CN104698987A - Method of remotely controlling robot by Chinese speech - Google Patents
Method of remotely controlling robot by Chinese speech Download PDFInfo
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- CN104698987A CN104698987A CN201310641687.2A CN201310641687A CN104698987A CN 104698987 A CN104698987 A CN 104698987A CN 201310641687 A CN201310641687 A CN 201310641687A CN 104698987 A CN104698987 A CN 104698987A
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- G05B19/00—Programme-control systems
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- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
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Abstract
The invention discloses a method of remotely controlling a robot by Chinese speech, and belongs to the technical field of robots remotely controlled by Chinese speech. The method is characterized by comprising steps: Chinese speech inputted to a Chinese speech inputting remotely-controlled device module (1) is firstly converted into a Chinese text via a Chinese speech recognition module (2); the Chinese text is then transmitted to an upper computer system module (4) via a network transmission module (3); the module then converts the text into a Chinese text with well divided words via a Chinese text word dividing module (5); the Chinese text is then transmitted to a Chinese key word and program binding module (6) for being bound; bound computer programs are then transmitted to a computer program logic arrangement connection module (7) for being arranged; the programs after being arranged are transmitted to lower computer system modules (9) via a network transmission module (8); and execution modules (10) are controlled for execution. Due to the technical scheme, people can conveniently use Chinese speech to remotely control the robot to work.
Description
Technical field
The technical program belongs to Chinese speech telerobotics field.
Background technology
Current prior art Chinese speech remote-controlled robot, it is a thing being difficult to accomplish, on the market at present also not by the technology of voice remote control robot, even if having but be also simply order some of robot substantially, substantially be that " saying one theory " robot device " makes a motion ", the technology allowing robot automatically complete series of complex action under non-at-scene real-time non real-time Chinese speech controls also does not occur at present, and this just brings the obstacle being difficult to go beyond with the work of Chinese speech remote-controlled robot to people.
Summary of the invention
The proposition of the technical program is exactly to solve above-mentioned these problems occurred.The technical program solves above-mentioned produced problem by a kind of technology of method of Chinese speech remote-controlled robot specifically:
The feature of its method run of the technical program and step is: input Chinese speech telechiric device module (1) first converts the Chinese speech of this module of input to Chinese language text by the Mandarin speech recognition module (2) be stored in this module, then the upper PCs system module (4) of control is transferred to by network transmission module (3), this module again by described Chinese language text by being stored in the Chinese language text formed by Chinese character or Chinese phonetics codes or the Chinese phonetic alphabet of Chinese language text word-dividing mode (5) conversion composition good word in the upper PCs system module of control, then described Chinese language text is transferred to and is stored in Chinese keyword in the upper PCs system module of control and computer program binding module (6) in advance, keyword in described Chinese language text is bound with corresponding computer program by this module, computer program after binding passes to computer program logic arrangement link block (7) be stored in the upper PCs system module of control again, described computer program arranges by the priority logical order performed by this module, be transferred to the slave computer computer system module (9) of various control by network transmission module (8) after arrangement, and control various execution module (10) execution completing robot specifications action by this module.
The Chinese phonetics codes that 26 Latin alphabets can be adopted to represent due to the technical program is to express Chinese information, and when direct term syllable code represents Chinese information, its usage in punctuation is identical with English usage in punctuation, this ensures that there the expression punctuation mark of Chinese information interior all completely the same with ASCII character, also namely compatible with ASCII character 100%, after having had the technical program, this ensures that there whole system to run in the computing machine of ASCII character system, can be convenient for people to carry out remote-controlled robot work with Chinese speech simultaneously.
Accompanying drawing explanation
Fig. 1 is the method schematic diagram of Chinese speech remote-controlled robot of the present invention.
Embodiment
Below in conjunction with embodiment, the specific embodiment of the present invention is further described.
Chinese phonetics codes described in the technical program is in units of word, here Chinese character is regarded as monosyllable, according to the phonetic in " Scheme for the Chinese Phonetic Alphabet " of each syllable of this word of composition, successively by the sequential encoding of " acoustic code+Jie's code+rhyme code+tune code is held concurrently every syllable symbol ", the syllable of same word separates write the two or more syllables of a word together without space, coding space between word and word separates, when Chinese information represent be in Chinese phonetics codes state time, its usage in punctuation is identical with English usage in punctuation.
In order to the code element of Chinese phonetics codes being controlled within the scope of 26 Latin alphabets, the effect simultaneously making " tune code " to double as " every syllable symbol " can find full expression, and the coding method of each syllable sound, rhyme, tone of the Chinese phonetics codes that the technical program adopts adopts following method:
It is to be noted: the symbol below after dash "-" is Chinese phonetic symbols, the letter before dash "-" is the coding of each syllable sound, rhyme, tone of adopted Chinese, below all with, below by following control table referred to as code table:
1, the coded identification of acoustic code adopts the letter character of the initial consonant basically identical with the Scheme for the Chinese Phonetic Alphabet, such as adopts the coding form of this acoustic code below:
b—b ; p—p ; m—m ; f—f ; d—d ; t—t ;
n—n ; l—l ; g—g ; k—k ; h—h ;
j—zh， j ; q—ch，q ; x—sh，x ;r—r ;
z—z ; c—c ; s—s ; y—y ; w—w 。
2, Chinese phonetic alphabet referral letter (ü) adopts a letter representation in 26 Latin alphabets, such as adopts the coding form of this Jie's code below:
i—i ; u—u ; y—ü 。
3, the coding of rhyme code, single vowel is adopted to a letter representation in 26 Latin alphabets except (ü) except, other adopts the letter character identical with the Chinese phonetic alphabet, the composite vowel of the Chinese phonetic alphabet can adopt the form that " Scheme for the Chinese Phonetic Alphabet " is identical, also a consonant can be adopted to encode, such as adopt the simple or compound vowel of a Chinese syllable of this letter character to the Chinese phonetic alphabet below to encode:
a—a ; o—o ; e—e ; i—i ; u—u ; y—ü ;
k—ao ; c— ai ; s—an ; x—ou ; w—ei ; n—en ;
z—ua ; l—uo ; b—ang ; d—ong ; p—eng ；
q—ing ; g—ng ; er—er ;
R-i; " when i only spells with Chinese Pin Yin pseudonym zh, ch, sh phase, the coding r of the i phonetic code of the Chinese phonetic alphabet represents ".That is: zhi, chi, shi of the Chinese phonetic alphabet represent with jr, qr, xr of phonetic code respectively.J and R or Q and R or X and R and E and R two key mapping inputs are pressed respectively when jr or qr or xr and er input through keyboard.
4, adjust the coding of code except employing Chinese no consonant v represents the upper sound (∨) of the Chinese phonetic alphabet, other adopts vowel to represent the tone of Chinese, such as adopts the tone of letter below to the Chinese phonetic alphabet to encode:
A---, high and level tone; E-/, rising tone; V-∨, upper sound; U-, falling tone;
O-phonetic does not mark tone mark softly, softly.
Chinese phonetics codes usage in punctuation is identical with English usage in punctuation, and such as: its six kinds of periods, seven kinds of labels adopt the form identical with English with the number of dividing a word with a hyphen at the end of a line;
Here owing to regarding the independent Chinese character used as monosyllable, therefore, the method of encode Chinese characters for computer of the present invention is identical with the method for Chinese language words syllable coding, adopt single syllable coding by obtaining word coding after word write the two or more syllables of a word together in the present invention, be made up of several words one group of word is called phrase by us, the present invention adopt the coding of phrase identical with the coding of Chinese sentence, because word can represent phrase and Chinese sentence, the coding of therefore adopted in the present invention phrase and the coding of Chinese sentence can be realized by the coding of word, and do not need to formulate a set of coding specially in addition to phrase and Chinese sentence, it is general when whole sentence entire chapter represents Chinese information in units of word, the selection carrying out homophone word is not generally needed when understanding, sound the sentence that can not produce ambiguity in principle, also can not produce ambiguity when expressing with coding.
When keying in the punctuation mark of Chinese phonetics codes and Chinese phonetics codes statement with keyboard, 26 Latin alphabets of composition Chinese phonetics codes coding are identical corresponding completely one by one with 26 letter keys of western language QWERTY keyboard, the punctuation mark key of Chinese phonetics codes statement and the punctuation mark key of western language QWERTY keyboard are also identical corresponding one by one, when input Chinese speech code letter and punctuation mark, only need the corresponding identical key mapping impacting western language QWERTY keyboard.
For the ease of understanding, the specific implementation step of the technical program is described below with a robot as an example for the voice of the Chinese sentence of an input handset:
Such as we are to the Chinese speech of the Chinese language text below 2.5G or 3G that can send short messages or 4G cell phone input:
" first prepare a cup of Java to me this afternoon 2 then to wake me up.”
This mobile phone is equivalent to the input Chinese speech telechiric device module 1 in the technical program, and first this module converts the Chinese speech of this module of input to Chinese language text by the Mandarin speech recognition module 2 be stored in this module:
" first prepare a cup of Java to me this afternoon 2 then to wake me up.”
Then the short message content of above-mentioned Chinese language text can be dealt into by 2.5G or 3G or 4G wireless transport module in the upper PCs system module 4 of the control of binding by we, the upper PCs system module 4 li of this control is equipped with 2.5G or 3G or 4G radio SMS transmission and reception apparatus, similar we at ordinary times mobile phone can receive send note the same, after the upper PCs system module 4 of control receives above-mentioned Chinese language text short message content, described Chinese language text is changed the Chinese language text formed by Chinese character or Chinese phonetics codes or the Chinese phonetic alphabet of the good word of composition by this module again by the Chinese language text word-dividing mode 5 be stored in the upper PCs system module of control, the corresponding module that the principle of work of the Chinese language text word-dividing mode 5 in the upper PCs system module of control and method can adopt prior art is stored in described in the present embodiment, such as: adopt
"chinese text intelligent participle method
"carry out participle.
After the above-mentioned Chinese language text word-dividing mode 5 be stored in the upper PCs system module of control processes, the upper PCs system module 4 of control finally all can obtain the Chinese sentence of following Chinese speech representation:
Zcu jinatisa xiauwuv 2 disv xxvxisa junvbwu yiubwa kaafwa rxvhxu husuxqv wov.
Chinese phonetics codes also can become the sentence represented with Chinese character of following point good word by this module converts:
" first prepare a cup of Java this afternoon 2 then to wake me up.”
Omiting to simplify the sentence describing Chinese phonetic alphabet composition here, being just not repeated here.
By with the conversion of upper module, we achieve and change by Chinese speech the Chinese phonetics codes, Chinese character, the Chinese phonetic alphabet that come, in like manner to other by Chinese speech change come Chinese language text, we also can adopt above identical method to transform, and are just not repeated here
Omiting to simplify the sentence describing Chinese phonetic alphabet composition here, being just not repeated here.
It is worthy of note: why the described Chinese language text word-dividing mode 5 be stored in the upper PCs system module of control adopts Chinese text intelligent participle method to carry out participle when the Chinese language text that will have identified carries out participle, be because only have employing Chinese text intelligent participle method to carry out participle just can obtain better technique effect.
Concrete keyword and computer program are bound and computer program logic arranges and computer program carrying out practically process is as follows:
Here jinatisa is " today " by the Chinese meaning that Chinese character represents, after this keyword is extracted, the upper PCs system module 4 of control can go to look into calendar, the date finding today is such as on February 1st, 2013, this date will be extracted the program date parameter started as robot work and join in the program of robot work startup by the upper PCs system module 4 of control, in like manner " xiauwuv 2 disv " is " 2 pm " by the Chinese meaning that Chinese character represents, after this crucial phrase is extracted, if the upper PCs system module 4 of control is by timing in 24 hours, the upper PCs system module 4 of control can be converted into 14 points automatically, and this time is extracted start executive routine time parameter as robot and join in the program that robot starts working, if by 12 time timing, then this time is directly extracted the program time parameter of starting working as robot and joins in the program that robot starts working by the upper PCs system module 4 of control, here the junvbwu yiubwa kaafwa Chinese meaning that Chinese character represents is " preparation a cup of Java ", after this group keyword is extracted, the upper PCs system module 4 of control can go check and control system " robot " to perform junvbwu yiubwa kaafwa(and prepare a cup of Java) program.
It is pointed out that the mode that keyword and computer program are bound can be varied, just can as long as effectively bind effect can be reached.
In the present embodiment, described Chinese keyword in the upper PCs system module of control and the computer program binding module 6 of being stored in is that the mode setting up corresponding relation vocabulary or correspondence database by keyword and program function name is bound, first the upper PCs system module 4 tying up timing controlled robot extracts the keyword wanting binding procedure, and then go to check and should be related to vocabulary or correspondence database, after finding corresponding program function name, described program function name is transferred to the computer program logic arrangement link block 7 be stored in the upper PCs system module of control, described program function name is aligned in the agenda that will perform by the priority logical order performed by this module, when performing the program of this program function name, the upper PCs system module 4 of control or the slave computer computer system module 9 of various control will be called the computer program corresponding with this program function name and perform from respective routine library.
Such as, in this example for keyword " junvbwu yiubwa kaafwa(prepares a cup of Java) ", when keyword and computer program are bound, first the upper PCs system module 4 of control extracts wants the keyword of binding procedure " junvbwu yiubwa kaafwa(prepares a cup of Java) " to go to check and should be related to vocabulary or correspondence database, after finding this program, the program name of this program and junvbwu yiubwa kaafwa(are prepared a cup of Java) carry out binding also as the program that will perform, be stored in upper PCs after the logical order arrangement that follow procedure performs, the upper PCs system module 4 of control is when carrying out whole program and performing, program corresponding for this program name is first extracted from program function storehouse, and then after the specific tasks decomposition that will complete, mail to the slave computer computer system module 9 of the various controls corresponding with completing this task address, and control by the slave computer computer system module 9 of this various control the program that the various execution module 10 completing robot specifications action performs the above-mentioned control work received, such as, the upper PCs system module 4 of control is when " preparation a cup of Java " program of execution, usually to be found self-position by self-contained location positioning system and the position of beverage machine of coffee can be manufactured, then, towards the direction motion reducing robot and described beverage machine distance, until to stopping the position that makes a cup of Java of beverage machine described in handled easily, then the action from described beverage machine dress a cup of Java is performed, after executing this action, again this cup of coffee is delivered to the position that the convenient owner sending above-mentioned instruction to described robot takes, and then the instruction of requirement robot work is below performed again.In execution said procedure process, need the ground moving mechanism of whole Task-decomposing to robot, arm action mechanism, positioning system modules etc., the slave computer computer system module 9 that these all micromotions issue corresponding various control after having the upper PCs system module 4 of control to decompose controls the various execution module 10 completing robot specifications action accordingly and performs, and according to the implementation status that the slave computer computer system module 9 of various control is fed back, coordinate and decompose next step performing of task to the slave computer computer system module 9 of various control.
Here xxvxisa and rxvhxu is " first " and " then " by the Chinese meaning that Chinese character represents respectively, because these two words do not have corresponding computer program corresponding with them, therefore, we claim this word to be non-key word, conjunction is belonged in Chinese, the implication of these two non-key words will come immediately following before rxvhxu subsequent course immediately following the program after xxvxisa, first perform than the program come after immediately following rxvhxu immediately following the program after xxvxisa during execution, here husuxqv is " waking up " by the Chinese meaning that Chinese character represents, after this keyword is extracted, the upper PCs system module 4 of control will go the robot program looking into " waking up ", after finding the program of the robot that this " wakes up ", because then the robot program of " waking up " closelys follow rxvhxu() after, therefore the upper PCs system module 4 of control will by this Program extraction out by the rule of the priority logical order arrangement performed, this section of program module is arranged in immediately following after the program after " first ", namely also after program " junvbwu yiubwa kaafwa(prepares a cup of Java) ", what " wov " in sentence represented with Chinese character is meant to " I ", due to this " I ", immediately following after " waking up ", the object that upper PCs system judges accordingly " waking up ", therefore, " I " is joined in wake up procedure as the image parameter of wake up procedure action, when performing wake up procedure, after robot first adopt certain technological means such as infrared ray to locate location recognition that device or pattern recognition device or default owner sleep usually goes out owner " position ", start to move according to reducing the direction of robot with the distance of " I ", until wake actions can be applied to and the clear position hearing the sound of owner " I " of energy, after arriving this position, robot starts to send the sound waking " I " up, such as: by gently to progressively ring musical sound, and every three seconds, with synthetic speech asks " you wake up? " then intercept, when hearing the sound containing " having waken up " keyword, robot stops sending the sound waking " I " up, otherwise the program process continued above.
So far, Chinese language text has completed the computer program that whole text needs to transfer, and has carried out the connection of correct procedure parameter assignment and program priority execution sequence.
When meeting launcher condition, here be " some this afternoon 2 ", robot is under the upper PCs system module 4 of control controls coordination, point task that the slave computer computer system module 9 of various control transmits according to the upper PCs system module 4 of control is shared out the work and helped one another, according to the program of binding with keyword above and successively execution order perform and just can complete Chinese and be meant to " first prepare a cup of Java this afternoon 2 then to wake me up." whole tasks.
It is to be noted: the data message amount being transferred to the slave computer computer system module 9 of various control in order to the upper PCs system module 4 reducing control by network transmission module, to the program stored in the slave computer computer system module 9 of various control, the upper PCs system module 4 of control is when carrying out keyword and programmatic binding, only bind with corresponding program name, when the slave computer computer system module 9 passing to various control controls to perform, from the program storage system of oneself, corresponding program execution is recalled according to corresponding program name by the slave computer computer system module 9 of various control, thus the various execution modules 10 completing robot specifications action reaching control complete the control run action of regulation.
For the computer program do not had in the slave computer computer system module 9 of various control, it is transferred to by the upper PCs system module 4 of control, when the upper PCs system module 4 of control does not have corresponding computer program yet, the upper PCs system module 4 of control can be connected to the server of specifying by network, comprise the enterprising line search of Cloud Server and download, be transferred to the slave computer computer system module 9 of various control after download again and store by consolidator name, so that next time and keyword are bound and call execution.
Due to the difference of everyone word custom, some people's possibility word not necessarily standard, at this moment synonym and the near synonym table of comparisons can be stored in advance in the upper PCs system module 4 of control, and the Code words approved by the upper PCs system module 4 that synonym and the near synonym table of comparisons of setting come automatically to convert nonstandard word to control by the upper PCs system module 4 of control, keyword in the upper PCs system module 4 of control must be the Code words that the upper PCs system module 4 of control is approved, such as: " come, race is come, come over " " coming " this word can be unified by the table of comparisons, and bind in advance with corresponding computer program module.
Because computer programming language is when calling program module, often call by the program that the English spelt by 26 Latin alphabets is write, 26 Latin alphabets belong to ASCII character scope, normally operation is no problem for the upper PCs system module 4 of control, because code system in Chinese character does not belong to ASCII character scope, if directly adopt Chinese character statement to call computer program, the upper PCs system module 4 of control can not ensure normal operation, therefore, Chinese-character text is first converted to Chinese phonetics codes and reruns by the technical program, because Chinese phonetics codes is the same as with English 26 Latin alphabet spellings, and punctuation mark is consistent with English, this ensure that the ISN of run Chinese information is within the scope of ASCII character, thus guarantee that the technical program can normally be run in the upper PCs system module 4 of all controls or the slave computer computer system module 9 of various control.
If the upper PCs system module 4 of control Chinese character can directly transfer above computer program, also Chinese character keyword directly can be bound computer program.
By that analogy, due to the object owing to controlling in this example, time, the change of the Chinese language text that the action of control object can be converted to by Chinese speech and changing, therefore, to other control object, the action of time and control object can adopt said method carry out the remote control of robot and run, such as to telepilot send following Chinese the meaning Chinese speech carry out control work: turn on radio and be transferred to 990 channels, talk the news of today, a first melodious light music is put to me, sing pleasing to the ear song of a head etc., its implementation procedure with to illustrate above similar, here just do not tire out one by one and state.
The upper PCs system module 4 of described control the formal slave computer computer system module 9 by various control control the various execution module 10 completing robot specifications action perform time, be divided into two kinds of mode operations, one is automatic operational mode, this pattern is run automatically according to the understanding of upper PCs system module 4 to the received Chinese language text of being come by Chinese speech conversion of described control, and the slave computer computer system module 9 beginning through various control is controlled the various execution module 10 completing robot specifications action and perform the action that will produce or the function that will reach and export with the phonetic synthesis form of Chinese language text or this Chinese language text.
Such as, in example above, the upper PCs system module 4 of control understanding of receive come by Chinese speech conversion Chinese language text information, correctly call bound program and carry out according to correct actuating logic, on the basis of execution sequence arrangement, exporting: " first prepare a cup of Java this afternoon 2 then to wake me up." Chinese-character text information or this Chinese-character text phonetic synthesis after voice, the Chinese language text information that the conversion of this Chinese speech is come also can convert Chinese phonetics codes or foreign language to or minority language exports.
Another kind is inquiry affirmation mode, under this pattern, the upper PCs system module 4 of described control first correctly corrects the received Chinese language text of being come by Chinese speech conversion and the optimization of executive routine, and feed back a process and correctly correct the Chinese language text optimised with executive routine, also should can be synthesized through Chinese syllable synthesis module by Chinese language text and be exported by input Chinese speech telechiric device module 1 in the form of speech, commencement of commercial operation again after confirming.
Such as: the upper PCs system module 4 of control receives the Chinese language text of the following meaning that a section is come by Chinese speech conversion: the upper PCs system module 4 of " first preparing a cup of Java this afternoon 2 then to wake me up " control detects and now have passed through point in the morning 2, can automatically by set of time 2 points in the afternoon, detect that immediate one section makes the more optimal Chinese language text of calling program with this Chinese language text in the Chinese language text simultaneously stored in advance at the upper PCs system module 4 of control, can at this moment the upper PCs system module 4 of control export Chinese language text information or the Chinese speech of following Chinese meaning: " select in this afternoon 2 and first prepare a cup of Java milk of adding some points and then wake me up " you confirm? send and confirm Chinese language text or Chinese speech or other confirmations, the upper PCs system module 4 of control just using this Chinese language text as the Chinese language text finally received, according to the step in case above, add " milk program of adding some points " meet preset condition time robot start working.
After Chinese-character text changed by Chinese character and Chinese voice code bidirectional modular converter, Chinese character and Chinese phonetics codes can be changed mutually, therefore the technical program describe in, everyly can use Chinese speech representation by the information that Chinese character represents, vice versa, just do not state tired respectively here describing of the technical program.
Described input Chinese speech telechiric device module 1 or the upper PCs system module 4 of control have the automatic training function of voice command, upper PCs system module 4 operator of input Chinese speech telechiric device module 1 or control is before controlling whole robot and running with voice command, Chinese speech order one rule Chinese speech that it can perform by the upper PCs system module 4 inputting Chinese speech telechiric device module 1 or control is bright to read out, require that operator is with reading, and Chinese speech order operator run as template and with the whole robot of control corresponding to this sound template with the voice read or corresponding executive routine are stored in the upper PCs system module 4 inputting Chinese speech telechiric device module 1 or control after binding.
The upper PCs system module 4 of described telechiric device or control with the automatic training and operation person of voice command with when reading voice command, except sending corresponding Chinese speech, the voice of Chinese dialects, the voice of minority language, foreign language voice can also be sent according to setting in advance.
Described operator comprises Chinese putonghua speech, the voice of Chinese dialects, the voice of minority language, foreign language voice, a kind of special sound that can distinguish mutually with the sound of other voice command with the voice read
Such design mainly facilitates various crowd, as long as do not obscure the sound sent computing machine and the program of binding, the special sound can be adopted mainly to consider some crackjaw deaf-mutes, this wants them can send a kind of special sound that can distinguish mutually with the sound of other voice command, the upper PCs system module 4 of control will be remembered and perform the program of relevant binding, robot considers that deaf-mute does not hear, so will feed back to deaf and dumb robot manipulation person by fill order text importing simultaneously.
The people of standard Chinese is not mainly conveniently understood in such arrangement, and these just can realize by existing voice synthetic technology modules such as voice synthetic modules.
The upper PCs system module 4 of described telechiric device or control is when carrying out voice command and automatically training, voice command one rule Chinese speech that initiatively it can be performed is bright read out while, read aloud voice command can be shown from display screen by the consistent Chinese character of meaning, the Chinese phonetic alphabet, Chinese phonetics codes, minority language, foreign language words according to setting in advance.
The voice command that described input Chinese speech telechiric device module 1 or the upper PCs system module 4 of control have, can be concrete requirement robot take certain action voice command, also can be the voice call instruction of the program module of binding with certain prioritization scheme, when this module is by voice command calls, do not require to send out voice command for certain concrete action, as long as and send the voice command of the object that will reach, automatic according to the object that will reach by the upper PCs system module 4 of control, find the program of the prioritization scheme corresponding with this voice command and the various work orders of said procedure be transferred to the slave computer computer system module 9 of various control by network transmission module 8, and performed by the various execution module 10 completing robot specifications action of this module control.
Such as: people can require both to have required to keep certain beverage temperature to " old man and baby " by robot, and beverage can not be too boiling hot simultaneously, at this time the upper PCs system module 4 of control will be found and bind and both require to keep certain beverage temperature program that beverage can not be too boiling hot simultaneously to " old man and baby ", be transferred to the slave computer computer system module 9 of various control, and performed by the various execution module 10 completing robot specifications action of this module control.
The upper PCs system module 4 of control is correctly finished the work necessary various running parameter, if the upper PCs system module 4 of control is thought when needing operator to provide, the form that can combine with word with voice or word or voice, initiatively send inquiry to operator, until the upper PCs system module 4 of control recognizes all necessary running parameters.
Such as: be that baby or old man or person between twenty and fifty cannot feel for robot to what have a drink, if when the upper PCs system module 4 of control needs to know, its initiatively can inquire the sentence of the following meaning to operator by the upper PCs system module 4 of telechiric device or control with the Chinese speech preset: " being what kind of person drinks this beverage? " people do the answer of following equivalent with Chinese speech: " old man " or " baby ", at this time the upper PCs system module 4 of control will go to find the program making " old man " or " baby " beverage, correct sequence and connection is carried out after finding, the slave computer computer system module 9 of the various controls of corresponding control will be passed to after Task-decomposing by the upper PCs system module 4 of control and control by this computing machine the action that the various execution module 10 completing robot specifications action completes the above-mentioned procedure stipulation for " old man " or " baby ".
Chinese language text described in the technical program comprise Chinese-character text, Chinese phonetic alphabet text, Chinese phonetics codes text and all accurately can express the character text of Chinese information.
By said method, we achieve and carry out remote control as telechiric device to robot with mobile phone.
The upper PCs system module 4 of the control described in the technical program or the slave computer computer system module 9 of various control can be desktop computer or notebook computer or server or cloud computer system, also can be embedded computer systems.
The Chinese speech that described input Chinese speech telechiric device module 1 receives can be inputted by microphone or phone input, and the information transmission network that microphone input or phone input adopt can be cable network also can be wireless network.
Described input Chinese speech telechiric device module 1 refers to that all Mandarin speech recognition that can carry out also to the device of the upper PCs system transmission character text information of control, can comprise: landline telephone system, mobile phone, desktop computer, notebook computer, net book, individual digital information assistants PDA, telepilot, information communication software module.
Described network transmission module 3 or network transmission module 8, contain cable network and wireless network software and hardware transmission system and transport module, comprising: Fixed Telephony transmission system, power line communication transmission system, cable of cable TV communication transmission system, the Internet, LAN (Local Area Network), 2.5G, 3G, 4G, wifi, wimax, bluetooth, Zigbee short range double-direction radio networked system, CAN serial bus control LAN system, LED wireless network transmission system.
Because the above-mentioned part not launching to describe further is prior art, therefore, be just not repeated here.
Claims (10)
1. the method for a Chinese speech remote-controlled robot, the feature of its method run and step is: input Chinese speech telechiric device module (1) first converts the Chinese speech of this module of input to Chinese language text by the Mandarin speech recognition module (2) be stored in this module, then the upper PCs system module (4) of control is transferred to by network transmission module (3), this module again by described Chinese language text by being stored in the Chinese language text formed by Chinese character or Chinese phonetics codes or the Chinese phonetic alphabet of Chinese language text word-dividing mode (5) conversion composition good word in the upper PCs system module of control, then described Chinese language text is transferred to and is stored in Chinese keyword in the upper PCs system module of control and computer program binding module (6) in advance, keyword in described Chinese language text is bound with corresponding computer program by this module, computer program after binding passes to computer program logic arrangement link block (7) be stored in the upper PCs system module of control again, described computer program arranges by the priority logical order performed by this module, be transferred to the slave computer computer system module (9) of various control by network transmission module (8) after arrangement, and control various execution module (10) execution completing robot specifications action by this module.
2. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: described Chinese phonetics codes is in units of word, here Chinese character is regarded as monosyllable, according to the phonetic in " Scheme for the Chinese Phonetic Alphabet " of each syllable of this word of composition, successively by the sequential encoding of " acoustic code+Jie's code+rhyme code+tune code is held concurrently every syllable symbol ", the syllable of same word separates write the two or more syllables of a word together without space, coding space between word and word separates, when Chinese information represent be in Chinese phonetics codes state time, its usage in punctuation is identical with English usage in punctuation.
3. the method for Chinese speech remote-controlled robot as claimed in claim 1 or 2, it is characterized in that: when keying in the punctuation mark of Chinese phonetics codes and Chinese phonetics codes statement with keyboard, 26 Latin alphabets of composition Chinese phonetics codes coding are identical corresponding completely one by one with 26 letter keys of western language QWERTY keyboard, the punctuation mark key of Chinese phonetics codes statement and the punctuation mark key of western language QWERTY keyboard are also identical corresponding one by one, when input Chinese speech code letter and punctuation mark, only need the corresponding identical key mapping impacting western language QWERTY keyboard.
4. the method for Chinese speech remote-controlled robot as claimed in claim 1, is characterized in that: the described Chinese language text word-dividing mode (5) be stored in the upper PCs system module of control adopts Chinese text intelligent participle method to carry out participle when the Chinese language text that will have identified carries out participle.
5. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: described in be stored in Chinese keyword in the upper PCs system module of control and computer program binding module (6) be that the mode setting up corresponding relation vocabulary or correspondence database by keyword and program function name is bound, first the upper PCs system module (4) tying up timing controlled robot extracts the keyword wanting binding procedure, and then go to check and should be related to vocabulary or correspondence database, after finding corresponding program function name, described program function name is transferred to computer program logic arrangement link block (7) be stored in the upper PCs system module of control, described program function name is aligned in the agenda that will perform by the priority logical order performed by this module, when performing the program of this program function name, the upper PCs system module (4) of control or the slave computer computer system module (9) of various control will be called the computer program corresponding with this program function name and perform from respective routine library.
6. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: to the program stored in the slave computer computer system module (9) of various control, the upper PCs system module (4) of control is when carrying out keyword and programmatic binding, only bind with corresponding program name, when the slave computer computer system module (9) passing to various control controls to perform, from the program storage system of oneself, corresponding program execution is recalled according to corresponding program name by the slave computer computer system module (9) of various control,
For the computer program do not had in the slave computer computer system module (9) of various control, it is transferred to by the upper PCs system module (4) of control, when the upper PCs system module (4) of control does not have corresponding computer program yet, the upper PCs system module (4) of control can be connected to the server of specifying by network, comprise the enterprising line search of Cloud Server and download, be transferred to the slave computer computer system module (9) of various control after download again and store by consolidator name, so that next time and keyword are bound and call execution.
7. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: the upper PCs system module (4) of described control formal by the slave computer computer system module (9) of various control control various complete execution module (10) execution of robot specifications action time, be divided into two kinds of mode operations, one is automatic operational mode, this pattern is run automatically according to the understanding of upper PCs system module (4) to the received Chinese language text of being come by Chinese speech conversion of described control, and the slave computer computer system module (9) beginning through various control is controlled the various execution module (10) completing robot specifications action and perform the action that will produce or the function that will reach and export with the phonetic synthesis form of Chinese language text or this Chinese language text, another kind is inquiry affirmation mode, under this pattern, the upper PCs system module (4) of described control first correctly corrects the received Chinese language text of being come by Chinese speech conversion and the optimization of executive routine, and feed back a process and correctly correct the Chinese language text optimised with executive routine, also should can be synthesized through Chinese syllable synthesis module by Chinese language text and be exported by input Chinese speech telechiric device module (1) in the form of speech, commencement of commercial operation again after confirming.
8. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: described input Chinese speech telechiric device module (1) or the upper PCs system module (4) of control have the automatic training function of voice command, upper PCs system module (4) operator of input Chinese speech telechiric device module (1) or control is before controlling whole robot and running with voice command, Chinese speech order one rule Chinese speech that it can perform by the upper PCs system module (4) inputting Chinese speech telechiric device module (1) or control is bright to read out, require that operator is with reading, and Chinese speech order operator run as template and with the whole robot of control corresponding to this sound template with the voice read or corresponding executive routine are stored in after binding and input in the upper PCs system module (4) of Chinese speech telechiric device module (1) or control,
The upper PCs system module (4) of described telechiric device or control with the automatic training and operation person of voice command with when reading voice command, except sending corresponding Chinese speech, the voice of Chinese dialects, the voice of minority language, foreign language voice can also be sent according to setting in advance;
Described operator comprises Chinese putonghua speech, the voice of Chinese dialects, the voice of minority language, foreign language voice, a kind of special sound that can distinguish mutually with the sound of other voice command with the voice read;
The upper PCs system module (4) of described telechiric device or control is when carrying out voice command and automatically training, voice command one rule Chinese speech that initiatively it can be performed is bright read out while, read aloud voice command can be shown from display screen by the consistent Chinese character of meaning, the Chinese phonetic alphabet, Chinese phonetics codes, minority language, foreign language words according to setting in advance;
The voice command that described input Chinese speech telechiric device module (1) or the upper PCs system module (4) of control have, can be concrete requirement robot take certain action voice command, also can be the voice call instruction of the program module of binding with certain prioritization scheme, when this module is by voice command calls, do not require to send out voice command for certain concrete action, as long as and send the voice command of the object that will reach, automatic according to the object that will reach by the upper PCs system module (4) of control, find the program of the prioritization scheme corresponding with this voice command and the slave computer computer system module (9) that network transmission module (8) is transferred to various control is passed through in the various work orders of said procedure, and control various execution module (10) execution completing robot specifications action by this module,
The upper PCs system module (4) of control is correctly finished the work necessary various running parameter, if the upper PCs system module (4) of control is thought when needing operator to provide, the form that can combine with word with voice or word or voice, initiatively send inquiry to operator, until the upper PCs system module (4) of control recognizes all necessary running parameters.
9. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: the upper PCs system module (4) of described control or the slave computer computer system module (9) of various control can be desktop computer or notebook computer or server or cloud computer system, also can be embedded computer systems;
The Chinese speech that described input Chinese speech telechiric device module (1) receives can be inputted by microphone or phone input, and the information transmission network that microphone input or phone input adopt can be cable network also can be wireless network;
Described input Chinese speech telechiric device module (1) refers to that all Mandarin speech recognition that can carry out also to the device of the upper PCs system transmission character text information of control, can comprise: landline telephone system, mobile phone, desktop computer, notebook computer, net book, individual digital information assistants PDA, telepilot, information communication software module.
10. the method for Chinese speech remote-controlled robot as claimed in claim 1, it is characterized in that: described network transmission module (3) or network transmission module (8), contain cable network and wireless network software and hardware transmission system and transport module, comprising: Fixed Telephony transmission system, power line communication transmission system, cable of cable TV communication transmission system, the Internet, LAN (Local Area Network), 2.5G, 3G, 4G, wifi, wimax, bluetooth, Zigbee short range double-direction radio networked system, CAN serial bus control LAN system, LED wireless network transmission system.
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| CN201310641687.2A CN104698987A (en) | 2013-12-05 | 2013-12-05 | Method of remotely controlling robot by Chinese speech |
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| CN201310641687.2A CN104698987A (en) | 2013-12-05 | 2013-12-05 | Method of remotely controlling robot by Chinese speech |
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Application publication date: 20150610 |