CN101786274A - Audio system used for robot and robot provided with audio system - Google Patents
Audio system used for robot and robot provided with audio system Download PDFInfo
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Abstract
The invention relates to an audio system used for a robot and the robot provided with the audio system, wherein the audio system comprises an audio file storage unit and an audio control unit; the audio file storage unit is used for storing an audio file acquired from an audio file making unit; the audio file making unit is positioned outside the robot; the data stored by the audio file storage unit can be made, modified or replaced according to the requirement of a user; and according to the received state information of the robot, the audio control unit is used for converting audio data corresponding to the audio file in the state in the audio file storage unit into corresponding analog signals and playing the analog signals. The audio system can provide different audio contents according to different working states of the robot, and the sound source of the audio contents can be wide, therefore, a user can make, modify or replace the audio contents as required in the using process of the robot, so that the robot can be used with more affinity and enjoyment.
Description
Technical field
The present invention relates to a kind of robot system, relate in particular to a kind of robot that is used for the voice system of robot and has this voice system.
Background technology
Traditional in the market robot, as mobile certainly clean robot, in the process of operation, use, running into to twine such as robot electric weight deficiency, by line to get away, to charge when situation such as finishing, generally be that the alarm prompt tone that the device of the similar audible alarm such as buzzer by robot interior sends is pointed out the user, or by a display, the human-computer interaction interface that carries as itself shows the code with specific meanings, as " ERR01 ", " " etc.When pointing out the user with the alarm prompt tone, because prompt tone dullness, the user can not in time and directly recognize the residing actual conditions of self-movement robot, when pointing out the user in the mode that shows, the user need could understand the implication of current reveal codes by service manual, know robot present located actual conditions, can not directly and in time recognize the residing actual conditions of self-movement robot equally, this has in use brought certain puzzlement for to a great extent the user.
In recent years occurred self-movement robot on the market, established loudspeaker in this robot by a kind of roomba by name of American I ROBOT company production.When roomba broke down, it at first can send the sound of " oh ", was beeping sound then.The user contrasts in conjunction with " fault solution " hurdle in the products instruction by the number of times of number " beeping sound " again, learns the situation that robot is current.This scheme and last scheme compare, though the user can distinguish by sound and method of counting, know the present case of robot.But, do not provide facility in the use to the user yet.
Publication number is CN1876337A, and the application people is for disclosing a kind of follow-on technical scheme in the patent documentation of LG Electronics Inc..The user can inform information with this state as the mobile robot by recorded speech.Fig. 1 is the flow chart that is used for user's voice is input to the clean robot process.The work of this recorded speech is to realize with step in the following way: 1, push the specific button that is provided with on the clean robot so that request voice recording (S210) as the user; 2, when confirming to need phonetic entry, controller switches to recording mode (S220) with the operator scheme of clean robot; 3, push specific button as the user, so that begin recording (S230); 4, the speech coder coding is stored in coded voice signal in the memory, by the particular address (S240) of controller appointment by microphone input user's voice; When 5, the user asks to stop recording mould (S250), stop using recording mode and according to the order of being imported afterwards by the user of controller switches the operator scheme of clean robot.
LG company adopts aforesaid way, and when a certain mode of operation appearred in robot, recorded speech was with the information of this notifying state of self-moving cleaning robot mode of operation voluntarily by the user, and the information content is directly perceived, makes and forms good interaction between product and the user.
Yet this scheme need be acquired in the inside of robot own and be informed voice-input unit (as microphone and speech coder), and the sound of recording only limits to user's sound, and the acoustic information amount is comparatively single.Simultaneously, operations such as the whole process need user that recording is finished repeatedly judges on the man-machine interface of self-movement robot, button affirmation, operating process is comparatively loaded down with trivial details.In addition, the sound of recording for making is clear, loud, and effect is better, and the user need press close to microphone, the user had to adopt take robot in one's arms or it to be positioned over means such as a certain position and recorded near microphone this moment, had also brought burden in various degree for the user.Moreover, the voice that the user records voluntarily only are the voice suggestions that is used for the notifying state of self-moving cleaning robot state, robot be in standby or charging or situation that other duty is good under, this phonetic function does not play a role, thereby makes that the phonetic function of this product is comparatively single.In addition,, realize function itself, need all multicomponents such as configured voice encoder and microphone, also increased the cost of product virtually with regard to it at the inner voice-input unit of robot itself.
Summary of the invention
Technical problem to be solved by this invention is, at the deficiencies in the prior art, a kind of robot that is used for the voice system of robot and has voice system is provided, this voice system can provide different voice contents according to the different duty of robot, and the source of sound ground of described voice content is extensive, be not subjected to the restriction of robot in-house facility, make the user in the use of robot, can make, revise or change, make the use of robot have more compatibility, interest by its hobby.
In order to solve above-mentioned technical problem, the invention provides a kind of voice system that is used for robot, comprise audio files storage unit and voice control module, described audio files storage unit stores the audio file that obtains from the audio file production unit; Wherein, described audio file production unit is positioned at the robot outside, the data that described audio files storage unit is stored can make, revise or change according to user's demand, described voice control module is connected to carry out information transmission and data read with described audio files storage unit, described voice control module is converted to corresponding analog signal broadcast according to the robotary information that receives with the voice data corresponding in the audio file of this state that is stored in the audio files storage unit.
In above-mentioned voice system, described audio files storage unit is the memory cell of machine-independent people outside, it is connected with robot by wired or wireless mode, and this memory cell can be obtained described audio file from described audio file production unit or from the third party who stores the audio file that described audio file production unit makes.
At the above-mentioned voice system that is used for robot, described voice control module comprises control subelement, audio signal processor and loudspeaker; Described control subelement is connected with the audio files storage unit with audio signal processor respectively; Wherein, described control subelement is according to the status information of the robot that receives, and reads the audio file corresponding to this state from described audio files storage unit, and this audio file is sent to described audio signal processor; Described audio signal processor is used for that described audio file is carried out signal to be handled, with after handling, output to loudspeaker corresponding to the analog signal of this state and broadcast.
At the described voice system that is used for robot, described voice control module can also be embodied as another kind of scheme, and promptly the voice control module comprises control subelement, audio signal processor and loudspeaker; Described audio signal processor is connected with the audio files storage unit with the control subelement respectively; Wherein, described control subelement sends the information of output corresponding to the voice data of this state that requires according to the status information of the robot that receives to audio signal processor; After described audio signal processor receives this information, read audio file from the audio files storage unit, this audio file carried out signal handle corresponding to this state, after will handling at last, output to the loudspeaker broadcast corresponding to the analog signal of this state.
Better, described audio signal processor and loudspeaker and described audio files storage unit constitute the removable storage playing device of a machine-independent people outside.
Described control subelement is connected by wireless mode with removable storage playing device.
At the described voice system that is used for robot, described audio files storage unit can comprise wireless communication line, and described control subelement is connected by wired or wireless mode with described audio files storage unit.
Particularly, described wireless mode is infrared or bluetooth approach; Described wired mode is connected with described audio files storage unit by USB interface, IEEE1394 interface, RS232 interface, SPI interface, IIC interface or RS485 interface for controlling subelement or described audio signal processor.
Described audio files storage unit is SD card, XD card, CF card, XF, mmc card or USB flash disk.
In another aspect of the present invention, described audio files storage unit also can be for placing the memory of robot interior, and it downloads or record described audio file by a communication interface from described audio file production unit or from the third party who stores the audio file that described audio file production unit makes.
At the above-mentioned voice system that is used for robot, described audio files storage unit is the storage that places robot interior, and it downloads or record described audio file by a communication interface from described audio file production unit or from the third party who stores the audio file that described audio file production unit makes.
In the audio files storage unit is the voice system that is used for robot that places the memory of robot interior, and described voice control module comprises control subelement, audio signal processor and loudspeaker; Described control subelement is connected with the audio files storage unit with audio signal processor respectively; Wherein, described control subelement is according to the status information of the robot that receives, and reads the audio file corresponding to this state from described audio files storage unit, and this audio file is sent to described audio signal processor; Described audio signal processor is used for that described audio file is carried out signal to be handled, with after handling, output to loudspeaker corresponding to the analog signal of this state and broadcast.
In the audio files storage unit is the voice system that is used for robot that places the memory of robot interior, and described voice control module comprises control subelement, audio signal processor and loudspeaker; Described audio signal processor is connected with the audio files storage unit with the control subelement respectively; Wherein, described control subelement sends the information of output corresponding to the voice data of this state that requires according to the status information of the robot that receives to audio signal processor; After described audio signal processor receives this information, read audio file from the audio files storage unit, this audio file carried out signal handle corresponding to this state, after will handling at last, output to the loudspeaker broadcast corresponding to the analog signal of this state.
Be used for the voice system of robot at above-mentioned each, described third party is internet or equipment that can storage file, and described equipment is computer, mobile phone or personal digital assistant.
Be used for the voice system of robot at above-mentioned each, in described audio files storage unit, store a plurality of audio files corresponding to a state of robot.
Be used for the voice system of robot at above-mentioned each, described audio file is MP3, WAV, WMA, MP2, OGG, APE, AAC, MIDI or VQF form.
Be used for the voice system of robot at above-mentioned each, described robot interior is provided with built-in memory, its storage is corresponding to the standard audio file of robotary, described voice control module is according to the robotary information that receives, and the voice data corresponding in the audio file of this state that will be stored in audio files storage unit or the built-in memory according to application conditions is converted to corresponding analog signal broadcast.
Particularly, described application conditions is user instruction or uses priority.
In order to solve above-mentioned technical problem, the present invention also provides a kind of robot with phonetic function, comprise control system, sensing system, drive system, executing agency and man-machine interface, described man-machine interface is used to carry out man-machine interaction, described control system is used to control described drive system, carry out corresponding work to drive described executing agency, described sensing system is used to detect the duty of described robot; Also comprise above-mentioned voice system, the duty of the described robot that described voice system arrives according to sensor system senses is play the audio file corresponding to this state.
Voice control module in the wherein said voice system is a component units of control system.
Described robot can be dust removal machine device people, accordingly, described sensing system comprise the sensor that is used for the testing environment, the sensor that is used for the testing state and with the corresponding signal processing circuit of sensor; Described executing agency is a cleaning unit; Described drive system comprises wheel and the drive motor thereof that is used to drive the work motor of cleaning unit work and is used for driven machine people walking; Described control system is used to control robot and finishes dedusting work, and cooperates described voice system to broadcast different audio files in different duties; Described man-machine interface is that described robot manipulation uses the interface.The described sensor that is used for the testing state comprises infrared sensor and/or piezoelectric transducer.
Compared with prior art, beneficial effect of the present invention is:
1, the audio files storage unit that relates among the present invention can be various storage cards of the prior art, its inner audio file can directly be stored or download by the third party from the audio file production unit of robot outside, the audio file production unit can be many families common equipment instruments such as mobile phone, computer, record or download various sound by common equipment, the sound source is very extensive, diversified;
2, because movable fixture is to record or download by being connected with family's common equipment instruments such as mobile phone, computers.During recorded speech, only need the user to aim at the microphone of mobile phone or computer, or adopt other many means such as wearing ear microphone to link to each other with the microphone interface of mobile phone or computer and record, the function that light realization is recorded can have been exempted " hardship of work "; Set up the download phonetic function in addition, only need choose or the computer mouse operation, can be implemented in " acoustic information storehouse " middle search, modification or the change file of " embracing a wide spectrum of ideas " by mobile phone key, very convenient, simple;
3, user's voice of recording voluntarily or downloading can not only play the voice suggestion that is used for the notifying state of self-moving cleaning robot state, and when other mode of operation is good when for example self-movement robot is in standby or is charging etc., store into corresponding under mobile apparatus mode of operation file by the voice document that will record or download, can realize lying fallow or the function of learning, thereby make phonetic function powerful, content is more diversified.
4, native system utilizes the self-contained device such as sound-recording functions such as speech coder, microphones in family's common equipment instrument, and linking to each other with family common equipment instrument by self-moving device fetches data itself that realization records or download and just become and be suitable for formats stored from family's existing equipment.The interface that the user only needs self-moving device and self-movement robot are provided with is connected, and can realize the function of speech play.This system has made full use of the original household device resource, has reduced the cost of self-movement robot system product itself.
5, the mode of recording or download voice document by employing is carried out the input of voice, demonstrated fully the friendly interaction between product self and the user, promoted the affinity of product, make the product of making by the present invention not only as a kind of instrument of manipulating, and more can from product, embody the individual subscriber speciality and increase the family life temperament and interest with this.
Description of drawings
Fig. 1 is the theory diagram with robot of voice system of the present invention;
Fig. 2 plays the flow chart of the embodiment of different audio files according to its state for the robot with voice system of the present invention;
Fig. 3 is the robot construction theory diagram with voice system embodiment one of the present invention;
Fig. 4 is the robot construction schematic diagram with voice system embodiment one of the present invention;
Fig. 5 is the robot construction theory diagram with voice system embodiment two of the present invention;
Fig. 6 is the robot construction theory diagram with voice system embodiment three of the present invention;
Fig. 7 is the robot construction theory diagram with voice system embodiment four of the present invention;
Fig. 8 is the robot construction theory diagram with voice system embodiment five of the present invention;
Fig. 9 is the robot construction theory diagram with voice system embodiment six of the present invention;
Figure 10 is the robot construction theory diagram with voice system embodiment seven of the present invention.
The specific embodiment
Referring to Fig. 1, Fig. 1 is the theory diagram with robot of voice system of the present invention.Robot 1 of the present invention has voice system 2, wherein, robot 1 comprises control system 500, sensing system 600, drive system 700, executing agency 800 and man-machine interface 900, described man-machine interface 900 is used to carry out man-machine interaction, described control system 500 is used to control described drive system 700, carry out corresponding work to drive described executing agency 800, described sensing system 600 is used to detect the duty of described robot.
Described voice system comprises an audio files storage unit 200 and a voice control module 300, and described audio files storage unit 200 stores the audio file that obtains from an audio file production unit 100.Described audio file production unit 100 is positioned at robot 1 outside, is separated with robot 1.Described voice control module 300 is connected to carry out reading or exchanging of information transmission and data in wired or wireless mode with described audio files storage unit 200.The work state information of 600 detected described robots of described voice control module 300 receiving sensor systems, this status information can directly send to voice control module 300 by sensing system 600, also can be to receive the information that sends by sensing system 600 by control system 500 earlier, after processing, send to voice control module 300 again by control system 500.Voice control module 300 is converted to corresponding analog signal broadcast according to the robotary information that receives with the voice data corresponding in the audio file of this state that is stored in the audio files storage unit 200.
In the present invention, described robot 1 can be for having the robot of various functions, as clean robot.Audio files storage unit 200 stores the audio file of informing robot 1 mode of operation.For example, be directed to clean robot, described mode of operation can be the stuck all multimodes such as state of state, cleaning brush that the state of operation beginning, irremovable state, work are finished.For different states, have one or more in the audio files storage unit 200 and its corresponding audio files.In addition, the voice data when clean robot operational state change is informed except storing in audio files storage unit 200, can also store clean robot and be in the audio-frequency information of a certain duty when good, be in holding state or just be in situation when charged state or other duty are good as clean robot.When described clean robot is in a certain stable kilter, audio files storage unit 200 can be stored in corresponding to the corresponding document of such mode of operation and comprise for used music or the contents such as cross-talk or opera of amusement and recreation, also can be to comprise for learning contents such as used foreign language news or short essay.
Because the audio file of storage is to obtain from the audio file production unit 100 of a robot outside in the audio files storage unit 200, the audio file of storage can be made, change, be revised by the user by user's requirement, hobby in the audio files storage unit 200.Therefore, no matter be that the audio file that the clean robot mode of operation changes is informed in storage, still store the audio file that clean robot is in a certain kilter, the user all can by with audio files storage unit 200 by with audio file production unit 100, be connected as family's common equipment instruments such as mobile phone, computers, utilize configurations such as speech coder that such family's common equipment possesses, microphone, the mode that employing is recorded or downloaded obtains audio file, and revises as required or the change voice data.According to user's hobby, such voice data can be voice or tune.For example: when the clean robot cleaning finished, the audio content that the user can be recorded or downloads " work is finished, and needs to have a rest " was stored in the audio files storage unit 200 in the file corresponding to " the work completion status " of clean robot.
Play according to the state of robot different audio files a specific embodiment flow process as shown in Figure 2.Voice control module 300 judges whether the information (S80) of operation beginning, if the order that user's input operation begins, voice control module 300 is received this information, voice control module 300 is checked the audio-frequency information of storage in the audio files storage unit 200, read the audio file of storing in corresponding " operation beginning " file, handle the back by loudspeaker output audio information " clean robot is started working " (S90), clean robot is carried out clean operation (S100) then.In the process of clean operation, the duty by sensing system 600 inspection clean robots judges whether to move (S110).For example: when clean robot runs into barrier can not be mobile the time, sensing system 600 sends to voice control module 300 with this information, voice control module 300 is checked the audio-frequency information of storing in removable memory, read audio file corresponding to the state that is detected, and the voice (S120) by loudspeaker output such as " run into obstacle, can not move ".Can inform the state of this clean robot of user apace by the voice that the user records voluntarily or downloads, thereby can respond fast, take measures necessary.The state of voice control module 300 rechecking clean robots and read and export corresponding audio-frequency information (S130) by loudspeaker is till the user imports the operational order that stops clean robot and exports corresponding audio-frequency information (S140).
Be under the situation that to inform mode of operation when robot except Fig. 2 gives an example, charged state or holding state etc. are similar to need not to inform under the situation of robot manipulation's state when self-movement robot is in, voice control module 300 can read and export the audio file corresponding to " need not to inform the clean robot operational state change " from audio files storage unit 200, voice data in this audio file can be information such as leisure song or English, related content had before had description, did not repeat them here.
In addition, utilize robot 1 good man computer interface, the user can also operate the audio file in the audio files storage unit 200, is transformed to the audio file of another state or the deletion of the audio file that will dislike as the audio file with a certain state.
In audio files storage unit 200, store a plurality of audio files corresponding to a state of robot.Described audio file can be various forms such as MP3, WAV, WMA, MP2, OGG, APE, AAC, MIDI or VQF.
Based on as above the theory diagram and the description of flow chart, robot realizes that the technical scheme of phonetic function is specific as follows among the present invention:
Referring to Fig. 3, be the robot construction theory diagram with voice system embodiment one of the present invention.
In the present embodiment, described voice system comprises control subelement 301, audio signal processor 302 and loudspeaker 303; Described control subelement 301 is connected with audio files storage unit 200 with audio signal processor 302 respectively; Described control subelement 301 is according to the status information of the robot that receives, the audio file that reads corresponding to this state from described audio files storage unit 200, and this audio file sent to described audio signal processor 302; Described audio signal processor 302 is used for that described audio file is carried out signal to be handled, with after handling, output to loudspeaker 303 corresponding to the analog signal of this state and broadcast, the system that comprises as for robot, because it is same as shown in Figure 1, for simplicity, no longer specifically expression in this figure and following figure.
In the present embodiment, described voice control module 300 is positioned at robot interior, audio files storage unit 200 is positioned at the robot outside, at this moment, control subelement 301 can be connected by wired or wireless mode with audio files storage unit 200, so that control subelement 301 reads audio file from audio files storage unit 200.
When audio files storage unit 200 is embodied as various storage cards, during as SD card, XD card, CF card, XF, mmc card or USB flash disk, can data-interface be set in the relevant position of robot, as USB interface, IEEE1394 interface, RS232 interface, SPI interface, IIC interface or RS485 interface, make control subelement 301 carry out transfer of data by above-mentioned interface and audio files storage unit 200.The concrete structure of implementing as shown in Figure 4.
In this embodiment, read audio files storage unit 200 sound intermediate frequency files, certainly, also can read audio files storage unit 200 sound intermediate frequency files by audio signal processor 302 by control subelement 301.As shown in Figure 5, Fig. 5 is the robot construction theory diagram with voice system embodiment two, after the status information of described control subelement 301 ' robot that basis receives, require the information of output corresponding to the voice data of this state to audio signal processor 302 ' transmission; Behind the described audio signal processor 302 ' receive this information, read audio file corresponding to this state from audio files storage unit 200, this audio file is carried out signal handles, after will handling at last, output to loudspeaker 303 ' broadcast corresponding to the analog signal of this state.
Can with the described audio signal processor 302 among Fig. 5 ' and loudspeaker 303 ' with the removable storage playing device of 200 formations, one machine-independent people outside, described audio files storage unit, as shown in Figure 6, Fig. 6 is the robot construction theory diagram with voice system embodiment three.Described audio signal processor 302 ' and loudspeaker 303 ' with the removable storage playing device 3 of 200 formations, one machine-independent people outside, described audio files storage unit, specifically can make the player that is similar to MP3 or MP4 product.Robot is connected with this player device 3 by the data-interface on it, message by control subelement 301 ' will the play audio file of corresponding a certain state sends to player device 3, after player device 3 receives this message, by the audio signal processor 302 that is positioned at player device 3 ' read the audio file on the audio files storage unit 200, by the loudspeaker 303 ' output audio signal on it.
Because the audio files storage unit 200 among Fig. 3, Fig. 5 and Fig. 6 all is the mobile storage means in the robot outside, then audio files storage unit 200 carries out the wire transmission except the above-mentioned mode with various interface, also can carry out transfer of data by wireless mode and robot.If carry out transfer of data wirelessly, need in audio files storage unit 200, to set up wireless communication line, self-evident, also corresponding wireless communication line should arranged on the voice control module or in the robot, constitute complete wireless transfer channel thus.Wireless transmission mode can have multiple, modes such as the simplest as infrared, bluetooth.Especially for when adopting player device 3, the control subelement 301 in player device 3 and the robot ' when message transfer, employing wireless transmission effect will be better.
Certainly, the audio files storage unit also can be arranged on robot interior, and from device downloads or recording audio files such as the computer of robot outside, mobile phones, its structure chart is shown in Fig. 7,8 by a communication interface for it.
As shown in Figure 7, Fig. 7 is the robot construction theory diagram with voice system embodiment four.Described voice system 300a comprises control subelement 301a, audio signal processor 302a and loudspeaker 303a; Described control subelement 301a respectively with audio signal processor 302a and audio files storage unit 200 ' be connected; The status information of the robot that described control subelement 301a basis receives, from described audio files storage unit 200 ' read audio file corresponding to this state, and this audio file is sent to described audio signal processor 302a; Described audio signal processor 302a is used for that described audio file is carried out signal to be handled, with after handling, output to loudspeaker 303a corresponding to the analog signal of this state and broadcast.
Fig. 8 is the robot construction theory diagram with voice system embodiment five.Described voice control module 300a ' comprises control subelement 301a ', audio signal processor 302a ' and loudspeaker 303a '; Described audio signal processor 302a ' respectively with control subelement 301a ' and audio files storage unit 200 ' be connected; Wherein, the status information of the robot that described control subelement 301a ' basis receives requires the information of output corresponding to the voice data of this state to audio signal processor 302a ' transmission; After described audio signal processor 302a ' receives this information, from audio files storage unit 200 ' read audio file corresponding to this state, this audio file is carried out signal handles, after will handling at last, output to loudspeaker 303a ' broadcast corresponding to the analog signal of this state.
When need to the audio files storage unit 200 among Fig. 7, Fig. 8 ' in audio file when changing, can pass through a data-interface, by a data wire and external equipment, be connected as computer, mobile phone etc., the mode of downloading by file with the downloaded in the external equipment to the audio files storage unit 200 that is positioned at robot interior ', also can by pass through as external audio documenting unit such as computer, cell-phone PDAs the data wire direct recording to this audio files storage unit 200 ' in.The various erasable memories in this audio files storage unit 200 ' specifically may be embodied as.
In the structure of the various embodiments described above, can also be provided with built-in memory 400 in robot interior, concrete as Fig. 9 of embodiment six correspondences and Figure 10 of embodiment seven correspondences, memory 400 stores the standard audio file corresponding to robotary, this standard audio file is that the producer by robot writes into, described voice control module 300,300 ', the robotary information that 300a or 300a ' basis receive, according to application conditions will be stored in audio files storage unit 200 or 200 ' or built-in memory 400 in the voice data corresponding in the audio file of this state be converted to corresponding analog signal and broadcast.Application conditions described here can be determined by actual conditions, as the instruction of user by the man-machine interface input, or the use priority of setting by user or producer, as when being connected to the audio files storage unit of external, audio file in the audio files storage unit of preferential use external, when not being connected to the audio files storage unit of external, use the audio file in this built-in memory 400.Perhaps, may select to use which memory cell by the user.
Again referring to Fig. 1, machine 1 of the present invention is sweeper or mop floor machine automatically automatically, perhaps is the dedusting robot.Difference in functionality according to robot, need the building block everywhere of the robot described in Fig. 1 is changed accordingly, for example, when being dedusting machine man-hour, accordingly, described sensing system 600 comprise the sensor that is used for the testing environment, the sensor that is used for the testing state and with the corresponding signal processing circuit of sensor; Described executing agency 800 is a cleaning unit; Described drive system 700 comprises wheel and the drive motor thereof that is used to drive the work motor of cleaning unit work and is used for driven machine people walking; Described control system 500 is used to control robot and finishes dedusting work, and cooperates described voice system 2 to broadcast different audio files in different duties; Described man-machine interface 900 is used the interface for described robot manipulation.More particularly, the described sensor that is used for the testing state comprises infrared sensor and/or piezoelectric transducer.
Said structure for the dedusting robot can be prior art, as being in the patent documentation of KR20040087185, WO07065033A2, WO0038026A1, WO0036969A1 embodiment to be arranged all at publication number, no longer repeats in this application.
The audio file of storing in the memory cell of the present invention can be operated by the user, as make amendment by the user, delete, replacing etc., and, memory cell can be embodied as various movably storage cards.This greatly facilitates the user and records or download various audio files by many families common equipment instruments such as mobile phone, computers, and source of sound is very extensive, various.
The present invention can set a plurality of states, not only can broadcast different sound when state changes, and is at a certain state and also can broadcasts the sound that use has all been set when stablizing.For example, be can send prompt tone when starting working with end-of-job, also can sound in the time of in work is carried out, as some light musics, news, learning materials etc.
Robot among the present invention may be embodied as the robot of all kinds, various functions.As small-sized household robots such as washing machine, electric cooker, dust catchers, also can be some industrial robots.By the voice system among the present invention, need not increase under the prerequisite of excessive cost, improved the compatibility of machine person-to-person communication, therefore increased the added value of these robots.
It should be noted last that: above embodiment is only unrestricted in order to explanation the present invention, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, the modification that the present invention is carried out or be equal to replacement under the premise without departing from the spirit and scope of the present invention all should be encompassed in the middle of the claim scope of the present invention.
Claims (10)
1. voice system that is used for robot, comprise audio files storage unit (200,200 ') and voice control module (300,300 ', 300a, 300a '), described audio files storage unit (200,200 ') stores the audio file that obtains from audio file production unit (100);
It is characterized in that, described audio file production unit (100) is positioned at the robot outside, described audio files storage unit (200,200 ') data of being stored can make according to user's demand, revise or change, described voice control module (300,300 ', 300a, 300a ') with described audio files storage unit (200,200 ') connect to carry out information transmission and data read, described voice control module (300,300 ') is according to the robotary information that receives, the voice data corresponding in the audio file of this state that will be stored in the audio files storage unit (200,200 ') is converted to corresponding analog signal broadcast.
2. the voice system that is used for robot according to claim 1, it is characterized in that, described audio files storage unit (200) is the memory cell of machine-independent people outside, it is connected with robot by wired or wireless mode, and this memory cell can be obtained described audio file from described audio file production unit (100) or from the third party who stores the audio file that described audio file production unit (100) makes.
3. the voice system that is used for robot according to claim 2 is characterized in that, described voice control module (300) comprises control subelement (301), audio signal processor (302) and loudspeaker (303); Described control subelement (301) is connected with audio files storage unit (200) with audio signal processor (302) respectively;
Wherein, described control subelement (301) is according to the status information of the robot that receives, reads the audio file corresponding to this state from described audio files storage unit (200), and this audio file is sent to described audio signal processor (302);
Described audio signal processor (302) is used for that described audio file is carried out signal to be handled, with after handling, output to loudspeaker (303) corresponding to the analog signal of this state and broadcast;
Perhaps, described voice control module (300 ') comprises control subelement (301 '), audio signal processor (302 ') and loudspeaker (303 '); Described audio signal processor (302 ') is connected with audio files storage unit (200) with control subelement (301 ') respectively;
Wherein, described control subelement (301 ') sends the information of output corresponding to the voice data of this state that requires according to the status information of the robot that receives to audio signal processor (302 ');
After described audio signal processor (302 ') receives this information, read audio file from audio files storage unit (200) corresponding to this state, this audio file is carried out signal handles, after will handling at last, output to loudspeaker (303 ') broadcast corresponding to the analog signal of this state.
4. the voice system that is used for robot according to claim 3, it is characterized in that described audio signal processor (302 ') and loudspeaker (303 ') and described audio files storage unit (200) constitute the removable storage playing device of a machine-independent people outside.
5. the voice system that is used for robot according to claim 3, it is characterized in that, described audio files storage unit (200) can comprise wireless communication line, and described control subelement (301) is connected by wired or wireless mode with described audio files storage unit (200); Perhaps, described audio signal processor (302 ') is connected by wired or wireless mode with described audio files storage unit (200).
6. the voice system that is used for robot according to claim 4 is characterized in that, described control subelement (301 ') is connected by wireless mode with removable storage playing device.
7. the voice system that is used for robot according to claim 1, it is characterized in that, described audio files storage unit (200 ') is for placing the memory of robot interior, its by a communication interface from described audio file production unit (100) or from third party's download of storing the audio file that described audio file production unit (100) makes or record described audio file.
8. according to claim 2 or the 7 described voice systems that are used for robot, it is characterized in that described third party is internet or equipment that can storage file, described equipment is computer, mobile phone or personal digital assistant.
9. the voice system that is used for robot according to claim 1 is characterized in that, in described audio files storage unit (200,200 '), stores a plurality of audio files corresponding to a state of robot;
Described audio file is MP3, WAV, WMA, MP2, OGG, APE, AAC, MIDI or VQF form;
Described robot interior is provided with built-in memory (400), its storage is corresponding to the standard audio file of robotary, described voice control module (300,300 ', 300a, 300a ') according to the robotary information that receives, the voice data corresponding in the audio file of this state that will be stored in audio files storage unit (200,200 ') or the built-in memory (400) according to application conditions is converted to corresponding analog signal broadcast;
Described application conditions is user instruction or uses priority.
10. robot with phonetic function, comprise control system (500), sensing system (600), drive system (700), executing agency (800) and man-machine interface (900), described man-machine interface (900) is used to carry out man-machine interaction, described control system (500) is used to control described drive system (700), carry out corresponding work to drive described executing agency (800), described sensing system (600) is used to detect the duty of described robot;
It is characterized in that, also comprise that described voice system is play the audio file corresponding to this state according to the duty of the detected described robot of sensing system (600) as the described voice system of arbitrary claim among the claim 1-9;
The artificial dust removal machine device of described machine people;
The described sensor that is used for the testing state comprises infrared sensor and/or piezoelectric transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910009253A CN101786274A (en) | 2009-01-24 | 2009-02-25 | Audio system used for robot and robot provided with audio system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910004003.1 | 2009-01-24 | ||
| CN200910009253A CN101786274A (en) | 2009-01-24 | 2009-02-25 | Audio system used for robot and robot provided with audio system |
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| Publication Number | Publication Date |
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| CN101786274A true CN101786274A (en) | 2010-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200910009253A Pending CN101786274A (en) | 2009-01-24 | 2009-02-25 | Audio system used for robot and robot provided with audio system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104410934A (en) * | 2014-12-05 | 2015-03-11 | 无锡硅动力微电子股份有限公司 | Bluetooth loudspeaker box lamp with sound message leaving function |
| CN105808501A (en) * | 2016-03-09 | 2016-07-27 | 北京众星智联科技有限责任公司 | Implementation of artificial intelligence learning |
| CN107186720A (en) * | 2017-07-07 | 2017-09-22 | 重庆瑞景信息科技有限公司 | Control system for robot |
| CN108665891A (en) * | 2017-03-28 | 2018-10-16 | 卡西欧计算机株式会社 | Sound detection device, sound detection method and recording medium |
| CN109272782A (en) * | 2018-09-13 | 2019-01-25 | 天津西青区瑞博生物科技有限公司 | A kind of education robot system |
| CN113661454A (en) * | 2020-01-22 | 2021-11-16 | 深圳市大疆创新科技有限公司 | Control method of unmanned robot and unmanned robot |
-
2009
- 2009-02-25 CN CN200910009253A patent/CN101786274A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104410934A (en) * | 2014-12-05 | 2015-03-11 | 无锡硅动力微电子股份有限公司 | Bluetooth loudspeaker box lamp with sound message leaving function |
| CN105808501A (en) * | 2016-03-09 | 2016-07-27 | 北京众星智联科技有限责任公司 | Implementation of artificial intelligence learning |
| CN108665891A (en) * | 2017-03-28 | 2018-10-16 | 卡西欧计算机株式会社 | Sound detection device, sound detection method and recording medium |
| CN108665891B (en) * | 2017-03-28 | 2023-05-02 | 卡西欧计算机株式会社 | Voice detection device, voice detection method, and recording medium |
| CN107186720A (en) * | 2017-07-07 | 2017-09-22 | 重庆瑞景信息科技有限公司 | Control system for robot |
| CN109272782A (en) * | 2018-09-13 | 2019-01-25 | 天津西青区瑞博生物科技有限公司 | A kind of education robot system |
| CN113661454A (en) * | 2020-01-22 | 2021-11-16 | 深圳市大疆创新科技有限公司 | Control method of unmanned robot and unmanned robot |
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