CN106799733A - Robot motion method and system - Google Patents
Robot motion method and system Download PDFInfo
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- CN106799733A CN106799733A CN201611222614.XA CN201611222614A CN106799733A CN 106799733 A CN106799733 A CN 106799733A CN 201611222614 A CN201611222614 A CN 201611222614A CN 106799733 A CN106799733 A CN 106799733A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The invention discloses a kind of robot motion method, comprise the following steps：S110：Action command corresponding to pre-stored different dialogue scene；S120：Phonetic entry is received, current session scene is judged according to the phonetic entry；S130：At least one is performed with current session scene to corresponding action command.The present invention can make robot make the action being adapted with session operational scenarios.
Description
Technical field
Generally the present invention relates to robot, more particularly to a kind of robot motion method and system.
Background technology
With continuing to develop for science and technology, machine man-based development is also increasingly faster, and species is also more and more.From industrial machine
, to housekeeping robot, amusement robot, robot technology is just towards the big step advance in following four direction for people：Sensory function is increasingly
Abundant, cost of manufacture is more and more cheaper, design programming increasingly simplifies, and uses more and more safer.Robot technology
Used as one of greatest invention of 20th century mankind, since being come out from the beginning of the sixties, the experience development of 40 years has obtained considerable
It is progressive.Industrial robot experienced birth --- growth --- after the maturity period, it has also become core indispensable in manufacturing industry is filled
It is standby, there are about 750,000 industrial robots just to be fought side by side in every front of endeavour with friend workman in the world.Specialized robot conduct
The up-and-coming youngster of family of robot, has greatly the gesture caught up from behind, humanoid robot, farming machine because its is widely used
The particular kind of machine of the various uses such as people, service robot, underwater robot, medical robot, military robot, amusement robot
People emerges one after another, and is just strided forward to practical with very fast speed.
Current robot can not be linked up with people well, and understanding language aspect easily situations such as giving an irrelevant answer occurs, in machine
Typically only simple question and answer mode during device person-to-person communication, as shown in figure 1, people sends enquirement to robot 1, robot 1 leads to
Cross after Mike receives voice, carry out speech recognition, the content according to identification makes corresponding answer, and this answer passes through machine
Loudspeaker on people 1 is played.However, the limbs or facial expression of robot 1 do not have any change, i.e. machine in this course
People 1 does not export the expression/action being adapted with dialogue scenarios, and dialog procedure is stiff, uninteresting.
The content of the invention
For the defect of prior art, the invention provides a kind of robot motion method and system.
A kind of robot motion method, comprises the following steps：S110：Action corresponding to pre-stored different dialogue scene refers to
Order；S120：Phonetic entry is received, current session scene is judged according to the phonetic entry；S130：Perform at least one with it is current
Session operational scenarios are to corresponding action command.
Optionally, the step S120 is specifically included：S121：Prestore and represent the scene words and phrases storehouse of different dialogue scene；
S122：Receive dialogic voice；S123：The dialogic voice is converted into dialog text；S124：When the judgement scene words and phrases storehouse
During the words and phrases that middle presence matches with the dialog text, the session operational scenarios corresponding to the scene words and phrases of matching are set to currently
Scene.It is further comprising the steps of：S210：By the action command corresponding to the pre-stored different dialogue scene of cloud server；
S220：Local voice input is received, local voice input is sent to the cloud server, it is current according to the phonetic decision
Session operational scenarios；S230：At least one set is obtained with current session scene to corresponding action data；S240：By the action data
Send to local machine people, to perform corresponding actions.The step S130 includes：Perform a plurality of and current session at random simultaneously
Scape is to corresponding action command.The step S130 includes：The action data corresponding with the action command is obtained, according to institute
State action data and perform corresponding actions.
A kind of robot motion system, including with lower unit：Memory cell, for being pre-stored corresponding to different dialogue scene
Action command；Receiving unit, for receiving phonetic entry；Processing unit, for judging current right according to the phonetic entry
Words scene；Motor unit, for performing at least one with current session scene to corresponding action command.
Optionally, the memory cell, being additionally operable to prestore represents the scene words and phrases storehouse of different dialogue scene；Receiving unit,
It is additionally operable to receive dialogic voice；Processing unit, is additionally operable to for the dialogic voice to be converted to dialog text, when the judgement scene
When there are the words and phrases matched with the dialog text in words and phrases storehouse, the session operational scenarios corresponding to scene words and phrases that will be matched are set
It is current scene.Also include cloud server：By the action corresponding to the pre-stored different dialogue scene of the cloud server
Instruction；Local voice input is received, local voice input is sent to the cloud server, it is current according to the phonetic decision
Session operational scenarios；At least one set is obtained with current session scene to corresponding action data；The action data is sent to local
Robot, to perform corresponding actions.
The beneficial effects of the invention are as follows：By setting up the corresponding relation between different action commands and session operational scenarios, obtaining
To after phonetic entry, current session scene is judged according to scene lexicon, such that it is able to be made according to corresponding relation and session operational scenarios
Adaptable action.So that dialog procedure between people and robot become be rich in recreational so that robot becomes more to intend
Peopleization；The treatment and the miniaturization being stored with beneficial to robot of data are carried out by cloud server.
Brief description of the drawings
Fig. 1 is present context technology schematic diagram；
Fig. 2 is the outside drawing of robot of the present invention；
Fig. 3 is the structural representation of moving system of the present invention；
Fig. 4 is the flow chart of the embodiment of the present invention 1；
Fig. 5 is the flow chart of step S120；
Fig. 6 is that robot first acts schematic diagram；
Fig. 7 is that robot second acts schematic diagram；
Fig. 8 is the flow chart of the embodiment of the present invention 2.
Specific embodiment
To enable the above objects, features and advantages of the present invention more obvious understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail, above and other purpose of the invention, feature and advantage will be become apparent from.Complete
Identical reference indicates identical part in portion's accompanying drawing.Not deliberately accompanying drawing drawn to scale, it is preferred that emphasis is show this hair
Bright purport.
Fig. 2 and Fig. 3 is referred to, a summarized introduction is done to system architecture of the invention first.Robot in the present invention can
To be humanoid robot as shown in Figure 2, it has mobilizable four limbs and head, can also have display screen, language certainly
Sound input/output device etc..In figure 3, robot include processing unit and be connected with processing unit receiving unit,
Communication unit, voice unit, motor unit and memory cell, receiving unit can be Mikes, and it is used to receive phonetic entry；It is logical
Letter unit is used to be communicated with follow-up described cloud server；Voice unit can be loudspeaker, and it is used to be input into response
Voice；Motor unit is used for the action data of reception processing unit, is activated according to motor on action data driven machine people etc.
Device, so that robot makes corresponding action；Memory cell is used to store Various types of data.System can also be further included
Cloud server, it is understood that cloud server and the essential part of non-invention in follow-up detailed description in detail.Robot
Two-way communication can be carried out by communication unit and cloud server, communication can use wired or wireless connection, for example can be with
Using wifi, 3G/4G etc., the concrete form present invention for communicating is not limited.
Embodiment 1
Present embodiment discloses a kind of robot motion method.As shown in figure 4, the method is entered by the voice for receiving
Row identification, the action data being adapted with session operational scenarios is searched according to recognition result in the memory unit, and robot is dynamic according to this
Make data and corresponding action is made while voice answer-back is sent.
S110：Action command corresponding to pre-stored different dialogue scene.
In the present invention, the action command corresponding to different dialogue scene is pre-stored with memory cell.Session operational scenarios can
To be for example to meet mutually greeting, joy, sadness, query, refusal etc., different moving can be set for each session operational scenarios
Make, the instruction corresponding with these actions is referred to as action command, and it is stored in memory cell jointly with session operational scenarios, such as table 1
It is shown.
Table 1
The action command corresponding to different dialogue scene is listed in table 1, it can be found that robot in follow-up elaboration
Action command that can be according to corresponding to these session operational scenarios is acted accordingly to make.It should be noted that each session operational scenarios
A plurality of action command can be corresponded to, such as in table 1 " meeting " this session operational scenarios just with " stretching out the right hand ", " smile ", " to reach
It is dynamic ", " lifting the right hand " this 4 action commands it is corresponding.
S120：Phonetic entry is received, according to the phonetic decision current session scene.
Refering to Fig. 5, after people and robot dialogue is started, robot is defeated by the voice of receiving unit recipient thereon
Enter, obtain voice signal (S122), the post-processing unit voice signal that receives of docking carry out speech recognition, be converted into text
This form, i.e. dialog text (S123), current session scene is judged according to dialog text content.Speech recognition technology be it is a kind of compared with
It is ripe technology, the specific method of speech recognition may be referred to correlation technique, and the present invention is repeated no more to it.Emphasis is situated between below
Continue, how current session scene is judged according to the dialog text for getting.
Prestore and represent the scene words and phrases of different dialogue scene, that is, set up scene words and phrases storehouse (S121).So-called scene words and phrases are
Refer to that some can represent the word or sentence of current session main contents.Table 1 is returned to, such as " meeting " this scene, its table
Can be up to the mutual words and phrases greeted are met：" hello ", " hello ", " hi ", very " brilliant idea to you " etc..These scene words and phrases
Stored by memory cell with corresponding scene.After dialog text is got, processing unit is inquired about in the dialog text
With the presence or absence of the words and phrases matched with scene words and phrases, when judging to exist the words and phrases matched with scene words and phrases, the field that will be matched
Session operational scenarios corresponding to scape words and phrases are set to current scene (S124), thus just can be according to the phonetic decision current session
Scene.
For example, someone its voice for sending when beginning engages in the dialogue with robot is：Your good robot Ah Dai！, machine
People (Ah Dai) receives this voice by Mike, and processing unit carries out speech recognition to the voice signal for receiving, by its turn
It is changed to text：" your good robot Ah Dai ".Afterwards, whether there is in processing unit inquiry scene words and phrases storehouse and " your good robot
The item that Ah Dai " this dialog text matches, occurrence is in getting scene words and phrases storehouse by inquiring about it：Hello, this
The session operational scenarios corresponding to scene words and phrases " hello " matched somebody with somebody be " meeting ", then processing unit judge current session scene as：Meeting.
As can be seen here, the step of step S120 is performed by following order is realized：S121：Prestoring, it is different right to represent
Talk about the scene words and phrases storehouse of scene；S122：Receive dialogic voice；S123：The dialogic voice is converted into dialog text；S124：
When there are the words and phrases matched with the dialog text in judging the scene words and phrases storehouse, corresponding to the scene words and phrases that will be matched
Session operational scenarios be set to current scene.
S130：At least one is performed with current session scene to corresponding action command.
After current scene is determined, it is corresponding with the session operational scenarios dynamic that processing unit further obtains at least one
Instruct.Connect example, when judge current session scene as：After " meeting ", processing unit at random with " meeting " this scene phase
At least one is chosen in corresponding four action commands to perform action.The action command that for example it is chosen is " lifting the right hand ",
Then the local data base in robot inquiry memory cell, obtains the action data matched with " lifting the right hand " This move.
Action data can be array, its position for including control, duration, speed of rotation etc..Control unit will act number
According to motor unit is sent to, motor unit controls the actuators such as the motor of robot robot is made phase according to action data
Should act.As shown in Tu6Zhong robots, after action data has been performed, robot can lift the right hand.The right hand is lifted in robot
While voice unit speech response can be made according to dialog text, for example send：Hello！This voice.Robot how root
Its core place not of the invention of speech response is made according to dialog text, be will not be described in detail herein.
Robot only performs an action command in certain said process, completes an action.It is more highly preferred to
It is that processing unit can randomly select a plurality of action command so that robot makes multiple actions simultaneously.For example, when judgement is worked as
Preceding session operational scenarios are：After " meeting ", processing unit is selected in four action commands corresponding with " meeting " this scene at random
Take three：Smile, lift the right hand, move forward.As shown in Tu7Zhong robots, after action data has been performed, robot can be same
When lift the right hand, smile and move forward.
The present invention can be seen that by setting up different action commands with dialogue by the description of above step S110-S130
Corresponding relation between scene, after phonetic entry is got, judges current session scene, such that it is able to basis according to scene lexicon
Corresponding relation makes the action being adapted with session operational scenarios.So that the rich amusement that the dialog procedure between people and robot becomes
Property so that robot becomes more to personalize.
Embodiment 2
The embodiment introduces the difference with embodiment 1, and something in common is repeated no more.Machine in embodiment 1
People will complete speech recognition, scene lexicon storage and action executing etc., and this needs to set the storage device of Large Copacity for robot
With efficient processor, this is unfavorable for the miniaturization of robot.
Referring back to Fig. 3, in this embodiment by cloud server complete speech recognition, the storage in scene words and phrases storehouse,
Calculating/storage of action data etc..Memory cell in robot only preserves the operating necessary basis parameter of some robots,
Such as parameter of electric machine, and processing unit is then mainly responsible for completing and the communication between cloud server, can so reduce for depositing
The performance requirement of storage unit and processing unit, is conducive to miniaturization.Machine monitors phonetic entry by microphone, by processing sound
Frequency evidence, server saves as the result of parsing, text, the content such as scene json data and returns to robot, and robot leads to
Parsing json is crossed, the data such as scene, answer content are got.Local data base is inquired about by robot, what matching was consistent with scene
Data, by random algorithm, extract one of which action data.Action data is array, the position comprising control, when lasting
Between, speed of rotation etc. travels through array, and control machine forces are reached, and action is performed by set flow, realizes that robot dialogue is chatted
It when random action realization.I.e. as shown in figure 8, the present embodiment is comprised the following steps：
S210：By the action command corresponding to the pre-stored different dialogue scene of cloud server；
S220：Local voice input is received, local voice input is sent to the cloud server, according to the voice
Judge current session scene.
S230：At least one set is obtained with current session scene to corresponding action data；
S240：The action data is sent to local machine people, to perform corresponding actions.
Embodiment 3
Accordingly, present invention also offers a kind of robot motion system, including with lower unit：Memory cell, for pre-
Action command corresponding to storage different dialogue scene；Receiving unit, for receiving phonetic entry；Processing unit, for basis
The phonetic entry judges current session scene；Motor unit, for performing at least one with current session scene to corresponding
Action command.
Wherein, the memory cell, being additionally operable to prestore represents the scene words and phrases storehouse of different dialogue scene；Receiving unit, also
For receiving dialogic voice；Processing unit, is additionally operable to for the dialogic voice to be converted to dialog text, when the judgement scene word
When there are the words and phrases matched with the dialog text in sentence storehouse, the session operational scenarios corresponding to the scene words and phrases of matching are set to
Current scene.Also include cloud server：Referred to by the action corresponding to the pre-stored different dialogue scene of the cloud server
Order；Local voice input is received, local voice input is sent to the cloud server, it is currently right according to the phonetic decision
Words scene；At least one set is obtained with current session scene to corresponding action data；The action data is sent to local
Device people, to perform corresponding actions.The motor unit, a plurality of moves with current session scene for performing at random simultaneously to corresponding
Instruct.The action data corresponding with the action command is obtained, corresponding actions are performed according to the action data.
Each embodiment in this specification is described by the way of progressive, what each embodiment was stressed be with
The difference of other embodiment, between each embodiment same or analogous part mutually referring to.For the application's
For embodiment of the method, because it is substantially similar to device embodiment, so description is fairly simple, related part is referring to device
The part explanation of embodiment.
Elaborate many details in order to fully understand the present invention in the above description.But above description is only
Presently preferred embodiments of the present invention, the present invention can be implemented with being much different from other manner described here, therefore this
Invention is not limited by specific implementation disclosed above.Any those skilled in the art are not departing from the technology of the present invention simultaneously
In the case of aspects, all make many possible to technical solution of the present invention using the methods and techniques content of the disclosure above
Change and modify, or the Equivalent embodiments for being revised as equivalent variations.Every content without departing from technical solution of the present invention, according to this
The technical spirit of invention still falls within skill of the present invention to any simple modification, equivalent variation and modification made for any of the above embodiments
In the range of the protection of art scheme.
Claims (10)
1. a kind of robot motion method, it is characterised in that comprise the following steps：
S110：Action command corresponding to pre-stored different dialogue scene；
S120：Phonetic entry is received, current session scene is judged according to the phonetic entry；
S130：At least one is performed with current session scene to corresponding action command.
2. robot motion method according to claim 1, it is characterised in that the step S120 is specifically included：S121：
Prestore and represent the scene words and phrases storehouse of different dialogue scene；S122：Receive dialogic voice；S123：The dialogic voice is converted to
Dialog text；S124：When there are the words and phrases matched with the dialog text in judging the scene words and phrases storehouse, by what is matched
Session operational scenarios corresponding to scene words and phrases are set to current scene.
3. robot motion method according to claim 1, it is characterised in that further comprising the steps of：
S210：By the action command corresponding to the pre-stored different dialogue scene of cloud server；
S220：Local voice input is received, local voice input is sent to the cloud server, according to the phonetic decision
Current session scene；
S230：At least one set is obtained with current session scene to corresponding action data；
S240：The action data is sent to local machine people, to perform corresponding actions.
4. robot motion method according to claim 1, it is characterised in that the step S130 includes：It is simultaneously random
Perform it is a plurality of with current session scene to corresponding action command.
5. robot motion method according to claim 1, it is characterised in that the step S130 includes：Obtain and institute
The corresponding action data of action command is stated, corresponding actions are performed according to the action data.
6. a kind of robot motion system, it is characterised in that including with lower unit：
Memory cell, for the action command being pre-stored corresponding to different dialogue scene；
Receiving unit, for receiving phonetic entry；
Processing unit, for judging current session scene according to the phonetic entry；
Motor unit, for performing at least one with current session scene to corresponding action command.
7. robot motion system according to claim 6, it is characterised in that the memory cell, is additionally operable to the generation that prestores
The scene words and phrases storehouse of table different dialogue scene；Receiving unit, is additionally operable to receive dialogic voice；Processing unit, being additionally operable to will be described
Dialogic voice is converted to dialog text, there are the words and phrases matched with the dialog text in the scene words and phrases storehouse is judged
When, the session operational scenarios corresponding to the scene words and phrases of matching are set to current scene.
8. robot motion system according to claim 6, it is characterised in that also including cloud server：By described
Action command corresponding to the pre-stored different dialogue scene of cloud server；Local voice input is received, local voice is input into
Send to the cloud server, according to the phonetic decision current session scene；Obtain at least one set of and current session scene
To corresponding action data；The action data is sent to local machine people, to perform corresponding actions.
9. robot motion system according to claim 6, it is characterised in that the motor unit, for simultaneously random
Perform it is a plurality of with current session scene to corresponding action command.
10. robot motion system according to claim 6, it is characterised in that obtain corresponding with the action command
Action data, according to the action data perform corresponding actions.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108177151A (en) * | 2017-11-28 | 2018-06-19 | 上海魔龙机器人科技有限公司 | A kind of robot and its ontology voice interactive system |
| CN110125932A (en) * | 2019-05-06 | 2019-08-16 | 达闼科技（北京）有限公司 | A kind of dialogue exchange method, robot and the readable storage medium storing program for executing of robot |
| CN110154048A (en) * | 2019-02-21 | 2019-08-23 | 北京格元智博科技有限公司 | Control method, control device and the robot of robot |
| CN110348335A (en) * | 2019-06-25 | 2019-10-18 | 平安科技（深圳）有限公司 | Method, apparatus, terminal device and the storage medium of Activity recognition |
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Application publication date: 20170606 |