CN108922550A - A kind of method and system using this acoustic code control robot movement that rubs - Google Patents
A kind of method and system using this acoustic code control robot movement that rubs Download PDFInfo
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- CN108922550A CN108922550A CN201810722816.3A CN201810722816A CN108922550A CN 108922550 A CN108922550 A CN 108922550A CN 201810722816 A CN201810722816 A CN 201810722816A CN 108922550 A CN108922550 A CN 108922550A
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- 238000001514 detection method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 10
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 3
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Classifications
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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
- G10L19/00—Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis
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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
- G10L15/26—Speech to text systems
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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
- G10L17/00—Speaker identification or verification techniques
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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
- G10L19/00—Speech or audio signals analysis-synthesis techniques for redundancy reduction, e.g. in vocoders; Coding or decoding of speech or audio signals, using source filter models or psychoacoustic analysis
- G10L19/008—Multichannel audio signal coding or decoding using interchannel correlation to reduce redundancy, e.g. joint-stereo, intensity-coding or matrixing
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M7/00—Conversion of a code where information is represented by a given sequence or number of digits to a code where the same, similar or subset of information is represented by a different sequence or number of digits
- H03M7/02—Conversion to or from weighted codes, i.e. the weight given to a digit depending on the position of the digit within the block or code word
- H03M7/04—Conversion to or from weighted codes, i.e. the weight given to a digit depending on the position of the digit within the block or code word the radix thereof being two
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- Audiology, Speech & Language Pathology (AREA)
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- Acoustics & Sound (AREA)
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- Computational Linguistics (AREA)
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Abstract
The invention discloses a kind of using the mobile method and system of this acoustic code control robot of rubbing, and method includes：Acoustic code mode is selected；Receive the sound of user；The sound length of user is detected, this coding that rubs of acoustic code mode is obtained；This coding that rubs of the acoustic code mode of acquisition is corresponding with the matching of the vocoding of default acoustic code mode；Corresponding default control instruction is obtained according to the vocoding of default acoustic code mode, and control instruction is transferred to controlled machine people.The present invention selects acoustic code mode by toggle switch unit, this coding unit that rubs carries out this coding that rubs according to the length of user voice and interval time；Vocoding unit and control moving cell control controlled machine people movement after default control instruction for that will rub this code conversion, children can be allowed to understand classical this code Principle of Communication of rubbing in interesting game, the length for understanding sound can indicate different digital signals, provide perceptual recognition for study pulse modulation technology and digital communication technology.
Description
Technical field
The present invention relates to mobile robot human-computer interaction technique fields, more particularly, to a kind of using this acoustic code control machine that rubs
The mobile method and system of device people.
Background technique
In the age for rubbing this code prevalence, code is widely used in radio art, and wide-spread, is convenient to
Our daily life.However so far, acoustic code is not but specifically constantly transmitted information by certain coding form, is rubbed
This code can only be known use in certain specific fields, cannot but allow masses to be familiar with utilizing, be unfavorable for this code that rubs
It promotes and uses.
Summary of the invention
Based on this, it is necessary in view of the deficiencies of the prior art, provide a kind of using this acoustic code control robot movement that rubs
Method and system can allow children to understand classical Mo Si in interesting game by the game of acoustic control intelligent robot
Code Principle of Communication provides the cognition of perception for subsequent study pulse modulation technology and digital communication technology.
In order to solve the above technical problems, the technical scheme adopted by the invention is that：It is a kind of that machine is controlled using this acoustic code of rubbing
The mobile method of people comprising following steps：
Acoustic code mode is selected；
Receive the sound of user；
The sound length of user is detected, this coding that rubs of acoustic code mode is obtained；Wherein, this coding that rubs of acoustic code mode is logical
It crosses underscore or space combination is indicated, wherein space indicates the preset time of sound interval；
This coding that rubs of the acoustic code mode of acquisition is corresponding with the matching of the vocoding of default acoustic code mode；
Corresponding default control instruction is obtained according to the vocoding of default acoustic code mode, and control instruction is transferred to controlled machine
Device people.
In one of the embodiments, when acoustic code mode is an acoustic code mode, the vocoding of an acoustic code mode
It is 000,001,010,011, this coding that rubs of an acoustic code mode is indicated by the underscore of different length, wherein is rubbed
This coding _ representative voice is the sound length in 0-300ms, and the vocoding of acoustic code mode is 000；Mo Si coding _ _ represents
Sound is the sound length in 300-600ms, and the vocoding of acoustic code mode is 001；Mo Si coding _ _ _ representative voice is
Sound length in 600-900ms, the vocoding of acoustic code mode are 010；Mo Si coding _ _ _ _ representative voice is 900-
Sound length in 1200ms, the vocoding of acoustic code mode are 011.
In one of the embodiments, when acoustic code mode is two acoustic code modes, the vocoding of two acoustic code modes
It is 000,001,010,011, this coding that rubs of two acoustic code modes combines carry out table by the underscore of different length and space
Showing, this coding that rubs of two acoustic code modes includes _ _, _ _ _, _ _ _, _ _ _ _, _ _ _ _, wherein rub this coding _ representative voice
For the sound length in 0-300ms, this coding _ _ representative voice that rubs is the sound length in 300-600ms, is rubbed this coding _ _ _ generation
Table sound is the sound length in 600-900ms, this coding _ _ _ _ representative voice that rubs is the sound length in 900-1200ms.
In one of the embodiments, when acoustic code mode is three acoustic code modes, the vocoding of three acoustic code modes
It is 000,001,010,011, this coding that rubs of three acoustic code modes combines carry out table by the underscore of different length and space
Show, this coding that rubs of three acoustic code modes includes _ _ _, _ _ _ _, _ _ _ _ _, _ _ _ _, wherein rub this encode _ represent sound
Sound is the sound length in 0-300ms, this coding _ _ representative voice that rubs is the sound length in 300-600ms, this coding that rubs _ _ _
Representative voice is the sound length in 600-900ms, this coding _ _ _ _ representative voice that rubs is the sound length in 900-1200ms.
Acoustic code mode is selected by toggle switch unit in one of the embodiments, wherein toggle switch list
Member is triad toggle switch unit.
The vocoding of the default acoustic code mode is binary system vocoding in one of the embodiments,.
The preset time of the sound interval is 500ms in one of the embodiments,.
A kind of system using this acoustic code control robot movement that rubs comprising：
Toggle switch unit, for selecting acoustic code mode；
Sound detection unit, for detecting the sound of user；
Rub this coding unit, for carrying out this coding that rubs to the sound of user according to the length and interval time of user voice；
Vocoding unit presets corresponding default vocoding for extracting according to this coding that rubs；
Control moving cell, instructed for extracting corresponding default control according to vocoding, and by control instruction be transferred to by
Man-controlled mobile robot.
In conclusion the present invention is a kind of to pass through toggle switch using the mobile method and system of this acoustic code control robot of rubbing
Unit selects acoustic code mode, is understood according to different acoustic code modes different this codings that rubs；Mo Si coding is single
Member carries out this coding that rubs to the sound of user according to the length and interval time of user voice；Vocoding unit and control movement
Unit is control controlled machine people movement after corresponding default control instructs for this code conversion that will rub, and children can be allowed to exist
Classical this code Principle of Communication of rubbing is understood in interesting game, understands our this acoustic code Communication Control principle of rubbing, understanding sound
The length of sound can indicate different digital signals, provide perception for subsequent study pulse modulation technology and digital communication technology
Cognition.
Detailed description of the invention
Fig. 1 is a kind of flow diagram that the mobile method of robot is controlled using this acoustic code of rubbing of the present invention；
Fig. 2 is a kind of structural schematic diagram that the mobile method of robot is controlled using this acoustic code of rubbing of the present invention.
Specific embodiment
To further understand the features of the present invention, technological means and specific purposes achieved, function, below with reference to
Present invention is further described in detail with specific embodiment for attached drawing.
As shown in Figure 1, the present invention is a kind of using the mobile method of this acoustic code control robot of rubbing, following step is specifically included
Suddenly：
Step S1, acoustic code mode is selected；Toggle switch unit is triad toggle switch unit, constitutes one
Eight kinds of acoustic code modes such as acoustic code mode, two acoustic code modes, three acoustic code modes ..., eight acoustic code modes, the sound of acoustic code mode
Code is encoded to binary system vocoding.
Step S2, the sound of user is received；
Step S3, the sound length of user is detected, obtains this coding that rubs of acoustic code mode；This coding that rubs of acoustic code mode
It is indicated by underscore or space combination, wherein space indicates the preset time of sound interval, sound interval in the present invention
Preset time be 500ms；
Step S4, this coding that rubs of the acoustic code mode of acquisition is corresponding with the matching of the vocoding of default acoustic code mode.
Specifically, the vocoding of an acoustic code mode is 000,001,010,011, and it is long to respectively correspond different sound
Degree, this coding that rubs of an acoustic code mode are indicated by the underscore of different length, wherein rub this coding _ representative voice
For the sound length in 0-300ms, the vocoding of acoustic code mode is 000；Mo Si coding _ _ representative voice is 300-600ms
Interior sound length, the vocoding of acoustic code mode are 001；Mo Si coding _ _ _ representative voice is the sound in 600-900ms
Length, the vocoding of acoustic code mode are 010；Mo Si coding _ _ _ _ representative voice is the sound length in 900-1200ms,
The vocoding of its acoustic code mode is 011.
The vocoding of two acoustic code modes is 000,001,010,011 in one of the embodiments, two acoustic code moulds
This coding that rubs of formula is indicated by the underscore of different length and space combination, and wherein space indicates the default of sound interval
Time, the preset time of sound interval is 500ms in the present invention, this coding that rubs of two acoustic code modes includes _ _, _ _ _, _ _
_, _ _ _ _, _ _ _ _ etc., respectively correspond the combination of different sound lengths.
The vocoding of three acoustic code modes is 000,001,010,011 in one of the embodiments, three acoustic code moulds
This coding that rubs of formula is indicated by the underscore of different length and space combination, and wherein space indicates the default of sound interval
Time, this coding that rubs of three acoustic code modes includes _ _ _, _ _ _ _, _ _ _ _ _, _ _ _ _ etc., three acoustic code modes are rubbed
This encodes the combination for respectively corresponding different sound lengths.
As described above, rub this coding, six acoustic codes of this coding that rubs of four acoustic code modes of the present invention, five acoustic code modes
This coding that rubs of mode, this coding that rubs of seven acoustic code modes, eight acoustic code modes this coding that rubs can as needed will be different
The underscore of length and space are combined, by rub this coding and the preset sound after the underscore of different length and space combination
The vocoding of pattern, which matches, to be corresponded to.
Step S5, the instruction of corresponding default control is obtained according to the vocoding for presetting acoustic code mode, and by control instruction
It is transferred to controlled machine people.
Corresponding control instruction such as following table is obtained according to the vocoding for presetting acoustic code mode in one of the embodiments,
It is shown：
| Mo Si coding | Meaning | Vocoding | Control instruction |
| _ | Represent the sound length in 0-300ms | 000 | Advance a small step |
| __ | Represent the sound length in 300-600ms | 001 | Retreat a small step |
| ___ | Represent the sound length in 600-900ms | 010 | A left side is turn 90 degrees |
| ____ | Represent the sound length in 900-1200ms | 011 | The right side is turn 90 degrees |
Controlled machine people rubs that this encodes corresponding control instruction and executes corresponding movement according to acoustic code mode, and movement speed is all
It is set as 0.2 meter per second, by taking one is rubbed this acoustic code mode as an example, since controlled machine people is mainly used in education aspect,
The moving distance of setting is smaller.
Specifically, control instruction " small step of advancing ", then controlled machine people is with the speed advance 10cm of 0.2 meter per second；Control
Instruction " retreats a small step ", then controlled machine people retreats 10cm with the speed of 0.2 meter per second；Control instruction " left side is turn 90 degrees ", then by
Man-controlled mobile robot rotates counterclockwise 90 degree to the left；System instruction " right side is turn 90 degrees ", then controlled machine people rotates counterclockwise to the right 90 degree.
The control instruction of controlled machine people can also voluntarily increase according to user demand in one of the embodiments, such as " preceding
Into major step ", " turn left 45 degree " etc., then need to preset the vocoding of corresponding acoustic code mode and vocoding be corresponding rubs
This coding.
Step S6, acoustic code mode is switched over；Toggle switch unit is switched over into another acoustic code mode of selection, is made
It obtains user to understand this coding that rubs of another acoustic code mode, greatly increases user to this coding, acoustic coding, the machine of rubbing
The understanding of people's control and the combination of multi-system, to the propagation of sound, has been detected and encoded more detailed understanding, while
It completes the action control to controlled machine people, promotes user's such as children for learning and rub the enthusiasm of this coding；Wherein, pass through dial-up
After switch unit switches after acoustic code mode, master switch module is needed to be reset, and otherwise will cause handover failure.
As shown in Fig. 2, a kind of using the mobile method of this acoustic code control robot of rubbing according to aforementioned present invention, the present invention is mentioned
A kind of system using this acoustic code control robot movement that rubs has been supplied, acoustic code mode has been selected by toggle switch unit,
Different this codings that rubs is understood according to different acoustic code modes；Rub this coding unit according to the length of user voice and
This coding that rubs is carried out every sound of the time to user；Vocoding unit and control moving cell are for this code conversion that will rub
Control controlled machine people movement, can allow children to understand classical rub in interesting game after corresponding default control instruction
This code Principle of Communication, understands our this acoustic code Communication Control principle of rubbing, and the length for understanding sound can indicate different numbers
Word signal provides the cognition of perception for subsequent study pulse modulation technology and digital communication technology.
The present invention controls the mobile system of robot using this acoustic code of rubbing, including：
Toggle switch unit, for selecting acoustic code mode；
Sound detection unit, for detecting the sound of user；
Rub this coding unit, for carrying out this coding that rubs to the sound of user according to the length and interval time of user voice；
Vocoding unit presets corresponding default vocoding for extracting according to this coding that rubs；
Control moving cell, instructed for extracting corresponding default control according to vocoding, and by control instruction be transferred to by
Man-controlled mobile robot.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitation of the scope of the invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art,
Without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection model of the invention
It encloses.Therefore, protection scope of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of using the mobile method of this acoustic code control robot of rubbing, which is characterized in that include the following steps：
Acoustic code mode is selected；
Receive the sound of user；
The sound length of user is detected, this coding that rubs of acoustic code mode is obtained；Wherein, this coding that rubs of acoustic code mode is logical
It crosses underscore or space combination is indicated, wherein space indicates the preset time of sound interval；
This coding that rubs of the acoustic code mode of acquisition is corresponding with the matching of the vocoding of default acoustic code mode；
Corresponding default control instruction is obtained according to the vocoding of default acoustic code mode, and control instruction is transferred to controlled machine
Device people.
2. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：In sound
When pattern is an acoustic code mode, the vocoding of an acoustic code mode is 000,001,010,011, acoustic code mode
Mo Si coding is indicated by the underscore of different length, wherein this coding _ representative voice that rubs is the sound in 0-300ms
Length, the vocoding of acoustic code mode are 000；Mo Si coding _ _ representative voice is the sound length in 300-600ms, sound
The vocoding of pattern is 001；Mo Si coding _ _ _ representative voice is the sound length in 600-900ms, acoustic code mode
Vocoding is 010；Mo Si coding _ _ _ _ representative voice is the sound length in 900-1200ms, and the acoustic code of acoustic code mode is compiled
Code is 011.
3. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：In sound
When pattern is two acoustic code modes, the vocodings of two acoustic code modes is 000,001,010,011, two acoustic code modes
Mo Si coding is indicated by the underscore of different length and space combination, and this coding that rubs of two acoustic code modes includes _
_, _ _ _, _ _ _, _ _ _ _, _ _ _ _, wherein this coding _ representative voice that rubs is the sound length in 0-300ms, this volume of rubbing
Code _ _ representative voice is the sound length in 300-600ms, this coding _ _ _ representative voice that rubs is that the sound in 600-900ms is long
Degree, this coding _ _ _ _ representative voice that rubs are the sound length in 900-1200ms.
4. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：In sound
When pattern is three acoustic code modes, the vocodings of three acoustic code modes is 000,001,010,011, three acoustic code modes
Mo Si coding is indicated by the underscore of different length and space combination, and this coding that rubs of three acoustic code modes includes _ _
_, _ _ _ _, _ _ _ _ _, _ _ _ _, wherein this coding _ representative voice that rubs is the sound length in 0-300ms, this volume of rubbing
Code _ _ representative voice is the sound length in 300-600ms, this coding _ _ _ representative voice that rubs is that the sound in 600-900ms is long
Degree, this coding _ _ _ _ representative voice that rubs are the sound length in 900-1200ms.
5. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：Pass through
Toggle switch unit selects acoustic code mode, wherein toggle switch unit is triad toggle switch unit.
6. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：It is described
The vocoding of default acoustic code mode is binary system vocoding.
7. according to claim 1 a kind of using the mobile method of this acoustic code control robot of rubbing, it is characterised in that：It is described
The preset time of sound interval is 500ms.
8. a kind of using the mobile system of this acoustic code control robot of rubbing, which is characterized in that including：
Toggle switch unit, for selecting acoustic code mode；
Sound detection unit, for detecting the sound of user；
Rub this coding unit, for carrying out this coding that rubs to the sound of user according to the length and interval time of user voice；
Vocoding unit presets corresponding default vocoding for extracting according to this coding that rubs；
Control moving cell, instructed for extracting corresponding default control according to vocoding, and by control instruction be transferred to by
Man-controlled mobile robot.
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Cited By (1)
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| CN110011942A (en) * | 2019-02-15 | 2019-07-12 | 中国人民解放军战略支援部队信息工程大学 | Morse's message intelligent measurement recognition methods based on deep learning |
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