CN108927815A - Robot brake control method, device and robot - Google Patents
Robot brake control method, device and robot Download PDFInfo
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- CN108927815A CN108927815A CN201710452503.6A CN201710452503A CN108927815A CN 108927815 A CN108927815 A CN 108927815A CN 201710452503 A CN201710452503 A CN 201710452503A CN 108927815 A CN108927815 A CN 108927815A
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- 230000008569 process Effects 0.000 claims description 30
- 238000012545 processing Methods 0.000 claims description 24
- 230000000694 effects Effects 0.000 abstract description 17
- 230000005236 sound signal Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000002224 dissection Methods 0.000 description 3
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- 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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- Physics & Mathematics (AREA)
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Abstract
The present invention proposes a kind of robot brake control method, device and robot, wherein this method includes：Obtain voice signal；The voice signal is inputted in preset hardware circuit, the voice signal is handled；When including preset key characteristics in determining the voice signal, the braking of control robot.Thus, by utilizing hardware circuit, it realizes and control for brake is carried out to robot by voice, to in case of emergency, can control in time robot carry out emergency braking, improve robot braking effect, ensure that robot using safe, and be convenient for users to operate, improve user experience.
Description
Technical field
The present invention relates to field of computer technology more particularly to a kind of robot brake control methods, device and robot.
Background technique
With development in science and technology and social progress, intelligent robot in people's lives using more and more extensive.For example, sweeping
Floor-washing robot, robot of serving etc..
The prior art, in order to guarantee the safe handling of robot, it will usually which with robot, installation emergency braking is opened
It closes, so that in case of emergency, robot emergency braking can be controlled by pressing emergency stop switch.
However, above-mentioned robot emergency braking control method, need user robot at one's side, which results in urgent feelings
Under condition, when user has a distance from robot, emergency braking control cannot be carried out to robot in time, braking effect is poor, shadow
Ring robot using safe, and inconvenient user's operation, poor user experience.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of robot brake control method, by utilizing hardware electricity
Road realizes and carries out control for brake to robot by voice, in case of emergency, can control robot progress in time
Emergency braking improves robot braking effect, ensure that robot using safe, and be convenient for users to operate, improve
User experience.
Second object of the present invention is to propose a kind of robot brake control.
Third object of the present invention is to propose a kind of robot.
Fourth object of the present invention is to propose a kind of computer readable storage medium.
5th purpose of the invention is to propose a kind of computer program product.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of robot brake control method, the side
Method includes：Obtain voice signal；The voice signal is inputted in preset hardware circuit, at the voice signal
Reason；When including preset key characteristics in determining the voice signal, the braking of control robot.
In a kind of possible way of realization of first aspect, after the acquisition voice signal, further include：
The voice signal is inputted in preset speech recognition module, by the speech recognition module, to institute's predicate
Sound signal carries out speech recognition, determines the corresponding control instruction of the voice signal；
When determining the control instruction is braking instruction, the braking instruction is allocated at the first process resource
Reason, to control the robot braking.
In the alternatively possible way of realization of first aspect, the determination control instruction is braking instruction, packet
It includes：
When including preset key characteristics in determining the voice signal, determine that the control instruction is brake finger
It enables.
In the alternatively possible way of realization of first aspect, the corresponding control instruction of the determination voice signal
Later, further include：
If the control instruction is non-brake instruction, the control instruction is allocated at second processing resource
Reason executes operation corresponding with the control instruction to control the robot.
It is described the voice signal to be inputted preset voice in the alternatively possible way of realization of first aspect
After identifying in mould, further include：
Judge whether the robot has been braked；
If so, terminating being carrying out in first process resource for task.
It include field programmable gate array in the hardware circuit in the alternatively possible way of realization of first aspect
Or graphics processor.
Robot brake control method provided in this embodiment inputs voice signal default after obtaining voice signal
Hardware circuit in, voice signal is handled, thus in determining voice signal include preset key characteristics when, control
Robot braking processed.Control for brake is carried out to robot by voice by realizing using hardware circuit as a result, thus
In emergency circumstances, robot can be controlled in time and carries out emergency braking, improved robot braking effect, be ensure that robot
It using safe, and is convenient for users to operate, improves user experience.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of robot brake control, described device
Including：Module is obtained, for obtaining voice signal；First processing module, for the voice signal to be inputted preset hardware
In circuit, the voice signal is handled；First control module, for including preset in determining the voice signal
When key characteristics, the braking of control robot.
In a kind of possible way of realization of second aspect, which further includes：
Determining module passes through the speech recognition for inputting the voice signal in preset speech recognition module
Module carries out speech recognition to the voice signal, determines the corresponding control instruction of the voice signal；
Second control module, for when determining the control instruction is braking instruction, the braking instruction to be allocated to
First process resource is handled, to control the robot braking.
In the alternatively possible way of realization of second aspect, second control module is specifically used for：
When including preset key characteristics in determining the voice signal, determine that the control instruction is brake finger
It enables.
In the alternatively possible way of realization of second aspect, which further includes：
The control instruction is allocated to the if being non-brake instruction for the control instruction by third control module
Two process resources are handled, and execute operation corresponding with the control instruction to control the robot.
In the alternatively possible way of realization of second aspect, which further includes：
Judgment module, for judging whether the robot has been braked；
Second processing module is carrying out in first process resource for terminating when the robot has been braked
Task.
It include field programmable gate array in the hardware circuit in the alternatively possible way of realization of second aspect
Or graphics processor.
Robot brake control provided in this embodiment inputs voice signal default after obtaining voice signal
Hardware circuit in, voice signal is handled, thus in determining voice signal include preset key characteristics when, control
Robot braking processed.Control for brake is carried out to robot by voice by realizing using hardware circuit as a result, thus
In emergency circumstances, robot can be controlled in time and carries out emergency braking, improved robot braking effect, be ensure that robot
It using safe, and is convenient for users to operate, improves user experience.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of robot, including such as above-mentioned second aspect
The robot brake control.
Robot provided in this embodiment inputs voice signal in preset hardware circuit after obtaining voice signal,
Voice signal is handled, thus when including preset key characteristics in determining voice signal, the braking of control robot.
Control for brake is carried out to robot by voice by realizing using hardware circuit as a result, thus in case of emergency, it can
And when control robot carry out emergency braking, improve robot braking effect, ensure that robot using safe, and side
User's operation, improve user experience.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of computer readable storage medium, the meter
Calculation machine readable storage medium storing program for executing is stored with one or more program, when one or more of programs are executed by an equipment
When, so that the equipment executes the robot brake control method as described in above-mentioned first aspect.
Computer readable storage medium provided in an embodiment of the present invention may be provided at the robot for needing to carry out control for brake
In, when carrying out control for brake to robot, by executing the robot brake control method stored thereon, can be realized to machine
The control for brake of device people, in case of emergency, robot can be controlled in time and carry out emergency braking, improve robot system
Dynamic effect, ensure that robot using safe, and be convenient for users to operate, improve user experience.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of computer program product, when the calculating
When instruction processing unit in machine program product executes, the robot brake control method such as above-mentioned first aspect is executed.
Computer program product provided in an embodiment of the present invention, in the writable robot for needing to carry out control for brake,
When carrying out control for brake to robot, by executing the program of corresponding robot brake control method, it can be realized to robot
Control for brake can control robot in time and carry out emergency braking thus in case of emergency, improve robot braking effect
Fruit, ensure that robot using safe, and be convenient for users to operate, improve user experience.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of the robot brake control method of one embodiment of the invention；
Fig. 2 is the flow chart of the robot brake control method of another embodiment of the present invention；
Fig. 3 is the structure chart of the robot brake control of one embodiment of the invention；
Fig. 4 is the structure chart of the robot brake control of another embodiment of the present invention；
Fig. 5 is the structure chart of the robot of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.On the contrary, this
The embodiment of invention includes all changes fallen within the scope of the spiritual and intension of attached claims, modification and is equal
Object.
Each embodiment of the application mainly for existing robot brake control method, need user robot at one's side
It is able to achieve emergency braking, so that in emergency circumstances, when user has a distance from robot, cannot carry out in time to robot tight
Anxious control for brake, braking effect is poor, influence robot using safe, the problem of and inconvenient user's operation, poor user experience,
It is proposed a kind of robot brake control method.
Robot brake control method provided by the present application inputs preset hardware electricity by the voice signal that will acquire
Road handles voice signal, and in determining voice signal include preset key characteristics when, control robot carry out
Braking.Since hardware circuits which process speed is fast, thus in case of emergency, robot can be controlled in time and carry out emergency braking,
Improve robot braking effect, ensure that robot using safe, and be convenient for users to operate, improve user experience.
Below with reference to the accompanying drawings robot brake control method, device and the robot of the embodiment of the present invention are described.
Fig. 1 is the flow chart of the robot brake control method of one embodiment of the invention.
As shown in Figure 1, the robot brake control method includes：
Step 101, voice signal is obtained.
Specifically, robot brake control method provided in an embodiment of the present invention, it can be by provided in an embodiment of the present invention
Robot brake control executes, wherein the robot brake control can be configured in any mobile robot
In, to realize the control for brake to robot.
When specific implementation, the voice-input devices such as microphone, microphone can be preset with robot, thus with
After family sends control command to robot by voice, robot can acquire voice signal by voice-input device.
Step 102, voice signal is inputted in preset hardware circuit, voice signal is handled.
Step 103, when in determining voice signal including preset key characteristics, the braking of control robot.
Wherein, preset hardware circuit may include field programmable gate array (Field-Programmable Gate
Array, abbreviation FPGA) or graphics processor (Graphic Processing Unit, abbreviation GPU) etc., for the language to acquisition
Sound signal carries out dissection process.
It is understood that robot is in the process of moving, voice-input device can collect various languages
Sound signal.Such as " hello ", " I will order ", " song can be sung ", " stopping ", " goodbye " etc..In embodiments of the present invention,
It can be arranged in advance in the local storage of robot such as random access memory (random access memory, abbreviation RAM)
Key characteristics corresponding with braking instruction, to collect the voice of user's input by voice-input device in robot
After signal, voice signal can be inputted in preset hardware circuit, thus using preset hardware circuit, to voice signal into
Whether row dissection process to judge in voice signal to include preset key characteristics, and then determines whether to carry out robot
Control for brake.
Specifically, if in voice signal after dissection process including preset key characteristics, then it represents that user needs pair
Robot carries out control for brake, at this point it is possible to directly control robot braking.
Wherein, preset key characteristics can be the keyword of Chinese form, such as " stopping ", " stopping "；It can also be with
It is the keyword of other Languages form, " Stop ", etc. of such as English.
And the length characteristic of keyword, it can according to need and be configured.In general, the letter as far as possible that keyword can be set
It is short, to reduce the processing load of hardware circuit, processing speed is improved, in case of emergency, quickly robot can be carried out
Control for brake.
In addition, preset key characteristics, it is preset to can be developer, is also possible to user and sets as needed
Fixed, it can also be that robot carries out what self study obtained according to history voice signal, herein with no restriction.
Such as, it is assumed that the preset key characteristics of developer are " stopping ", " stopping ".If robot is according to acquisition
History voice signal determines user when carrying out control for brake to robot, and the voice signal being commonly used is " stopping fastly ", then machine
Device people " can also will stop fastly " to increase in preset key characteristics according to history voice signal, thus determining voice letter
When including " stopping fastly ", " stopping " or " stopping " feature in number, determine that the corresponding control instruction of voice signal is braking instruction.
It should be noted that determining language in embodiments of the present invention to further increase the speed of robot braking
When in sound signal including preset key characteristics, signal, control can be controlled by the direct output level of preset hardware circuit
Robot braking.Wherein, the level of control robot braking, can be high level, is also possible to low level, does not limit herein
System.
It include configurable logic blocks inside FPGA for including FPGA in preset hardware circuit when specific implementation
CLB (Configurable Logic Block), output input module IOB (Input Output Block) and interconnector
(Interconnect) parts such as.In the embodiment of the present application, setting configurable logic blocks and input/output module can be passed through
Connection relationship, setting hardware circuit export high level when, control robot braking.To be carried out to the voice signal of acquisition
After processing, however, it is determined that include preset key characteristics, i.e., exportable high level, the braking of control robot in voice signal.
It is understood that the processing speed due to hardware circuit is fast, and can directly export control level, to control machine
Device people braking, therefore using the application implement in brake control method, may be implemented in an emergency situation, to robot into
The braking of row remote emergency.
Robot brake control method provided in an embodiment of the present invention inputs voice signal after obtaining voice signal
In preset hardware circuit, voice signal is handled, when including preset key characteristics in determining voice signal, control
Robot braking processed.Control for brake is carried out to robot by voice by realizing using hardware circuit as a result, thus
In emergency circumstances, robot can be controlled in time and carries out emergency braking, improved robot braking effect, be ensure that robot
It using safe, and is convenient for users to operate, improves user experience.
By above-mentioned analysis it is found that can handle by preset hardware circuit voice signal, and determining language
When including preset key characteristics in sound signal, realizes and control for brake is carried out to robot by voice.In practice,
In order to improve to robot carry out control for brake reliability, can be combined with preset hardware circuit and speech recognition module,
Control for brake is carried out to robot jointly above situation is described in detail below with reference to Fig. 2.
Fig. 2 is the flow chart of the robot brake control method of another embodiment of the present invention.
As shown in Fig. 2, the robot brake control method, further includes：
Step 201, voice signal is inputted in preset speech recognition module, by speech recognition module, voice is believed
Number carry out speech recognition, determine the corresponding control instruction of voice signal.
Step 202, judge whether control instruction is braking instruction, if so, thening follow the steps 203, otherwise, execute step
204。
Wherein, preset speech recognition module may include implicit Markov model, wavelet transformation, self-organizing nerve
The language models such as network.
In addition, when carrying out speech recognition to voice signal, it can be using the method based on channel model and phonic knowledge, mould
The matched method of plate or the method, etc. for utilizing artificial neural network.
Specifically, control instruction may include braking instruction and non-brake instruction.
Wherein, braking instruction refers to the instruction that control for brake can be carried out to robot.Non-brake instruction, referring to can control
Robot turns round, walks, swing arm, singing etc. instruction.
When specific implementation, the voice signal that voice-input device can be acquired is inputted in preset speech recognition module,
To utilize preset speech recognition module, speech recognition is carried out to voice signal, and determine the corresponding control instruction of voice signal.
Specifically, can be previously according to a large amount of voice signal and corresponding control instruction, training generates speech recognition module, thus
It collects the voice signal of user, and after carrying out the pretreatment such as analog-to-digital conversion to voice signal, can be known by preset voice
Other module carries out speech recognition to voice signal, to determine the corresponding control instruction of voice signal.
Alternatively, can be arranged and braking instruction or non-brake instruction point in advance in the local storage of robot such as RAM
Not corresponding key characteristics, thus utilizing speech recognition module, after collected voice signal is identified as text, if really
In the corresponding text of speech signal, when including preset key characteristics corresponding with braking instruction, it is determined that voice signal
Corresponding control instruction is braking instruction, and other control instructions are non-brake instruction.
That is, determining that control instruction is braking instruction, can specifically include：
When including preset key characteristics in determining the voice signal, determine that the control instruction is brake finger
It enables.
Wherein, preset key characteristics, it is preset to can be developer, is also possible to user and sets as needed
Fixed, it can also be that robot carries out what self study obtained according to history voice signal, herein with no restriction.
Such as, it is assumed that the preset key characteristics of developer are " stopping ", " stopping ".If robot is according to acquisition
History voice signal determines user when carrying out control for brake to robot, and the voice signal being commonly used is " stopping fastly ", then machine
Device people " can also will stop fastly " to increase in preset key characteristics according to history voice signal, thus determining voice letter
When including " stopping fastly ", " stopping " or " stopping " in number, determine that the corresponding control instruction of voice signal is braking instruction.
Alternatively, the control text for including control instruction and obtaining after identifying to voice signal can be arranged in robot
This mapping database, to be identified as controlling by collected user voice signal utilizing preset speech recognition module
After text, this voice can be determined according to the matching degree of the control text in the control text and database that identification obtains
The corresponding control instruction of signal.
As an example it is assumed that control text " stopping ", " stopping fastly " are corresponding with braking instruction in database, " song can be sung
", " I wants to listen song " it is corresponding with instruction of singing, " waving ", " hold a a hand " are corresponding with swing arm instruction.Then collected user
Voice signal when being " stopping ", can will after carrying out speech recognition to voice signal " stopping " by preset speech recognition module
Identify that obtained control text is matched with the control text in database.It is right with voice signal " stopping " due in database
The highest control text of control text matches degree answered is " stopping " and " stopping fastly ", and " stopping " and " stopping fastly " and braking instruction
It is corresponding, then it can determine that the corresponding control instruction of collected voice signal " stopping " is braking instruction.The language of collected user
It, can after carrying out speech recognition to voice signal " singing a song " by preset speech recognition module when sound signal is " singing a song "
It is matched with the control text for obtaining identification with the control text in database.Due to " being sung with control text in database
A song " highest control text of matching degree is " can sing song ", and " can sing a song " is corresponding with singing instruction, then can be with
Determine that the corresponding control instruction of collected voice signal " can sing a song " is non-brake instruction.
It is understood that the matching of the control text in the control text and preset database obtained according to identification
Degree, when determining the corresponding control instruction of voice signal of the user obtained, it is understood that there may be the user voice signal of acquisition is corresponding
Control text is identical as the matching degree of multiple control texts in preset database and highest, and multiple control texts pair
The different situation of the control instruction answered.For above situation, in embodiments of the present invention, it can preset in database, deposit
In multiple control texts control text matches degree corresponding with collected user voice signal when identical and highest, if any
Controlling the corresponding control instruction of text is braking instruction, it is determined that the corresponding control instruction of collected user voice signal is system
Dynamic instruction.
For example, if using preset speech recognition module, speech recognition is carried out to collected user voice signal
Afterwards, it determines in preset database, control text matches degree corresponding with the voice signal of acquisition is identical and two highest
Text is controlled, corresponding control instruction is sing instruction and braking instruction, then can determine the user voice signal of acquisition
Corresponding control instruction is braking instruction.If in database, control text matches degree phase corresponding with the voice signal of acquisition
Same and highest two control text, corresponding control instruction are to sing to instruct to instruct with swing arm, then can determine acquisition
The corresponding control instruction of user voice signal be non-brake instruction.
Step 203, braking instruction is allocated to the first process resource to handle, to control robot braking.
Step 204, control instruction is allocated to second processing resource to handle, is referred to controlling robot and executing with control
Enable corresponding operation.
Wherein, process resource can be operating system thread and CPU etc..Operating system thread refers to that operating system nucleus is
Completion hardware interface layer operation, the thread created by operating system nucleus.
When specific implementation, the first process resource can be preset and be used to carry out control for brake, second processing to robot
Resource is used to carry out other controls to robot, then utilizes preset speech recognition module, carries out speech recognition to voice signal
Afterwards, however, it is determined that the corresponding control instruction of voice signal is braking instruction, then braking instruction can be allocated to the first process resource,
To which the i.e. controllable robot of the operating system thread in the first process resource is braked.If it is determined that the corresponding control of voice signal
System instruction is other instructions, then control instruction can be allocated to second processing resource, thus the operation in second processing resource
The i.e. controllable robot of system thread executes movement corresponding with control instruction.
It is understood that in embodiments of the present invention, process resource is divided into the first process resource and second processing resource,
It is respectively used to carry out control for brake and other controls to robot.Since the control for brake for robot is assigned with individual processing
Resource.Therefore, when determining control instruction is braking instruction, quickly robot can be controlled, improved to robot
The real-time of control for brake.
In addition, due to by preset hardware circuit, when carrying out control for brake to robot, without passing through CPU, Ji Kezhi
Capable processing is tapped into, therefore, compared to by preset speech recognition module, voice signal is identified, then control instruction is matched
Set and handled to process resource, by preset hardware circuit to the control speed of robot faster.So, of the invention real
It applies in example, can also include：
Step 205, judge whether robot has been braked, if so, thening follow the steps 206, otherwise, execute step 203.
Step 206, terminate being carrying out in the first process resource for task.
When specific implementation, however, it is determined that robot has been braked, and expression inputs voice signal in preset hardware circuit, to language
After sound signal is handled, it has been determined that include preset key characteristics in voice signal, and controls robot and braked,
Being carrying out in the first process resource for task can then be terminated.
It then may be since failure or preset occurs in preset hardware circuit if it is determined that robot is not braked
, when causing to be judged by hardware circuit, there is the phenomenon that failing to judge in the reasons such as key characteristics coverage area is small, then can be with
Braking instruction is allocated to the first process resource to handle, to carry out control for brake to robot, to prevent phenomenon of failing to judge
Generation, improve robot control for brake reliability.
Robot brake control method provided in an embodiment of the present invention, first acquisition voice signal；Then by voice signal
Preset hardware circuit is inputted, voice signal is handled, when including preset key characteristics in determining voice signal,
Control robot braking；Meanwhile inputting voice signal in preset speech recognition module, by speech recognition module, to language
Sound signal carries out speech recognition, determines the corresponding control instruction of voice signal, if control instruction is braking instruction, by brake finger
Order is allocated to the first process resource and is handled,, will control if control instruction is non-brake instruction to control robot braking
Instruction is allocated to second processing resource and is handled, and is passed through as a result, with controlling robot execution operation corresponding with control instruction
Hardware circuit and speech recognition module are utilized simultaneously, realize and control for brake is carried out to robot by voice, thus urgent
In the case of, robot can be controlled in time and carries out emergency braking, improved robot braking effect, be ensure that the use of robot
Safety, improves the reliability and real-time of robot control for brake, and be convenient for users to operate, improves user experience.
Fig. 3 is the structure chart of the robot brake control of one embodiment of the invention.
As shown in figure 3, the robot brake control, including：
Module 31 is obtained, for obtaining voice signal；
First processing module 32, for inputting the voice signal in preset hardware circuit, to the voice signal
It is handled；
First control module 33 controls machine when for including preset key characteristics in determining the voice signal
Device people braking.
Wherein, robot brake control provided in this embodiment, can execute machine provided in an embodiment of the present invention
People's brake control method.Wherein, the robot brake control, can be configured in any mobile robot, to realize
To the control for brake of robot.
Specifically, may include field programmable gate array or graphics processor in hardware circuit.
It should be noted that the above-mentioned explanation to robot brake control method embodiment, is also applied for the present embodiment and mentions
The robot brake control of confession, details are not described herein again.
Robot brake control provided in this embodiment inputs voice signal default after obtaining voice signal
Hardware circuit in, voice signal is handled, in determining voice signal include preset key characteristics when, control machine
Device people braking.As a result, by utilizing hardware circuit, realizes and control for brake is carried out to robot by voice, thus urgent
In the case of, robot can be controlled in time and carries out emergency braking, improved robot braking effect, be ensure that the use of robot
Safety, and be convenient for users to operate, improve user experience.
Fig. 4 is the structure chart of the robot brake control of another embodiment of the present invention.
As shown in figure 4, on the basis of above-mentioned shown in Fig. 3, which further includes：
Determining module 41 is known for inputting the voice signal in preset speech recognition module by the voice
Other module carries out speech recognition to the voice signal, determines the corresponding control instruction of the voice signal；
Second control module 42, for when determining the control instruction is braking instruction, the braking instruction to be configured
It is handled to the first process resource, to control the robot braking.
The control instruction is allocated to by third control module 43 if being non-brake instruction for the control instruction
Second processing resource is handled, and executes operation corresponding with the control instruction to control the robot.
Judgment module 44, for judging whether the robot has been braked；
Second processing module 45 is being held in first process resource for terminating when the robot has been braked
Capable task.
Wherein, above-mentioned second control module 42, is specifically used for：
When including preset key characteristics in determining the voice signal, determine that the control instruction is brake finger
It enables.
It should be noted that the above-mentioned explanation to robot brake control method embodiment, is also applied for the present embodiment and mentions
The robot brake control of confession, details are not described herein again.
Robot brake control provided in an embodiment of the present invention, first acquisition voice signal；Then by voice signal
It inputs in preset hardware circuit, voice signal is handled, include preset key characteristics in determining voice signal
When, the braking of control robot；Meanwhile inputting voice signal in preset speech recognition module, it is right by speech recognition module
Voice signal carries out speech recognition, determines the corresponding control instruction of voice signal, will braking if control instruction is braking instruction
Instruction is allocated to the first process resource and is handled,, will control if control instruction is non-brake instruction to control robot braking
System instruction is allocated to second processing resource and is handled, and executes operation corresponding with control instruction to control robot.Lead to as a result,
Hardware circuit and speech recognition module are crossed while being utilized, realizes and control for brake is carried out to robot by voice, thus tight
In anxious situation, robot can be controlled in time and carries out emergency braking, robot braking effect is improved, ensure that making for robot
With safety, the reliability and real-time of robot control for brake are improved, and is convenient for users to operate, user experience is improved.
The robot brake control method and device provided based on the above embodiment, the application also provide a kind of robot.
Fig. 5 is the structure chart of the robot of one embodiment of the invention.
As shown in figure 5, the robot 50, including robot brake control 51 described in embodiment as above.
Voice signal is inputted preset hardware electricity after obtaining voice signal by robot provided in an embodiment of the present invention
Lu Zhong handles voice signal, to control robot when including preset key characteristics in determining voice signal
Braking.As a result, by utilizing hardware circuit, realizes and control for brake is carried out to robot by voice, thus in emergency
Under, robot can be controlled in time and carries out emergency braking, improves robot braking effect, ensure that the use peace of robot
Entirely, it and is convenient for users to operate, improves user experience.
Further, the application can also provide a kind of computer readable storage medium, the computer-readable storage medium
Matter is stored with one or more program, when one or more of programs are executed by an equipment, so that the equipment
Execute robot brake control method described in embodiment as above.
Computer readable storage medium provided in an embodiment of the present invention may be provided at the robot for needing to carry out control for brake
In, when carrying out control for brake to robot, by executing the robot brake control method stored thereon, can be realized to machine
The control for brake of device people, in case of emergency, robot can be controlled in time and carry out emergency braking, improve robot system
Dynamic effect, ensure that robot using safe, and be convenient for users to operate, improve user experience.
Further, the application can also provide a kind of computer program product, when in the computer program product
When instruction processing unit executes, robot brake control method described in embodiment as above is executed.
Computer program product provided in an embodiment of the present invention, in the writable robot for needing to carry out control for brake,
When carrying out control for brake to robot, by executing the program of corresponding robot brake control method, it can be realized to robot
Control for brake can control robot in time and carry out emergency braking thus in case of emergency, improve robot braking effect
Fruit, ensure that robot using safe, and be convenient for users to operate, improve user experience.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized：With for realizing the logic gates of logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (10)
1. a kind of robot brake control method, which is characterized in that include the following steps：
Obtain voice signal；
The voice signal is inputted in preset hardware circuit, the voice signal is handled；
When including preset key characteristics in determining the voice signal, the braking of control robot.
2. the method as described in claim 1, which is characterized in that after the acquisition voice signal, further include：
The voice signal is inputted in preset speech recognition module, by the speech recognition module, the voice is believed
Number carry out speech recognition, determine the corresponding control instruction of the voice signal；
When determining the control instruction is braking instruction, the braking instruction is allocated to the first process resource and is handled,
To control the robot braking.
3. method according to claim 2, which is characterized in that the determination control instruction is braking instruction, including：
When including preset key characteristics in determining the voice signal, determine that the control instruction is braking instruction.
4. method as claimed in claim 2 or claim 3, which is characterized in that the corresponding control instruction of the determination voice signal
Later, further include：
If the control instruction is non-brake instruction, the control instruction is allocated to second processing resource and is handled, with
It controls the robot and executes operation corresponding with the control instruction.
5. method as claimed in claim 2 or claim 3, which is characterized in that described that the voice signal is inputted preset voice knowledge
After in other mould, further include：
Judge whether the robot has been braked；
If so, terminating being carrying out in first process resource for task.
6. method a method according to any one of claims 1-3, which is characterized in that include field-programmable gate array in the hardware circuit
Column or graphics processor.
7. a kind of robot brake control, which is characterized in that including：
Module is obtained, for obtaining voice signal；
First processing module, for inputting the voice signal in preset hardware circuit, at the voice signal
Reason；
First control module controls robot system when for including preset key characteristics in determining the voice signal
It is dynamic.
8. device as claimed in claim 7, which is characterized in that described device further includes：
Determining module, for the voice signal to be inputted in preset speech recognition module, by the speech recognition module,
Speech recognition is carried out to the voice signal, determines the corresponding control instruction of the voice signal；
Second control module, for when determining the control instruction is braking instruction, the braking instruction to be allocated to first
Process resource is handled, to control the robot braking.
9. device as claimed in claim 8, which is characterized in that second control module is specifically used for：
When including preset key characteristics in determining the voice signal, determine that the control instruction is braking instruction.
10. device as claimed in claim 8 or 9, which is characterized in that further include：
The control instruction is allocated at second by third control module if being non-brake instruction for the control instruction
Reason resource is handled, and executes operation corresponding with the control instruction to control the robot.
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