CN108632262A - Robot positioning system based on voice mark and method - Google Patents

Robot positioning system based on voice mark and method Download PDF

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Publication number
CN108632262A
CN108632262A CN201810372962.8A CN201810372962A CN108632262A CN 108632262 A CN108632262 A CN 108632262A CN 201810372962 A CN201810372962 A CN 201810372962A CN 108632262 A CN108632262 A CN 108632262A
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China
Prior art keywords
audio
module
voice
localization
ultrasonic
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CN201810372962.8A
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Chinese (zh)
Inventor
王云飞
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Hefei Hi Tech Science & Technology Co Ltd
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Hefei Hi Tech Science & Technology Co Ltd
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Priority to CN201810372962.8A priority Critical patent/CN108632262A/en
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L63/00Network architectures or network communication protocols for network security
    • H04L63/04Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
    • H04L63/0428Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L13/00Speech synthesis; Text to speech systems
    • G10L13/02Methods for producing synthetic speech; Speech synthesisers
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00Speech recognition
    • G10L15/22Procedures used during a speech recognition process, e.g. man-machine dialogue
    • GPHYSICS
    • G10MUSICAL INSTRUMENTS; ACOUSTICS
    • G10LSPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L21/00Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
    • G10L21/02Speech enhancement, e.g. noise reduction or echo cancellation
    • G10L21/0208Noise filtering

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  • Engineering & Computer Science (AREA)
  • Computational Linguistics (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Computer Security & Cryptography (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Computer Hardware Design (AREA)
  • Computing Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses the robot positioning systems based on voice mark.It is related to robot localization technical field.The present invention includes microprocessor, voice server, voice mark encryption server;Microprocessor is electrically connected with localization by ultrasonic module, voice synthetic module, sound identification module respectively;Voice server is connected with sound identification module, voice synthetic module communication respectively;Voice mark encryption server is connect with audio contrast module, microprocessor, localization by ultrasonic module communication respectively;Audio contrast module is electrically connected with ultrasonic transceiver module, filtered audio module, sound identification module respectively.The present invention also provides the robot localization methods based on voice mark.The present invention receives and dispatches encrypted audio by ultrasonic transceiver module and voice mark encryption server is used to identify encrypted audio and effective audio of identification and label audio are passed to localization by ultrasonic module and positioned simultaneously, improves the setting accuracy in the short distance machine human world.

Description

Robot positioning system based on voice mark and method
Technical field
The invention belongs to robot localization technical field, more particularly to based on voice mark robot positioning system and Method.
Background technology
With the high speed development of Internet of Things science and technology, artificial intelligence increasingly presents its huge glamour with robot. The fast development of modernization industry and service trade, the application for promoting robot to obtain more extensively sending out in all trades and professions.Robot No matter repetitive operation on assembly line or indoor robot soccer game is being tested, accurately controlling for artificial intelligence is being wanted Ask higher and higher.The positioning in the machine human world is also more and more important to machine man-based development.The positioning system in traditional machine human world It is suitable for relatively at a distance using global position system, but satellite positioning is used in the positioning system in the machine human world of closer distance The effect for being accurate to positioning is just not achieved in system.
This invention address that invention a kind of robot positioning system and method based on voice mark, for solving existing machine The inaccurate problem of the positioning system in the device human world.
Invention content
The purpose of the present invention is to provide based on voice mark robot positioning system and method, pass through ultrasound receive and dispatch mould Block receives and dispatches encrypted audio simultaneously using voice mark encryption server identification encrypted audio and effective audio and label by identification Audio passes to localization by ultrasonic module and is positioned, and realizes the localization by ultrasonic in the short distance machine human world, solves existing low coverage It disembarks the inaccurate problem of positioning in the device human world.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions:
The present invention is the robot positioning system based on voice mark, including microprocessor, voice server, voice mark Encryption server;
The microprocessor is electrically connected with localization by ultrasonic module, voice synthetic module, sound identification module respectively;It is described Voice server is connected with sound identification module, voice synthetic module communication respectively;The voice mark encryption server difference It is connect with audio contrast module, microprocessor, localization by ultrasonic module communication;
The audio contrast module is electrically connected with ultrasonic transceiver module, filtered audio module, sound identification module respectively; The localization by ultrasonic module is electrically connected with ultrasonic transceiver module sound identification module respectively;
The voice mark encryption server, the encrypted audio transmitted for decrypting and identifying audio contrast module;It is described Voice mark encryption server is additionally operable to transmit effective audio to audio identification module;The voice mark encryption server is Effective audio addition label audio that localization by ultrasonic module is transmitted forms mixed audio;The voice mark encryption server is to mixed It closes audio encryption and forms encrypted audio;
The localization by ultrasonic module is for generating effective audio and being transferred to voice mark encryption server;The ultrasound is fixed Position module is used to receive effective audio of voice mark encryption server transmission;The localization by ultrasonic module is according to effective audiometer Calculate the corresponding position of effective audio.
Preferably, the ultrasonic transceiver module receives encrypted audio and transmits encrypted audio to voice mark cryptographic services Device;The ultrasound transceiver module is used to receive the encrypted audio of localization by ultrasonic module transmission and plays encrypted audio.
Preferably, the filtered audio module filters out the encrypted audio of audio contrast module transmission;The speech recognition mould Block receives effective audio that audio contrast module is transmitted;The sound identification module identifies effective audio by voice server.
Preferably, the voice synthetic module synthesizes initial audio by voice server;The voice synthetic module passes Initial audio is passed to localization by ultrasonic module;The localization by ultrasonic module synthesizes effective audio according to initial audio.
Preferably, voice mark secret server randomly generates label audio to the robot being connected thereto;The mark Remember that audio is corresponded with robot.
Robot localization method based on voice mark, includes the following steps:
S000:Ultrasonic transceiver module receives encrypted audio and is transferred to audio contrast module;
S001:Audio contrast module transmits encrypted audio to voice mark encryption server;
S002:Whether audio indicia encryption server identification encrypted audio can be decrypted;If so, executing S005;If it is not, Then execute S003;
S003:Audio indicia encryption server transmits audio invalid signals to audio contrast module;
S004:Audio contrast module transmits encrypted audio to audio and filters out module, and audio filters out module and filters out audio;
S005:It is fixed to ultrasound that label audio, effective audio are decrypted and transmitted to decrypted audio by audio indicia encryption server Position module;
S006:Localization by ultrasonic module corresponds to the position of robot according to label audio, effective audio computer encrypted audio.
Preferably, the process that the encrypted audio generates is as follows:The microprocessor transmits label audio request information extremely Voice mark encryption server;The microprocessor control localization by ultrasonic module, which generates effective audio and is transferred to voice mark, to be added Close server;The voice mark encryption server to label audio, effective audio encryption and merges generation encrypted audio respectively.
The invention has the advantages that:
1, of the invention that encrypted audio is received and dispatched by ultrasonic transceiver module while being added using the identification of voice mark encryption server Effective audio of identification and label audio are simultaneously passed to localization by ultrasonic module and positioned by close audio, improve short distance machine The setting accuracy in the human world;
2, the present invention is filtered out in vain by filtering out module using audio after voice mark encryption server identification encrypted video Audio avoids invalid audio disturbances, improves the efficiency of localization by ultrasonic.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will be described below to embodiment required Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached Figure.
Fig. 1 is robot positioning system's structural schematic diagram based on voice mark of the present invention;
Fig. 2 is the flow chart of the robot localization method based on voice mark of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained all other without creative efforts Embodiment shall fall within the protection scope of the present invention.
Refering to Figure 1, the present invention is the robot positioning system based on voice mark, including microprocessor, voice Server, voice mark encryption server;
Microprocessor is electrically connected with localization by ultrasonic module, voice synthetic module, sound identification module respectively;Voice service Device is connected with sound identification module, voice synthetic module communication respectively;Voice mark encryption server compares mould with audio respectively Block, microprocessor, the connection of localization by ultrasonic module communication;
Audio contrast module is electrically connected with ultrasonic transceiver module, filtered audio module, sound identification module respectively;Ultrasound Locating module is electrically connected with ultrasonic transceiver module sound identification module respectively;
Voice mark encryption server, the encrypted audio transmitted for decrypting and identifying audio contrast module;Voice mark Encryption server is additionally operable to transmit effective audio to audio identification module;Voice mark encryption server is localization by ultrasonic module The effective audio addition label audio transmitted forms mixed audio;Voice mark encryption server, which encrypts mixed audio to be formed, to be added Close audio;
Localization by ultrasonic module is for generating effective audio and being transferred to voice mark encryption server;Localization by ultrasonic module is used In the effective audio for receiving the transmission of voice mark encryption server;Localization by ultrasonic module is according to the effective audio pair of effective audio computer The position answered.
Wherein, ultrasonic transceiver module receives encrypted audio and transmits encrypted audio to voice mark encryption server;Ultrasound Transceiver module is used to receive the encrypted audio of localization by ultrasonic module transmission and plays encrypted audio.
Wherein, filtered audio module filters out the encrypted audio of audio contrast module transmission;Sound identification module receives audio Effective audio that contrast module is transmitted;Sound identification module identifies effective audio by voice server.
Wherein, voice synthetic module synthesizes initial audio by voice server;Voice synthetic module transmits initial audio To localization by ultrasonic module;Localization by ultrasonic module synthesizes effective audio according to initial audio.
Wherein, voice mark secret server randomly generates label audio to the robot being connected thereto;Mark audio It is corresponded with robot.
It please refers to shown in Fig. 2, the robot localization method based on voice mark, which is characterized in that include the following steps:
S000:Ultrasonic transceiver module receives encrypted audio and is transferred to audio contrast module;
S001:Audio contrast module transmits encrypted audio to voice mark encryption server;
S002:Whether audio indicia encryption server identification encrypted audio can be decrypted;If so, executing S005;If it is not, Then execute S003;
S003:Audio indicia encryption server transmits audio invalid signals to audio contrast module;
S004:Audio contrast module transmits encrypted audio to audio and filters out module, and audio filters out module and filters out audio;
S005:It is fixed to ultrasound that label audio, effective audio are decrypted and transmitted to decrypted audio by audio indicia encryption server Position module;
S006:Localization by ultrasonic module corresponds to the position of robot according to label audio, effective audio computer encrypted audio.
Wherein, the process that encrypted audio generates is as follows:Microprocessor transmits label audio request information to voice mark and adds Close server;Microprocessor control localization by ultrasonic module generates effective audio and is transferred to voice mark encryption server;Sound Label encryption server to label audio, effective audio encryption and merges generation encrypted audio respectively.
It is worth noting that, in above system embodiment, included each unit is only drawn according to function logic Point, but it is not limited to above-mentioned division, as long as corresponding function can be realized;In addition, each functional unit is specific Title is also only to facilitate mutually distinguish, the protection domain being not intended to restrict the invention.
In addition, one of ordinary skill in the art will appreciate that realizing all or part of step in the various embodiments described above method It is that relevant hardware can be instructed to complete by program.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification, It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably explain the present invention Principle and practical application, to enable skilled artisan to be best understood by and utilize the present invention.The present invention is only It is limited by claims and its full scope and equivalent.

Claims (7)

1. the robot positioning system based on voice mark, which is characterized in that including:Microprocessor, voice server, sound mark Remember encryption server;
The microprocessor is electrically connected with localization by ultrasonic module, voice synthetic module, sound identification module respectively;The voice Server is connected with sound identification module, voice synthetic module communication respectively;The voice mark encryption server respectively with sound Frequency contrast module, microprocessor, the connection of localization by ultrasonic module communication;
The audio contrast module is electrically connected with ultrasonic transceiver module, filtered audio module, sound identification module respectively;It is described Localization by ultrasonic module is electrically connected with ultrasonic transceiver module sound identification module respectively;
The voice mark encryption server, the encrypted audio transmitted for decrypting and identifying audio contrast module;The sound Encryption server is marked, is additionally operable to transmit effective audio to audio identification module;The voice mark encryption server is ultrasound Effective audio addition label audio that locating module transmits forms mixed audio;The voice mark encryption server is to mixing sound Frequency encryption forms encrypted audio;
The localization by ultrasonic module is for generating effective audio and being transferred to voice mark encryption server;The localization by ultrasonic mould Block is used to receive effective audio of voice mark encryption server transmission;The localization by ultrasonic module has according to effective audio computer Imitate the corresponding position of audio.
2. the robot positioning system according to claim 1 based on voice mark, which is characterized in that the ultrasound transmitting-receiving Module receives encrypted audio and transmits encrypted audio to voice mark encryption server;The ultrasound transceiver module is super for receiving The encrypted audio of acoustic fix ranging module transmission simultaneously plays encrypted audio.
3. the robot positioning system according to claim 1 based on voice mark, which is characterized in that the filtered audio Module filters out the encrypted audio of audio contrast module transmission;The sound identification module receives the effective of audio contrast module transmission Audio;The sound identification module identifies effective audio by voice server.
4. the robot positioning system according to claim 1 based on voice mark, which is characterized in that the phonetic synthesis Module synthesizes initial audio by voice server;The voice synthetic module transmits initial audio to localization by ultrasonic module;Institute It states localization by ultrasonic module and effective audio is synthesized according to initial audio.
5. the robot positioning system according to claim 1 based on voice mark, which is characterized in that voice mark secret Server randomly generates label audio to the robot being connected thereto;The label audio is corresponded with robot.
6. the robot localization method based on voice mark as described in claim 1-5 is any one, which is characterized in that including such as Lower step:
S000:Ultrasonic transceiver module receives encrypted audio and is transferred to audio contrast module;
S001:Audio contrast module transmits encrypted audio to voice mark encryption server;
S002:Whether audio indicia encryption server identification encrypted audio can be decrypted;If so, executing S005;If it is not, then holding Row S003;
S003:Audio indicia encryption server transmits audio invalid signals to audio contrast module;
S004:Audio contrast module transmits encrypted audio to audio and filters out module, and audio filters out module and filters out audio;
S005:Decrypted audio is decrypted and transmits label audio, effective audio to localization by ultrasonic mould by audio indicia encryption server Block;
S006:Localization by ultrasonic module corresponds to the position of robot according to label audio, effective audio computer encrypted audio.
7. the robot localization method according to claim 6 based on voice mark, feature is as follows, the encrypted audio The process of generation is as follows:The microprocessor transmits label audio request information to voice mark encryption server;Micro- place Reason device control localization by ultrasonic module generates effective audio and is transferred to voice mark encryption server;The voice mark encryption clothes Business device to label audio, effective audio encryption and merges generation encrypted audio respectively.
CN201810372962.8A 2018-04-24 2018-04-24 Robot positioning system based on voice mark and method Pending CN108632262A (en)

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Application Number Priority Date Filing Date Title
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WO2001086480A2 (en) * 2000-05-11 2001-11-15 Sun Microsystems, Inc. Network library service
WO2001086480A3 (en) * 2000-05-11 2003-01-16 Sun Microsystems Inc Network library service
CN104780452A (en) * 2014-01-14 2015-07-15 三星电子株式会社 Display apparatus, interactive server and method for providing response information
CN106537867A (en) * 2015-03-27 2017-03-22 华为技术有限公司 Data transmission method, apparatus and system
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