CN107610698A - A kind of method for realizing Voice command, robot and computer-readable recording medium - Google Patents
A kind of method for realizing Voice command, robot and computer-readable recording medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of method for realizing Voice command, robot and computer-readable medium, method includes：By searching target noise reduction information corresponding to current operational information from presetting database；Noise reduction audio is generated according to target noise reduction information, and noise reduction is carried out to the audio-frequency information received using noise reduction audio and obtains first object audio-frequency information, and the audio-frequency information received is handled according to default processing strategy, obtains the second target audio information；Handled respectively with different processing modes by the audio-frequency information to identical content, obtain first object audio-frequency information and the second target audio information, if target instruction target word information corresponding with first object audio-frequency information can be identified from the second target audio information, then task corresponding to control machine people performance objective command information, enable the part audio content in audio-frequency information for control machine people to be screened out, improve the efficiency of robot responds Voice command.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of method for realizing Voice command, robot and computer
Readable storage medium storing program for executing.
Background technology
With the continuous development of artificial intelligence, manually carry out production work using robot replacement and be increasingly becoming normality.
Although existing robot can realize Voice command, for example, being performed accordingly by the voice messaging for receiving user
Task, but when the noise of motor of robot is too big, easily voice messaging is included simultaneously with noise information, easily caused
Robot judges by accident and the phenomenon of maloperation.
Therefore, it is necessary to a kind of method for realizing Voice command is provided to improve the efficiency of robot responds Voice command.
The content of the invention
The embodiment of the present invention provides a kind of method for realizing Voice command, robot and computer-readable recording medium, with
Improve the efficiency of robot responds Voice command.
In a first aspect, the embodiments of the invention provide a kind of method for realizing Voice command, including：
Obtain the current operational information of robot；
Target noise reduction information corresponding to the current operational information is searched from presetting database；
Noise reduction audio is generated according to the target noise reduction information, and using the noise reduction audio to the audio-frequency information that receives
Carry out noise reduction and obtain first object audio-frequency information, and according to default processing strategy to the audio-frequency information received at
Reason, obtains the second target audio information；
If target instruction target word corresponding with the first object audio-frequency information is identified from the second target audio information
Information, then the robot is controlled to perform task corresponding to the target instruction target word information.
Second aspect, the embodiments of the invention provide a kind of robot, the robot includes being used to perform above-mentioned first party
The unit of the method in face.
The third aspect, the embodiments of the invention provide another robot, including processor, input equipment, output equipment
And memory, the processor, input equipment, output equipment and memory are connected with each other, wherein, the memory is used to store
Support robot to perform the computer program of the above method, the computer program includes programmed instruction, the processor by with
Put for calling described program to instruct, the method for performing above-mentioned first aspect.
Fourth aspect, the embodiments of the invention provide a kind of computer-readable recording medium, the computer-readable storage medium
Computer program is stored with, the computer program includes programmed instruction, and described program instruction makes institute when being executed by a processor
The method for stating the above-mentioned first aspect of computing device.
The embodiment of the present invention is by obtaining the current operational information of robot；Current operation letter is searched from presetting database
Target noise reduction information corresponding to breath；Noise reduction audio is generated according to target noise reduction information, and using noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and is handled according to default at the tactful audio-frequency information to receiving
Reason, obtains the second target audio information；If identified from the second target audio information corresponding with first object audio-frequency information
Target instruction target word information, then task corresponding to control machine people performance objective command information；Pass through the audio-frequency information to identical content
Handled respectively with different processing modes, obtain first object audio-frequency information and the second target audio information, if can be from
Target instruction target word information corresponding with first object audio-frequency information is identified in second target audio information, then control machine people performs
Task corresponding to target instruction target word information, the part audio content in audio-frequency information for control machine people is set to be screened out
Come, improve the efficiency of robot responds Voice command.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it is required in being described below to embodiment to use
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the present invention, general for this area
For logical technical staff, on the premise of not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic flow diagram of method for realizing Voice command provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic flow diagram for method for realizing Voice command that another embodiment of the present invention provides；
Fig. 3 is a kind of schematic block diagram of robot provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic block diagram for robot that another embodiment of the present invention provides.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
It should be appreciated that ought be in this specification and in the appended claims in use, term " comprising " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but it is not precluded from one or more of the other feature, whole
Body, step, operation, element, component and/or its presence or addition for gathering.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As used in description of the invention and appended claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and appended claims is
Refer to any combinations of one or more of the associated item listed and be possible to combine, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In the specific implementation, the robot described in the embodiment of the present invention is including but not limited to such as with touch sensitive surface
The mobile phone, laptop computer or tablet PC of (for example, touch-screen display and/or touch pad) etc it is other just
Portable device.It is to be further understood that in certain embodiments, the equipment is not portable communication device, but with tactile
Touch the desktop computer of sensing surface (for example, touch-screen display and/or touch pad).
In discussion below, the robot including display and touch sensitive surface is described.It is, however, to be understood that
, robot can include such as physical keyboard, mouse and/or control-rod one or more of the other physical user interface set
It is standby.
Robot supports various application programs, such as one or more of following：Drawing application program, demonstration application journey
Sequence, word-processing application, website create application program, disk imprinting application program, spreadsheet applications, game application
Program, telephony application, videoconference application, email application, instant messaging applications, exercise
Support application program, photo management application program, digital camera application program, digital camera application program, web-browsing application
Program, digital music player application and/or video frequency player application program.
The various application programs that can be performed in robot can use at least one public affairs of such as touch sensitive surface
Physical user-interface device altogether.It can adjust and/or change among applications and/or in corresponding application programs and touch sensitivity
The corresponding information shown in the one or more functions and robot on surface.So, the public physical structure (example of robot
Such as, touch sensitive surface) the various application programs with user interface directly perceived and transparent for a user can be supported.
It is that the embodiment of the present invention provides a kind of schematic flow diagram for the method for realizing Voice command, such as Fig. 1 institutes referring to Fig. 1
Show that the method for realizing Voice command may include：
S110：Obtain the current operational information of robot.
In step s 110, the operational mode of current operational information including robot, the task definition that performs and current
At least one content in residing running environment information.
It should be noted that in all embodiments of the invention, the current operational information of robot can be used for embodying
Robot can be when receiving phonetic control command, while the noise content that can be received.I.e. the operational mode of robot, hold
Capable task definition or the running environment information being presently in, while being embodied in robot progress Voice command,
The noise content that robot can also receive.
For example, current operational information includes the operational mode of robot, the present mode of operation of robot is obtained, wherein,
Operational mode can include：Standby mode, sleep pattern or silent mode.
For another example current operational information includes the running environment information that is presently in, being presently in for robot is obtained
Running environment information, wherein, the running environment information being presently in can include：Geographical location information, noise decibel value or
Residing audio transmission medium, wherein, residing audio transmission medium can be：Liquid or air etc. can carry out audio transmission
Any medium.
As for when the current operational information of robot is obtained, following scene can be included but are not limited to：
Scene 1：
If receiving the operational order that operational mode is converted for control machine people, the current operation letter of robot is obtained
Breath, that is, obtain the operational mode information after robot conversion operational mode.
By taking the task definition that current operational information includes execution as an example, for example, robot present mode of operation is the first mould
Formula, if receiving the operational order for being converted into the second operational mode from first mode for control machine people, obtain robot
Current operational information be used to describe robot and operate in the second operational mode.
Scene 2：
If detecting, the geographical position residing for robot changes, and obtains the current operational information of robot, that is, obtains
Take the geographical location information after robot present position change.
For example, the geographical position that robot is presently in is place A, if detecting geographical position residing for robot from place
A is changed to place B, then it is place B that the current operational information of acquisition robot, which is used to describe robot present position,.
Scene 3：If detecting, the transmission medium of robot local environment sound intermediate frequency signal changes, and obtains robot
Current operational information, that is, obtain the transmission medium information of robot local environment sound intermediate frequency signal.
For example, the transmission medium that robot is presently in environment sound intermediate frequency signal is liquid, if detecting residing for robot
The transmission medium of environment sound intermediate frequency signal becomes from liquid turns to gas, then the current operational information for obtaining robot is used to describe machine
The transmission medium of device people's local environment sound intermediate frequency signal is gas.
S120：Target noise reduction information corresponding to the current operational information is searched from presetting database.
In the step s 120, target noise reduction information currently runs noise generated anti-phase sound for describing the robot
Ripple.
It should be noted that caused noise can be with different running statuses or different operational modes for robot
It is identical or different.
In presetting database, store and corresponding relation between operation information and noise reduction information be present, different operations letter
Breath can correspond to same noise reduction information.When i.e. robot is run, it operates under different operational modes, performs different content
Task or during in different running environment, noise caused by robot can be identical, can also be different.
For example, when robot present mode of operation is sleep pattern, or performing for task for etc. machine await orders when, robot
Noise is not produced, that is, corresponds to same target noise reduction information.
For another example currently performing when robot for task is operation to maximum gear, or with prestissimo operational mode
When moving, noise caused by robot is maximum, that is, corresponds to same target noise reduction information.
It is understood that motor is the motor of control machine people motion, and in robot, therefore to robot
When carrying out Voice command, if robot is kept in motion, in the audio signal that robot receives produced by motor operation
Noise information proportion can be maximum, wherein, noise information can be collected and be entered by way of analog waveform
Row description.
S130：Noise reduction audio is generated according to the target noise reduction information, and using the noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and the audio-frequency information received is entered according to default processing strategy
Row processing, obtains the second target audio information.
In step s 130, the audio-frequency information received can by set all the way, two-way or MCVF multichannel voice frequency information receives
Record link is received to obtain.
It should be noted that the audio-frequency information received can include robot currently operation caused by noise and/or
Voice messaging.First object audio-frequency information is to carry out noise reduction to the audio-frequency information received by using noise reduction audio to obtain audio
Information, the second target audio information are directly to be pre-processed without noise reduction with carrying out noise reduction to the audio-frequency information received
Obtained audio-frequency information.
In the present embodiment, between noise caused by the current operation of noise reduction audio and robot, frequency is identical, phase phase
Instead, i.e., noise reduction audio differs 180 ° with phase between robot currently noise caused by operation, and first object audio-frequency information is
Audio-frequency information after noise reduction audio carries out noise reduction.
It is understood that different from the mode for obtaining first object audio-frequency information, obtaining the second target audio information is
Audio-frequency information is handled to obtain according to default processing strategy, can be specifically by audio-frequency information is carried out gain amplification,
At least one of reverberation and adjustment frequency response mode is removed to be handled to obtain.
S140：If target corresponding with the first object audio-frequency information is identified from the second target audio information
Command information, then the robot is controlled to perform task corresponding to the target instruction target word information.
In step S140, because the second target audio information without noise reduction audio carries out noise reduction process, therefore second
Robot has been comprised at least in target audio information and has currently run noise generated and/or voice messaging, wherein, voice messaging is used
The content of task is performed in description user's control robot.
It should be noted that when containing robot currently runs noise generated and voice messaging simultaneously in audio-frequency information
When, because audio-frequency information has carried out noise reduction process, only remaining voice messaging, i.e. target refer in obtained first object audio-frequency information
Information is made, by determining that target instruction target word corresponding with first object audio-frequency information whether is contained in the second target audio information to be believed
Breath, and then can accurately filter out the content of voice messaging, make corresponding to the target instruction target word information that control machine people will perform
Task is consistent with the content of voice messaging.
It is understood that in actual applications, made an uproar produced by robot currently operation is contains only in audio-frequency information
During sound, in the first object audio-frequency information obtained after noise reduction process robot currently run it is noise generated be eliminated, and do not wrap
Containing voice messaging, so can not be identified from the second target audio information corresponding with the first object audio-frequency information
Target instruction target word information, and task corresponding to uncontrollable robot performance objective command information.
The embodiment of the present invention is by obtaining the current operational information of robot；Current operation letter is searched from presetting database
Target noise reduction information corresponding to breath；Noise reduction audio is generated according to target noise reduction information, and using noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and is handled according to default at the tactful audio-frequency information to receiving
Reason, obtains the second target audio information；If identified from the second target audio information corresponding with first object audio-frequency information
Target instruction target word information, then task corresponding to control machine people performance objective command information；Pass through the audio-frequency information to identical content
Handled respectively with different processing modes, obtain first object audio-frequency information and the second target audio information, if can be from
Target instruction target word information corresponding with first object audio-frequency information is identified in second target audio information, then control machine people performs
Task corresponding to target instruction target word information, the part audio content in audio-frequency information for control machine people is set to be screened out
Come, improve the efficiency of robot responds Voice command.
It is that the embodiment of the present invention provides the schematic flow diagram that another kind realizes the method for Voice command, such as Fig. 2 referring to Fig. 2
The shown method for realizing Voice command may include：
S210：Obtain the current motor operation information of the robot.
In step S210, the operational mode of current operational information including robot, the task definition performed and current
At least one content in residing running environment information.
As a kind of mode in the cards of the present embodiment, step S210 can specifically include：The robot is obtained to work as
Preceding motor operation information.
It should be noted that in actual applications, in being able to carry out due to the motor pattern of robot, robot for task
Appearance and robot be able to can be predefined with the environment of normal work, therefore by obtaining the operational mode of robot, performing
Task definition or the running environment information that is presently in can determine that robot under different operational modes, in different task or
Motor operation information in person's varying environment.
It is understood that in the present embodiment, the current operational information of robot is obtained, can be with being obtained in step S110
Take opportunity or the scene of the current operational information of robot identical, can specifically refer to step S110 content, it is no longer superfluous herein
State.
S220：Target noise reduction information corresponding to the current operational information is searched from presetting database.
In step S220, target noise reduction information currently runs noise generated anti-phase sound for describing the robot
Ripple.
With reference to step S210, the current motor operation information of robot is obtained, it is in the cards as the present embodiment one kind
Mode, step S220 are specifically included：The first noise information according to corresponding to the motor operation information determines the motor；From institute
State and the target noise reduction information corresponding to first noise information is searched in presetting database.
It should be noted that robot noise caused by motor under different running statuses or different operational modes
Can be identical or different.
In the present embodiment, the motor operation letter for being completely used for describing motor operating state is included in presetting database
, in presetting database, corresponding relation, motor operation be present between noise caused by motor operation and target noise reduction information in breath
Identical noise can be produced in different modes, i.e. motor operation can correspond to same target noise reduction letter in different modes
Breath.When robot normal operation, caused noise can be identical or different to motor operation in different modes.
With motor operation, caused noise is noise generated under the second mode with motor operation in the flrst mode is
Exemplified by identical noise.
With reference to step S210, the motor operation information current by obtaining robot, determine that motor is currently operating at first
Under pattern, and then the first noise information corresponding to motor is determined, searched from presetting database corresponding with the first noise information
Target noise reduction information, the target noise reduction information are identical with the target noise reduction information that motor operation obtains under the second mode.
It is understood that because target noise reduction information is used to describe robot and currently run noise generated anti-phase sound
Ripple, when the current operational information for obtaining robot is motor operation information, target noise reduction information can be also used for describing motor
The anti-phase sound wave of first noise caused by operation.
S230：Noise reduction audio is generated according to the target noise reduction information, and using the noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and the audio-frequency information received is entered according to default processing strategy
Row processing, obtains the second target audio information.
In step S230, the audio-frequency information that receives can by set all the way, two-way or MCVF multichannel voice frequency information receives
Record link is received to obtain.
It should be noted that the audio-frequency information received can include robot currently operation caused by noise and/or
Voice messaging.
In the present embodiment, between noise caused by the current operation of noise reduction audio and robot, frequency is identical, phase phase
Instead, i.e., noise reduction audio differs 180 ° with phase between robot currently noise caused by operation, and first object audio-frequency information is
Audio-frequency information after noise reduction audio carries out noise reduction.
As a kind of mode in the cards of the present embodiment, step S230 can specifically include：According to the target noise reduction
Information generates noise reduction audio and carries out noise reduction process to the audio-frequency information received, obtains the first object audio-frequency information；
Speech recognition is carried out to the audio-frequency information received, the first phonetic order letter is extracted from the audio-frequency information received
Breath；According to the second target audio information corresponding to the first phonetic order information generation.
It should be noted that in all embodiments of the invention, voice messaging is the control that user sends to robot
Content, voice messaging can be at least one contents in critical sentence, keyword and keyword.
If voice messaging is not included in the audio-frequency information received, it is determined that user is not sent for controlling to robot
The voice messaging of robot processed, therefore any operation or processing need not be carried out to the audio-frequency information received.
If it is understood that including voice messaging in the audio-frequency information received, identification voice messaging is corresponding
The first command information.Can be specifically by sound according to the second target audio information corresponding to the generation of the first command information
Frequency information carries out at least one of gain amplification, removal reverberation and adjustment frequency response mode and is handled to obtain the second mesh
Mark audio-frequency information.
In actual applications, above-mentioned processing mode or project can be selected according to the noise element in audio-frequency information to audio
Information is handled.
S240：If target corresponding with the first object audio-frequency information is identified from the second target audio information
Command information, then the robot is controlled to perform task corresponding to the target instruction target word information.
In step S240, because the second target audio information without noise reduction audio carries out noise reduction process, therefore second
Robot has been comprised at least in target audio information and has currently run noise generated and/or voice messaging, wherein, voice messaging is used
The content of task is performed in description user's control robot.
It should be noted that when containing robot currently runs noise generated and voice messaging simultaneously in audio-frequency information
When, because audio-frequency information has carried out noise reduction process, only remaining voice messaging, i.e. target refer in obtained first object audio-frequency information
Information is made, by determining that target instruction target word corresponding with first object audio-frequency information whether is contained in the second target audio information to be believed
Breath, and then can accurately filter out the content of voice messaging, make corresponding to the target instruction target word information that control machine people will perform
Task is consistent with the content of voice messaging.
It is understood that in actual applications, made an uproar produced by robot currently operation is contains only in audio-frequency information
During sound, in the first object audio-frequency information obtained after noise reduction process robot currently run it is noise generated be eliminated, and do not wrap
Containing voice messaging, so can not be identified from the second target audio information corresponding with the first object audio-frequency information
Target instruction target word information, and task corresponding to uncontrollable robot performance objective command information.
Step S240 is specifically included：Identify the second phonetic order information included in the first object audio-frequency information；If
The first phonetic order information is identical with the second phonetic order information, then is identified as the second phonetic order information
The target instruction target word information；The robot is controlled to perform task corresponding to the target instruction target word information.
It should be noted that critical sentence, keyword in the second phonetic order information and first object audio-frequency information or
The content of keyword is corresponding.
It is understood that determine whether the first phonetic order information is identical with the second phonetic order information, specifically can be with
Be by determine critical sentence corresponding to the first phonetic order information, keyword or keyword content whether with the second voice
The content of critical sentence, keyword or keyword corresponding to command information is identical.
Alternatively, before any step in the present embodiment performs or after execution, can also comprise the following steps：
S250：If the preset instructions of noise are included in detection, the second noise information is included.
In step s 250, the second noise information can include making an uproar produced by the currently operation of environmental noise and/or robot
Sound.
It is understood that in order to improve the scope of application of robot, when robot keeps not holding in changing environment in noise
During row task, noise reduction can be realized to the noise by including the noise, and then by modes such as echo cancellors.
In the present embodiment, step S260 is just performed after performing step S250.
S260：It must be generated according to second noise information and store the second noise reduction information.
In step S260, the second noise reduction information is used for the anti-phase sound wave for describing second noise information.
Step S260 is specifically included：Carry out that equal proportion is anti-phase amplifies to obtain the second noise reduction audio to second noise information；
The second noise reduction information will be identified as generating the information of second noise reduction audio.
With reference to step S250, after including the second noise information, generated according to the second noise information and store the second noise reduction letter
Breath can specifically include：Carry out that equal proportion is anti-phase amplifies to obtain the second noise reduction audio to second noise information；It will be used to generate
The information of second noise reduction audio is identified as the second noise reduction information.
It should be noted that when receiving audio-frequency information, if the audio-frequency information includes the second noise information and language
Information, then the second noise reduction audio is generated according to the second noise reduction information and noise reduction is carried out to the audio-frequency information received.
It is understood that after the second noise information is determined, active noise reduction can be passed through according to the second noise information
The modes such as circuit obtain identical with the second noise information frequency spectrum, and the second noise reduction audio of opposite in phase, the second noise reduction information is used for
Generate second noise reduction audio.
S270：Store second noise information is corresponding with the second noise reduction information into the presetting database.
In step S270, the presetting database is the database of robotic end, or is the number of robot control terminal
According to storehouse.
It should be noted that in order to improve the scope of application of robot language control, can be by online mode to machine
The database at people end is updated, and the database of robot control terminal can also be used by online mode.
It is understood that only after step S260 is performed, step S270 is just performed.
The embodiment of the present invention is by obtaining the current operational information of robot；Current operation letter is searched from presetting database
Target noise reduction information corresponding to breath；Noise reduction audio is generated according to target noise reduction information, and using noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and is handled according to default at the tactful audio-frequency information to receiving
Reason, obtains the second target audio information；If identified from the second target audio information corresponding with first object audio-frequency information
Target instruction target word information, then task corresponding to control machine people performance objective command information；Pass through the audio-frequency information to identical content
Handled respectively with different processing modes, obtain first object audio-frequency information and the second target audio information, if can be from
Target instruction target word information corresponding with first object audio-frequency information is identified in second target audio information, then control machine people performs
Task corresponding to target instruction target word information, the part audio content in audio-frequency information for control machine people is set to be screened out
Come, improve the efficiency of robot responds Voice command.
If including the preset instructions of noise by detection, the second noise information is included；According to second noise information
It must generate and store the second noise reduction information；Store second noise information is corresponding with the second noise reduction information to the present count
According in storehouse.The requirement definition noise reduction information according to usage scenario is allowed the robot to, the use range of robot can be improved.
The embodiment of the present invention also provides a kind of robot, and the robot is used for the list for performing the method described in foregoing any one
Member.Specifically, it is a kind of schematic block diagram of robot provided in an embodiment of the present invention referring to Fig. 3.The robot of the present embodiment
300 include：Acquiring unit 310, searching unit 320, processing unit 330, the second determining unit 340 and execution unit 350.
Acquiring unit 310, for obtaining the current operational information of robot.
For example, acquiring unit 310 obtains the current operational information of robot.
Further, acquiring unit 310 is specifically used for, and obtains the current motor operation information of the robot.
For example, acquiring unit 301 obtains the current motor operation information of the robot.
Searching unit 320, for searching target noise reduction information corresponding to the current operational information from presetting database.
For example, searching unit 320 searches target noise reduction information corresponding to the current operational information from presetting database.
As a kind of mode in the cards of the present embodiment, searching unit 320 can include：The He of first determining unit 321
First searching unit 322.Specifically：
First determining unit 321, for the first noise letter corresponding to determining the motor according to the motor operation information
Breath.
For example, the first determining unit 321 first noise according to corresponding to the motor operation information determines the motor is believed
Breath.
First searching unit 322, for searching institute corresponding with first noise information from the presetting database
State target noise reduction information.
For example, the first searching unit 322 searches institute corresponding with first noise information from the presetting database
State target noise reduction information.
Processing unit 330, for generating noise reduction audio according to the target noise reduction information, and use the noise reduction audio pair
The audio-frequency information that receives carries out noise reduction and obtains first object audio-frequency information, and is received according to default processing strategy to described
Audio-frequency information is handled, and obtains the second target audio information.
For example, processing unit 330 generates noise reduction audio according to the target noise reduction information, and use the noise reduction audio pair
The audio-frequency information that receives carries out noise reduction and obtains first object audio-frequency information, and is received according to default processing strategy to described
Audio-frequency information is handled, and obtains the second target audio information.
Further, processing unit 330 is specifically used for, and generate noise reduction audio according to the target noise reduction information connects to described
The audio-frequency information received carries out noise reduction process, obtains the first object audio-frequency information；The audio-frequency information received is entered
Row speech recognition, from audio information the first phonetic order information received；Believed according to first phonetic order
The second target audio information corresponding to breath generation.
The audio received is believed for example, processing unit 330 generates noise reduction audio according to the target noise reduction information
Breath carries out noise reduction process, obtains the first object audio-frequency information；Speech recognition is carried out to the audio-frequency information received, from
Audio information the first phonetic order information received；According to institute corresponding to the first phonetic order information generation
State the second target audio information.
Execution unit 340, if believing for being identified from the second target audio information with the first object audio
Target instruction target word information corresponding to breath, then the robot is controlled to perform task corresponding to the target instruction target word information.
Believe for example, if execution unit 340 identifies from the second target audio information with the first object audio
Target instruction target word information corresponding to breath, then the robot is controlled to perform task corresponding to the target instruction target word information.
Further, execution unit 340 is specifically used for, and identifies the second voice included in the first object audio-frequency information
Command information；If the first phonetic order information is identical with the second phonetic order information, second voice is referred to
Information is made to be identified as the target instruction target word information；The robot is controlled to perform task corresponding to the target instruction target word information.
For example, execution unit 340 identifies the second phonetic order information included in the first object audio-frequency information；If institute
It is identical with the second phonetic order information to state the first phonetic order information, then the second phonetic order information is identified as institute
State target instruction target word information；The robot is controlled to perform task corresponding to the target instruction target word information.
Optionally, robot 300 can also include：Include unit 350, information generation and memory cell 360 and data
Stock's storage unit 370.
Unit 350 is included, if including the preset instructions of noise for detecting, includes the second noise information.
For example, if including unit 350 detects the preset instructions for including noise, the second noise information is included.
Information generates and memory cell 360, for the second noise reduction letter must to be generated and stored according to second noise information
Breath.
For example, information generation must generate according to second noise information with memory cell 360 and store the second noise reduction letter
Breath.
Database storage unit 370, for storing second noise information is corresponding with the second noise reduction information to described
In presetting database.
For example, database storage unit 370 is stored second noise information is corresponding with the second noise reduction information to described
In presetting database.
The embodiment of the present invention is by obtaining the current operational information of robot；Current operation letter is searched from presetting database
Target noise reduction information corresponding to breath；Noise reduction audio is generated according to target noise reduction information, and using noise reduction audio to the sound that receives
Frequency information carries out noise reduction and obtains first object audio-frequency information, and is handled according to default at the tactful audio-frequency information to receiving
Reason, obtains the second target audio information；If identified from the second target audio information corresponding with first object audio-frequency information
Target instruction target word information, then task corresponding to control machine people performance objective command information；Pass through the audio-frequency information to identical content
Handled respectively with different processing modes, obtain first object audio-frequency information and the second target audio information, if can be from
Target instruction target word information corresponding with first object audio-frequency information is identified in second target audio information, then control machine people performs
Task corresponding to target instruction target word information, the part audio content in audio-frequency information for control machine people is set to be screened out
Come, improve the efficiency of robot responds Voice command.
If including the preset instructions of noise by detection, the second noise information is included；According to second noise information
It must generate and store the second noise reduction information；Store second noise information is corresponding with the second noise reduction information to the present count
According in storehouse.The requirement definition noise reduction information according to usage scenario is allowed the robot to, the use range of robot can be improved.
It is a kind of robot schematic block diagram that another embodiment of the present invention provides referring to Fig. 4.The present embodiment as depicted
In robot 400 can include：One or more processors 401；One or more input equipments 402, it is one or more defeated
Go out equipment 403 and memory 404.Above-mentioned processor 401, input equipment 402, output equipment 403 and memory 404 pass through bus
405 connections.Memory 402 is used to store computer program, and the computer program includes programmed instruction, and processor 401 is used for
Perform the programmed instruction that memory 402 stores.Wherein, processor 401 is arranged to call described program instruction to perform：
Obtain the current operational information of robot；
Target noise reduction information corresponding to the current operational information is searched from presetting database；
Noise reduction audio is generated according to the target noise reduction information, and using the noise reduction audio to the audio-frequency information that receives
Carry out noise reduction and obtain first object audio-frequency information, and according to default processing strategy to the audio-frequency information received at
Reason, obtains the second target audio information；
If target instruction target word corresponding with the first object audio-frequency information is identified from the second target audio information
Information, then the robot is controlled to perform task corresponding to the target instruction target word information.
Alternatively, processor 401 is additionally configured to call described program instruction to perform：
If the preset instructions of noise are included in detection, the second noise information is included；
It must be generated according to second noise information and store the second noise reduction information；
Store second noise information is corresponding with the second noise reduction information into the presetting database.
Further, processor 401 is additionally configured to call described program instruction to perform：
Carry out that equal proportion is anti-phase amplifies to obtain the second noise reduction audio to second noise information；
The second noise reduction information will be identified as generating the information of second noise reduction audio.
Further, processor 401 is additionally configured to call described program instruction to perform：It is current to obtain the robot
Motor operation information.
Further, processor 401 is additionally configured to call described program instruction to perform：
The first noise information according to corresponding to the motor operation information determines the motor；
The target noise reduction information corresponding with first noise information is searched from the presetting database.
Further, processor 401 is additionally configured to call described program instruction to perform：
Noise reduction audio is generated according to the target noise reduction information noise reduction process is carried out to the audio-frequency information received, obtained
To the first object audio-frequency information；
Speech recognition is carried out to the audio-frequency information received, from the voice of audio information first received
Command information；
According to the second target audio information corresponding to the first phonetic order information generation.
Alternatively, processor 401 is additionally configured to call described program instruction to perform：
Identify the second phonetic order information included in the first object audio-frequency information；
If the first phonetic order information is identical with the second phonetic order information, by second phonetic order
Information is identified as the target instruction target word information；
The robot is controlled to perform task corresponding to the target instruction target word information.
It should be appreciated that in embodiments of the present invention, alleged processor 401 can be CPU (Central
Processing Unit, CPU), the processor can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other FPGAs
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
It can also be any conventional processor etc. to manage device.
Input equipment 402 can include Trackpad, fingerprint adopt sensor (finger print information that is used to gathering user and fingerprint
Directional information), microphone etc., output equipment 403 can include display (LCD etc.), loudspeaker etc..
The memory 404 can include read-only storage and random access memory, and to processor 401 provide instruction and
Data.The a part of of memory 404 can also include nonvolatile RAM.For example, memory 404 can also be deposited
Store up the information of device type.
In the specific implementation, processor 401, input equipment 402, the output equipment 403 described in the embodiment of the present invention can
Perform the reality described in the first embodiment and second embodiment of the method provided in an embodiment of the present invention for realizing Voice command
Existing mode, the implementation of the robot described by the embodiment of the present invention is also can perform, will not be repeated here.
A kind of computer-readable recording medium, the computer-readable storage medium are provided in another embodiment of the invention
Matter is stored with computer program, and the computer program includes programmed instruction, and described program instruction is realized when being executed by processor：
Obtain the current operational information of robot；
Target noise reduction information corresponding to the current operational information is searched from presetting database；
If receiving audio-frequency information, noise reduction audio is generated to the audio received according to the target noise reduction information
Information carries out noise reduction, obtains first object audio-frequency information, and the audio-frequency information received is entered according to default processing strategy
Row processing, obtains the second target audio information；
If target instruction target word corresponding with the first object audio-frequency information is identified from the second target audio information
Information, then the robot is controlled to perform task corresponding to the target instruction target word information.
Alternatively, also realized when described program instruction is executed by processor：
If the preset instructions of noise are included in detection, the second noise information is included；
It must be generated according to second noise information and store the second noise reduction information；
Store second noise information is corresponding with the second noise reduction information into the presetting database.
Further, also realized when described program instruction is executed by processor：
Carry out that equal proportion is anti-phase amplifies to obtain the second noise reduction audio to second noise information；
The second noise reduction information will be identified as generating the information of second noise reduction audio.
Further, also realized when described program instruction is executed by processor：Obtain the current motor fortune of the robot
Row information.
Further, also realized when described program instruction is executed by processor：
The first noise information according to corresponding to the motor operation information determines the motor；
The target noise reduction information corresponding with first noise information is searched from the presetting database.
Further, also realized when described program instruction is executed by processor：
Noise reduction audio is generated according to the target noise reduction information noise reduction process is carried out to the audio-frequency information received, obtained
To the first object audio-frequency information；
Speech recognition is carried out to the audio-frequency information received, from the voice of audio information first received
Command information；
According to the second target audio information corresponding to the first phonetic order information generation.
Alternatively, also realized when described program instruction is executed by processor：
Identify the second phonetic order information included in the first object audio-frequency information；
If the first phonetic order information is identical with the second phonetic order information, by second phonetic order
Information is identified as the target instruction target word information；
The robot is controlled to perform task corresponding to the target instruction target word information.
The computer-readable recording medium can be the internal storage unit of the robot described in foregoing any embodiment,
Such as the hard disk or internal memory of robot.The computer-readable recording medium can also be that the external storage of the robot is set
Plug-in type hard disk that is standby, such as being equipped with the robot, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) blocks, flash card (Flash Card) etc..Further, the computer-readable recording medium is also
The internal storage unit of the robot can both be included or including External memory equipment.The computer-readable recording medium is used
In other programs and data needed for the storage computer program and the robot.The computer-readable recording medium
It can be also used for temporarily storing the data that has exported or will export.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware
With the interchangeability of software, the composition and step of each example are generally described according to function in the above description.This
A little functions are performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specially
Industry technical staff can realize described function using distinct methods to each specific application, but this realization is not
It is considered as beyond the scope of this invention.
It is apparent to those skilled in the art that for convenience of description and succinctly, the machine of foregoing description
Device people and the specific work process of unit, may be referred to the corresponding process in preceding method embodiment, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed robot and method, can pass through
Other modes are realized.For example, device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is an other dividing mode when actually realizing, such as multiple units or component can be with
With reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is in addition, shown or discussed
Mutual coupling or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical by some interfaces, device or unit
Letter connection or electricity, the connection of mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize scheme of the embodiment of the present invention according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
It is that unit is individually physically present or two or more units are integrated in a unit.It is above-mentioned integrated
Unit can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art, or all or part of the technical scheme can be in the form of software product
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the present invention
Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, various equivalent modifications can be readily occurred in or replaced
Change, these modifications or substitutions should be all included within the scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain be defined.
Claims (10)
- A kind of 1. method for realizing Voice command, it is characterised in that including：Obtain the current operational information of robot；Target noise reduction information corresponding to the current operational information is searched from presetting database；Noise reduction audio is generated according to the target noise reduction information, and the audio-frequency information received carried out using the noise reduction audio Noise reduction obtains first object audio-frequency information, and the audio-frequency information received is handled according to default processing strategy, obtains To the second target audio information；If identifying target instruction target word information corresponding with the first object audio-frequency information from the second target audio information, The robot is then controlled to perform task corresponding to the target instruction target word information.
- 2. according to the method for claim 1, it is characterised in that the current operational information for obtaining robot, including：Obtain the current motor operation information of the robot；It is described to search target noise reduction information corresponding to the current operational information from presetting database, including：The first noise information according to corresponding to the motor operation information determines the motor；The target noise reduction information corresponding to first noise information is searched from the presetting database.
- 3. according to the method for claim 1, it is characterised in that described that noise-reducing is generated according to the target noise reduction information Frequently, and noise reduction is carried out to the audio-frequency information received using the noise reduction audio and obtains first object audio-frequency information, and according to pre- If processing strategy is handled the audio-frequency information received, the second target audio information is obtained, including：Noise reduction audio is generated according to the target noise reduction information noise reduction process is carried out to the audio-frequency information received, obtain institute State first object audio-frequency information；Speech recognition is carried out to the audio-frequency information received, extracting the first voice from the audio-frequency information received refers to Make information；According to the second target audio information corresponding to the first phonetic order information generation.
- 4. according to the method for claim 3, it is characterised in that if described identify from the second target audio information Target instruction target word information corresponding with the first object audio-frequency information, then the robot is controlled to perform the target instruction target word information Corresponding task, including：Identify the second phonetic order information included in the first object audio-frequency information；If the first phonetic order information is identical with the second phonetic order information, by the second phonetic order information It is identified as the target instruction target word information；The robot is controlled to perform task corresponding to the target instruction target word information.
- 5. according to the method described in any one of Claims 1-4, it is characterised in that methods described also includes：：If the preset instructions of noise are included in detection, the second noise information is included；It must be generated according to second noise information and store the second noise reduction information；Store second noise information is corresponding with the second noise reduction information into the presetting database.
- 6. according to the method for claim 5, it is characterised in that described to generate and store according to second noise information Second noise reduction information, including：Carry out that equal proportion is anti-phase amplifies to obtain the second noise reduction audio to second noise information；The second noise reduction information will be identified as generating the information of second noise reduction audio.
- 7. according to the method for claim 1, it is characterised in that the target noise reduction information is worked as describing the robot The noise generated anti-phase sound wave of preceding operation.
- 8. a kind of robot, it is characterised in that including for performing the method as described in claim 1-7 any claims Unit.
- A kind of 9. robot, it is characterised in that including processor, input equipment, output equipment and memory, the processor, Input equipment, output equipment and memory are connected with each other, wherein, the memory is used to store computer program, the calculating Machine program includes programmed instruction, and the processor is arranged to call described program instruction, performed as claim 1-7 is any Method described in.
- A kind of 10. computer-readable recording medium, it is characterised in that the computer-readable storage medium is stored with computer program, The computer program includes programmed instruction, and described program instruction makes the computing device such as right when being executed by a processor It is required that the method described in any one of 1-7.
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| CN201710752618.7A CN107610698A (en) | 2017-08-28 | 2017-08-28 | A kind of method for realizing Voice command, robot and computer-readable recording medium |
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| CN108965967A (en) * | 2018-05-25 | 2018-12-07 | 苏州浪潮智能软件有限公司 | TV control method and device, computer readable storage medium, terminal |
| CN109360580A (en) * | 2018-12-11 | 2019-02-19 | 珠海市微半导体有限公司 | A kind of iterated denoising device and clean robot based on speech recognition |
| CN109410928A (en) * | 2018-12-11 | 2019-03-01 | 珠海市微半导体有限公司 | A kind of denoising method and chip based on speech recognition |
| CN109545238A (en) * | 2018-12-11 | 2019-03-29 | 珠海市微半导体有限公司 | A kind of speech de-noising device and robot based on clean robot |
| CN109584899A (en) * | 2018-12-11 | 2019-04-05 | 珠海市微半导体有限公司 | A kind of denoising device and clean robot based on speech recognition |
| CN110534110A (en) * | 2018-05-25 | 2019-12-03 | 深圳市优必选科技有限公司 | A kind of robot and the method, apparatus and circuit for improving its interactive voice discrimination |
| CN110716444A (en) * | 2019-11-21 | 2020-01-21 | 三星电子（中国）研发中心 | Sound control method and device based on smart home and storage medium |
| CN111128192A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Voice recognition noise reduction method, system, mobile terminal and storage medium |
| CN111599364A (en) * | 2020-04-03 | 2020-08-28 | 厦门快商通科技股份有限公司 | Voice recognition noise reduction method, system, mobile terminal and storage medium |
| CN113826160A (en) * | 2019-05-08 | 2021-12-21 | 微软技术许可有限责任公司 | Noise reduction in robot-to-person communication |
| CN114822570A (en) * | 2021-01-22 | 2022-07-29 | 腾讯科技（深圳）有限公司 | Audio data processing method, device and equipment and readable storage medium |
| CN115031266A (en) * | 2022-05-10 | 2022-09-09 | 海信(山东)厨卫有限公司 | Range hood and voice recognition method thereof |
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| CN108172220A (en) * | 2018-02-22 | 2018-06-15 | 成都启英泰伦科技有限公司 | A kind of novel voice denoising method |
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| CN109360580A (en) * | 2018-12-11 | 2019-02-19 | 珠海市微半导体有限公司 | A kind of iterated denoising device and clean robot based on speech recognition |
| CN109545238A (en) * | 2018-12-11 | 2019-03-29 | 珠海市微半导体有限公司 | A kind of speech de-noising device and robot based on clean robot |
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| CN110716444A (en) * | 2019-11-21 | 2020-01-21 | 三星电子（中国）研发中心 | Sound control method and device based on smart home and storage medium |
| CN111128192A (en) * | 2019-12-31 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Voice recognition noise reduction method, system, mobile terminal and storage medium |
| CN111599364A (en) * | 2020-04-03 | 2020-08-28 | 厦门快商通科技股份有限公司 | Voice recognition noise reduction method, system, mobile terminal and storage medium |
| CN114822570A (en) * | 2021-01-22 | 2022-07-29 | 腾讯科技（深圳）有限公司 | Audio data processing method, device and equipment and readable storage medium |
| CN114822570B (en) * | 2021-01-22 | 2023-02-14 | 腾讯科技（深圳）有限公司 | Audio data processing method, device and equipment and readable storage medium |
| CN115031266A (en) * | 2022-05-10 | 2022-09-09 | 海信(山东)厨卫有限公司 | Range hood and voice recognition method thereof |
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