caused by identifying that the second phonetic order is likely to be other reasons, such as: even
Continuous n times user has input garbled voice instruction, or continuous n times automatic robot does not receive correct second phonetic order.
Please refer to Fig. 3 d, further include step 306 between step 305 and 303 on the basis of shown in Fig. 3 c: output is used for
The hint instructions of prompt the second phonetic order of input need to be re-entered with prompting not receiving the second phonetic order before user
Second phonetic order.
In conjunction with Fig. 1 application scenarios, specific automatic robot's control method embodiment is provided below, the embodiment is with
One phonetic order is voice wake up instruction, and the second phonetic order is voice operating instruction, and third phonetic order is that voice closing refers to
It is illustrated for order.Wherein, illustratively, voice wake up instruction are as follows: booting, voice operating instruction are as follows: cleaning, voice
Out code are as follows: shutdown.
In step 400, automatic robot is initialized, the speech recognition system of automatic robot may be at suspend mode shape at this time
State automatic robot.
In step 401, voice wake up instruction is received.
It is state of activation according to the speech recognition system that voice wake up instruction controls the automatic robot in step 402,
And it controls the automatic robot and is in mute state.
In an implementation, mute state is in for control automatic robot, may include following two situation.
The first situation judges whether the automatic robot is in mute state, if it is determined that automatic robot is not in
The state of the automatic robot is then switched to mute state by mute state.
If second situation, automatic robot are in mute state, the mute state of automatic robot is continued to,
Or, doing nothing.
In step 403, judge whether the speech recognition system receives voice operating instruction: " cleaning ".
In step 404, if it is determined that receiving voice operating instruction: " cleaning ", then controls automatic robot and execute institute
The operation of predicate sound operational order instruction.
In step 405, if it is determined that not receiving the voice operating instruction, then the state of the automatic robot is switched
To off working state.
In step 406, output is for prompting the hint instructions of input voice operating instruction, to prompt not receive before user
It is instructed to voice operating, voice operating instruction need to be re-entered.
Execute step 403, and the execution step 404 in the case where determining to receive voice operating instruction.
In the case where determining not receiving voice operating instruction, if not receiving time of the voice operating instruction
Number is less than preset threshold N, then repeats step 403, until determining that the number for not receiving the voice operating instruction is super
It crosses preset threshold N or determines to receive the voice operating instruction.Wherein, N is positive integer.It at this time can be with return step 400.
Optionally, if receiving voice out code after step 402: automatic robot is closed in shutdown.
Referring to Fig. 4, the embodiment of the present application also provides a kind of automatic robot's control device, it is applied to automatic robot,
It include: receiving unit 402, control unit 404.Each unit is described as follows.
Receiving unit 402, for receiving the first phonetic order.
Control unit 404, the speech recognition system for the automatic robot according to the first voice command control are sharp
State living, and control the automatic robot and be in mute state.
Optionally, described control unit 404 are specifically used for:
Judge whether the automatic robot is in mute state, if it is determined that automatic robot is not in mute state, then
The state of the automatic robot is switched into mute state.
The method that Fig. 4 shown device can execute embodiment illustrated in fig. 2, the part that the present embodiment is not described in detail can join
Examine the related description to embodiment illustrated in fig. 2.In implementation procedure and the technical effect embodiment shown in Figure 2 of the technical solution
Description, details are not described herein.
Referring to Fig. 5, compared with embodiment illustrated in fig. 4, automatic robot's control device shown in fig. 5 further include: judgement
Unit 406 and the first judging unit 407.
Judging unit 406 is used to indicate the second voice of operation for judging whether the speech recognition system receives
Instruction.
First judging unit 407, for if it is determined that receive second phonetic order, then controlling the automatic robot
Execute the operation of the second phonetic order instruction.
The method that Fig. 5 shown device can execute Fig. 3 a illustrated embodiment, the part that the present embodiment is not described in detail can join
Examine the related description to Fig. 3 a illustrated embodiment.The implementation procedure and technical effect of the technical solution are referring to Fig. 3 a illustrated embodiment
In description, details are not described herein.
Referring to Fig. 6, compared with embodiment illustrated in fig. 5, automatic robot's control device shown in fig. 6 further include:
Second judging unit 408, for if it is determined that not receiving second phonetic order, then by the automatic robot
State switch to off working state.
In one embodiment, the second judging unit 408 is also used to trigger the judging unit and judges the speech recognition system
Whether system receives second phonetic order.
In one embodiment, the second judging unit 408, is also used to:
If it is determined that do not receive second phonetic order, judgement do not receive second phonetic order number whether
More than preset threshold；
If it is not, then the execution of judging unit described in repeated trigger judges whether the speech recognition system receives described second
Phonetic order, until second judging unit determine do not receive second phonetic order number be more than preset threshold,
Or the first judging unit judgement receives second phonetic order.
The method that Fig. 6 shown device can execute Fig. 3 b-c illustrated embodiment, the part that the present embodiment is not described in detail, can
The related description of reference pair Fig. 3 b illustrated embodiment.The implementation procedure and technical effect of the technical solution are implemented referring to shown in Fig. 3 b
Description in example, details are not described herein.
Referring to Fig. 7, automatic robot's control device further includes output unit 410 compared with Fig. 6, be used for: output is used for
The hint instructions of prompt the second phonetic order of input.
The method that Fig. 7 shown device can execute Fig. 3 d illustrated embodiment, the part that the present embodiment is not described in detail can join
Examine the related description to Fig. 3 d illustrated embodiment.The implementation procedure and technical effect of the technical solution are referring to Fig. 3 d illustrated embodiment
In description, details are not described herein.
The embodiment of the present application provides a kind of automatic robot, including any automatic robot's control device of Fig. 4-7.
The embodiment of the present application provides a kind of automatic robot, including processor and memory, and the memory is stored with energy
Enough computer program instructions executed by the processor, when the processor executes the computer program instructions, before realization
State the method and step of any embodiment.
The embodiment of the present application provides a kind of non-transient computer readable storage medium, is stored with computer program instructions,
The computer program instructions realize the method and step of aforementioned any embodiment when being called and being executed by processor.
As shown in figure 8, cleaning automatic robot 800 may include processing unit (such as central processing unit, graphics processor
Deng) 801, it can be loaded at random according to the program being stored in read-only memory (ROM) 802 or from storage device 808
It accesses the program in memory (RAM) 803 and executes various movements appropriate and processing.In RAM 803, it is also stored with electronics
Automatic robot 800 operates required various programs and data.Processing unit 801, ROM 802 and RAM 803 pass through bus
804 are connected with each other.Input/output (I/O) interface 805 is also connected to bus 804.
In general, following device can connect to I/O interface 805: including such as touch screen, touch tablet, keyboard, mouse, taking the photograph
As the input unit 806 of head, microphone, accelerometer, gyroscope etc.；Including such as liquid crystal display (LCD), loudspeaker, vibration
The output device 807 of dynamic device etc.；Storage device 808 including such as tape, hard disk etc.；And communication device 809.Communication device
809, which can permit electronics automatic robot 800, is wirelessly or non-wirelessly communicated with other automatic robots to exchange data.Although
Fig. 7 shows the electronics automatic robot 800 with various devices, it should be understood that being not required for implementing or having institute
There is the device shown.It can alternatively implement or have more or fewer devices.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communication device 809, or from storage device 808
It is mounted, or is mounted from ROM 802.When the computer program is executed by processing unit 801, the embodiment of the present disclosure is executed
Method in the above-mentioned function that limits.
It should be noted that the above-mentioned computer-readable medium of the disclosure can be computer-readable signal media or meter
Calculation machine readable storage medium storing program for executing either the two any combination.Computer readable storage medium for example can be --- but not
Be limited to --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor system, device or device, or any above combination.Meter
The more specific example of calculation machine readable storage medium storing program for executing can include but is not limited to: have the electrical connection, just of one or more conducting wires
Taking formula computer disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In the disclosure, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.And at this
In open, computer-readable signal media may include in a base band or as the data-signal that carrier wave a part is propagated,
In carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable and deposit
Any computer-readable medium other than storage media, the computer-readable signal media can send, propagate or transmit and be used for
By the use of instruction execution system, device or device or program in connection.Include on computer-readable medium
Program code can transmit with any suitable medium, including but not limited to: electric wire, optical cable, RF (radio frequency) etc. are above-mentioned
Any appropriate combination.
Above-mentioned computer-readable medium can be included in above-mentioned automatic robot；It is also possible to individualism, and
Without in the supplying automatic robot.
Above-mentioned computer-readable medium carries one or more program, when said one or multiple programs by this from
When mobile robot executes, so that the automatic robot: obtaining at least two internet protocol addresses；To Node evaluation automatic robot
Send include at least two internet protocol address Node evaluation request, wherein the Node evaluation automatic robot from
In at least two internet protocol address, chooses internet protocol address and return；Receive the Node evaluation automatic robot
The internet protocol address of return；Wherein, the fringe node in acquired internet protocol address instruction content distributing network.
Alternatively, above-mentioned computer-readable medium carries one or more program, when said one or multiple programs
When being executed by the automatic robot, so that the automatic robot: receiving the Node evaluation including at least two internet protocol addresses
Request；From at least two internet protocol address, internet protocol address is chosen；Return to the internet protocol address selected；
Wherein, the fringe node in internet protocol address instruction content distributing network received.
The calculating of the operation for executing the disclosure can be write with one or more programming languages or combinations thereof
Machine program code, above procedure design language include object oriented program language-such as Java, Smalltalk, C+
+, it further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as provided using Internet service
Quotient is connected by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the disclosure, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present disclosure can be realized by way of software, can also be by hard
The mode of part is realized.Wherein, the title of unit does not constitute the restriction to the unit itself under certain conditions, for example, the
One acquiring unit is also described as " obtaining the unit of at least two internet protocol addresses ".
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although
The application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (17)
1. a kind of automatic robot's control method, which is characterized in that the described method includes:
Receive the first phonetic order；
It is state of activation according to the speech recognition system of automatic robot described in the first voice command control, and controls described automatic
Robot is in mute state.
2. the method according to claim 1, wherein the control automatic robot be in mute state it
Afterwards, further includes:
Judge whether the speech recognition system receives the second phonetic order for being used to indicate operation；
If it is determined that receiving second phonetic order, then controls the automatic robot and execute the second phonetic order instruction
Operation.
3. according to the method described in claim 2, it is characterized by further comprising:
If it is determined that not receiving second phonetic order, then controls the automatic robot and be in off working state.
4. according to the method described in claim 3, it is characterized in that, the control automatic robot is in off working state
Later, further includes:
Judge whether the speech recognition system receives second phonetic order；
If it is determined that receiving second phonetic order, then controls automatic robot and execute the clear of the second phonetic order instruction
Clean operation.
5. according to the method described in claim 4, it is characterized by further comprising:
If it is determined that do not receive second phonetic order, judgement do not receive second phonetic order number whether be more than
Preset threshold；
Judge whether the speech recognition system receives second phonetic order if it is not, then repeating, until determining not
The number for receiving second phonetic order is more than preset threshold or determines to receive second phonetic order.
6. according to the method described in claim 3, it is characterized in that, the control automatic robot is in off working state
And judge whether the speech recognition system receives between second phonetic order, further includes: output is for prompting input
The hint instructions of second phonetic order.
7. -6 any method according to claim 1, which is characterized in that the control automatic robot is in mute
State, comprising:
Judge whether the automatic robot is in mute state, if it is determined that the automatic robot is not in mute state, then
The state of the automatic robot is switched into mute state.
8. a kind of automatic robot's control device characterized by comprising
Receiving unit, for receiving the first phonetic order；
Control unit, the speech recognition system for the automatic robot according to the first voice command control are state of activation,
And it controls the automatic robot and is in mute state.
9. device according to claim 8, which is characterized in that further include:
Judging unit is used to indicate the second phonetic order of operation for judging whether the speech recognition system receives；
First judging unit executes institute for if it is determined that receive second phonetic order, then controlling the automatic robot
State the operation of the second phonetic order instruction.
10. device according to claim 9, which is characterized in that further include:
Second judging unit, for if it is determined that do not receive second phonetic order, then controlling the automatic robot and being in
Off working state.
11. device according to claim 10, which is characterized in that second judging unit is also used to trigger and described sentence
Whether speech recognition system described in disconnected unit judges receives second phonetic order.
12. device according to claim 11, which is characterized in that second judging unit is also used to: if it is determined that not connecing
Second phonetic order is received, judgement does not receive whether the number of second phonetic order is more than preset threshold；
If it is not, then the execution of judging unit described in repeated trigger judges whether the speech recognition system receives second voice
Instruction, until second judging unit determines that the number for not receiving second phonetic order is more than preset threshold or institute
It states the judgement of the first judging unit and receives second phonetic order.
13. device according to claim 10, which is characterized in that further include output unit: defeated for prompting for exporting
Enter the hint instructions of the second phonetic order.
14. according to any device of claim 8-13, which is characterized in that described control unit is specifically used for:
Judge whether the automatic robot is in mute state, if it is determined that the automatic robot is not in mute state, then
The state of the automatic robot is switched into mute state.
15. a kind of automatic robot's control device, which is characterized in that including processor and memory, the memory is stored with
The computer program instructions that can be executed by the processor when processor executes the computer program instructions, are realized
Method and step as claimed in claim 1 to 7.
16. a kind of automatic robot, which is characterized in that including such as described in any item devices of claim 8-14.
17. a kind of non-transient computer readable storage medium, which is characterized in that be stored with computer program instructions, the meter
Calculation machine program instruction realizes method and step as claimed in claim 1 to 7 when being called and being executed by processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811257000.4A CN109119078A (en) | 2018-10-26 | 2018-10-26 | Automatic robot's control method, device, automatic robot and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257000.4A CN109119078A (en) | 2018-10-26 | 2018-10-26 | Automatic robot's control method, device, automatic robot and medium |
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| CN201811257000.4A Pending CN109119078A (en) | 2018-10-26 | 2018-10-26 | Automatic robot's control method, device, automatic robot and medium |
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Address after: No. 6016, 6017 and 6018, Block C, No. 8 Heiquan Road, Haidian District, Beijing 100085 Applicant after: Beijing Roborock Technology Co.,Ltd. Address before: No. 6016, 6017 and 6018, Block C, No. 8 Heiquan Road, Haidian District, Beijing 100085 Applicant before: BEIJING ROCKROBO TECHNOLOGY Co.,Ltd. |
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Application publication date: 20190101 |