CN108632262A - Robot positioning system based on voice mark and method - Google Patents
Robot positioning system based on voice mark and method Download PDFInfo
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- 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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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000004807 localization Effects 0.000 claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000002604 ultrasonography Methods 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000003786 synthesis reaction Methods 0.000 claims 1
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network 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
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L13/00—Speech synthesis; Text to speech systems
- G10L13/02—Methods for producing synthetic speech; Speech synthesisers
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L21/00—Speech 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
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- Human Computer Interaction (AREA)
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- Acoustics & Sound (AREA)
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- Computer Security & Cryptography (AREA)
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- Quality & Reliability (AREA)
- Computer Hardware Design (AREA)
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- 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
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.
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| CN201810372962.8A CN108632262A (en) | 2018-04-24 | 2018-04-24 | Robot positioning system based on voice mark and method |
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| CN201810372962.8A CN108632262A (en) | 2018-04-24 | 2018-04-24 | Robot positioning system based on voice mark and method |
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2018
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