CN109377991A - Intelligent equipment control method and device - Google Patents
Intelligent equipment control method and device Download PDFInfo
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- CN109377991A CN109377991A CN201811163447.5A CN201811163447A CN109377991A CN 109377991 A CN109377991 A CN 109377991A CN 201811163447 A CN201811163447 A CN 201811163447A CN 109377991 A CN109377991 A CN 109377991A
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- 230000015654 memory Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 11
- 238000011897 real-time detection Methods 0.000 claims description 9
- 230000004807 localization Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
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- 230000002618 waking effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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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
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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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
- G10L15/20—Speech recognition techniques specially adapted for robustness in adverse environments, e.g. in noise, of stress induced speech
-
- 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
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
- G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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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
- G10L2015/223—Execution procedure of a spoken command
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- Engineering & Computer Science (AREA)
- Computational Linguistics (AREA)
- Signal Processing (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention provides an intelligent device control method and device, wherein the method comprises the following steps: acquiring and identifying a first voice control instruction sent by a user through a default far-field identification model; determining the position of the user according to the recognition result, and controlling the intelligent equipment to move towards the user under the condition that the distance between the intelligent equipment and the position of the user is larger than a first preset value; according to the method and the device, the far-field identification model is switched to the near-field identification model under the condition that the distance between the intelligent device and the position of the user is smaller than the second preset value, the problem that the effect of the intelligent device on voice receiving and identification is poor due to noise interference of a noisy environment in the correlation technology is solved, the voice source is positioned according to the voice collected by the far-field identification model, the voice source is close to the position of the voice source, the near-field identification model is switched, and the identification effect of the intelligent device in the noisy environment is improved.
Description
Technical field
The present invention relates to the communications fields, in particular to a kind of smart machine control method and device.
Background technique
Sound control method and device based on earphone avoid interference of the ambient noise to voice control.But this side
Method needs client additionally to purchase ear speaker device, and needs to use under wear condition, does not have intelligence and convenience.
Current voice control mode can generate phonetic incepting and identification larger due to the noisy and noise of surrounding enviroment
Influence, reduce the accuracy of speech recognition, influence subsequent response operation.
For noisy environment in the related technology noise jamming cause smart machine to the effect of phonetic incepting and identification not
Good problem, not yet proposition solution.
Summary of the invention
The embodiment of the invention provides a kind of smart machine control method and device, noisy in the related technology at least to solve
The noise jamming of environment causes smart machine to the ineffective problem of phonetic incepting and identification.
According to one embodiment of present invention, a kind of smart machine control method is provided, comprising:
Pass through the far field identification model real-time monitoring of default and acquires the first voice control that user issues to smart machine
Instruction, and speech recognition is carried out to first phonetic control command；
The user position is determined according to the result of identification, judges the smart machine currently and where the user
Whether the distance of position is greater than the first preset value；
In the case where the judgment result is yes, it is mobile to the user to control the smart machine；
In the smart machine into user's moving process where smart machine described in real-time detection and the user
The distance of position；
The smart machine at a distance from the user position less than the second preset value in the case where, will be described remote
Field identification model is switched near field identification model.
Optionally, controlling the smart machine to user movement includes:
Determine the movement routine from the smart machine to predetermined position, wherein the predetermined position and the user institute
Distance between position is first distance threshold value；
It controls the smart machine and the predetermined position is moved to according to the movement routine.
Optionally it is determined that the movement routine from the smart machine to predetermined position includes:
According to first phonetic control command of acquisition, the user position is determined by auditory localization；
Determine distance and direction of the smart machine relative to the user position；
According to the smart machine position, the first distance threshold value and the smart machine relative to the use
The distance of family position and direction determine the predetermined position；
It is generated by indoor navigation using the coordinate of the smart machine current location as starting point, it is corresponding with the predetermined position
Position coordinates be terminal the movement routine.
Optionally, it controls the smart machine predetermined position is moved to according to the movement routine and include:
Smart machine described in real-time control is moved to described predetermined according to the movement routine and with preset fixed step size
Position.
Optionally, after the far field identification model is switched near field identification model, the method also includes:
Monitor that user issues the second phonetic control command by the near field identification model；
While acquiring and identify second phonetic control command, stop movement；
Determine user's present position according to the result of identification, judge the smart machine currently with the user
Whether the distance of present position is greater than second preset value；In the case where the judgment result is yes, the near field is known
Other models switching is the far field identification model.
Optionally, carrying out speech recognition to first phonetic control command of acquisition includes:
Wake-up word is identified from first phonetic control command；
It is determined according to the wake-up word and moving operation is executed to the smart machine.
According to another embodiment of the invention, a kind of smart machine control device is additionally provided, comprising:
Voice collecting identification module is set for passing through the far field identification model real-time monitoring defaulted and acquiring user to intelligence
The first phonetic control command that preparation goes out, and speech recognition is carried out to first phonetic control command；
First judgment module determines the user position for the result according to identification, judges the smart machine
Currently whether it is greater than the first preset value at a distance from the user position；
Control module, it is mobile to the user in the case where the judgment result is yes, controlling the smart machine；
Detection module, for the smart machine into user's moving process smart machine described in real-time detection with
The distance of the user position；
First switching module, in the smart machine at a distance from the user position less than the second preset value
In the case where, the far field identification model is switched near field identification model.
Optionally, the control module includes:
Determination unit, for determining the movement routine from the smart machine to predetermined position, wherein the predetermined position
The distance between described user position is first distance threshold value；
Control unit is moved to the predetermined position according to the movement routine for controlling the smart machine.
Optionally, the determination unit, is also used to
According to first phonetic control command of acquisition, the user position is determined by auditory localization；
Determine distance and direction of the smart machine relative to the user position；
According to the smart machine position, the first distance threshold value and the smart machine relative to the use
The distance of family position and direction determine the predetermined position；
It is generated by indoor navigation using the coordinate of the smart machine current location as starting point, it is corresponding with the predetermined position
Position coordinates be terminal the movement routine.
Optionally, described control unit is also used to
Smart machine described in real-time control is moved to described predetermined according to the movement routine and with preset fixed step size
Position.
Optionally, described device further include:
Monitoring modular, for monitoring that user issues the second phonetic control command by the near field identification model；
Stopping modular while for acquiring and identifying second phonetic control command, stops movement；
Second judgment module determines user's present position for the result according to identification, judges the intelligence
Whether equipment is currently greater than second preset value at a distance from user's present position；
Second switching module, in the case where the judgment result is yes, the near field identification model being switched to described
Far field identification model.
Optionally, the voice collecting identification module includes:
Recognition unit, for identifying wake-up word from first phonetic control command；
Execution unit executes moving operation to the smart machine for determining according to the wake-up word.
According to still another embodiment of the invention, a kind of storage medium is additionally provided, meter is stored in the storage medium
Calculation machine program, wherein the computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
According to still another embodiment of the invention, a kind of electronic device, including memory and processor are additionally provided, it is described
Computer program is stored in memory, the processor is arranged to run the computer program to execute any of the above-described
Step in embodiment of the method.
Through the invention, it is issued due to passing through the far field identification model real-time monitoring defaulted and acquiring user to smart machine
The first phonetic control command, and to first phonetic control command carry out speech recognition；Institute is determined according to the result of identification
User position is stated, it is default to judge whether the smart machine is currently greater than first at a distance from the user position
Value；In the case where the judgment result is yes, it is mobile to the user to control the smart machine；In the smart machine to described
Smart machine described in real-time detection is at a distance from the user position in user's moving process；In the smart machine and institute
In the case where the distance of user position is stated less than the second preset value, the far field identification model is switched near field identification mould
Type, therefore, the noise jamming that can solve noisy environment in the related technology cause smart machine to the effect of phonetic incepting and identification
The bad problem of fruit, distance use far field identification model farther out, are positioned according to the voice of acquisition to sound source, and control intelligence is set
It is standby close to sound source position, near field identification model is used when closer, improves recognition effect of the smart machine in noisy environment,
Achieve the effect that improve user experience.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of hardware block diagram of the mobile terminal of smart machine control method of the embodiment of the present invention；
Fig. 2 is a kind of flow chart of smart machine control method according to an embodiment of the present invention；
Fig. 3 is the block diagram of smart machine control device according to an embodiment of the present invention；
Fig. 4 is the block diagram one of smart machine control device according to the preferred embodiment of the invention；
Fig. 5 is the block diagram two of smart machine control device according to the preferred embodiment of the invention.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Embodiment 1
Embodiment of the method provided by the embodiment of the present application one can be in mobile terminal, terminal or similar fortune
It calculates and is executed in device.For running on mobile terminals, Fig. 1 is a kind of smart machine control method of the embodiment of the present invention
The hardware block diagram of mobile terminal, as shown in Figure 1, mobile terminal 10 may include three (only showing one in Fig. 1) processing
Device 102 (processing unit that processor 102 can include but is not limited to Micro-processor MCV or programmable logic device FPGA etc.) and
Memory 104 for storing data, optionally, above-mentioned mobile terminal can also include the transmission device for communication function
106 and input-output equipment 108.It will appreciated by the skilled person that structure shown in FIG. 1 is only to illustrate, simultaneously
The structure of above-mentioned mobile terminal is not caused to limit.For example, mobile terminal 10 may also include it is more than shown in Fig. 1 or less
Component, or with the configuration different from shown in Fig. 1.
Memory 104 can be used for storing computer program, for example, the software program and module of application software, such as this hair
The corresponding computer program of message method of reseptance in bright embodiment, processor 102 are stored in memory 104 by operation
Computer program realizes above-mentioned method thereby executing various function application and data processing.Memory 104 may include
High speed random access memory, may also include nonvolatile memory, as one or more magnetic storage device, flash memory or its
His non-volatile solid state memory.In some instances, memory 104 can further comprise remotely setting relative to processor 102
The memory set, these remote memories can pass through network connection to mobile terminal 10.The example of above-mentioned network includes but not
It is limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
Transmitting device 106 is used to that data to be received or sent via a network.Above-mentioned network specific example may include
The wireless network that the communication providers of mobile terminal 10 provide.In an example, transmitting device 106 includes a Network adaptation
Device (Network Interface Controller, referred to as NIC), can be connected by base station with other network equipments to
It can be communicated with internet.In an example, transmitting device 106 can for radio frequency (Radio Frequency, referred to as
RF) module is used to wirelessly be communicated with internet.
Based on above-mentioned mobile terminal, a kind of smart machine control method is provided in the present embodiment, Fig. 2 is according to this hair
The flow chart of a kind of smart machine control method of bright embodiment, as shown in Fig. 2, the process includes the following steps:
Step S202 passes through the far field identification model real-time monitoring of default and acquires user issues to smart machine first
Phonetic control command, and speech recognition is carried out to first phonetic control command；
Step S204 determines the user position according to the result of identification, judges the smart machine currently and institute
Whether the distance for stating user position is greater than the first preset value；
It is mobile to the user to control the smart machine in the case where the judgment result is yes by step S206；
Step S208, the smart machine into user's moving process smart machine described in real-time detection with it is described
The distance of user position；
Step S210, in the smart machine at a distance from the user position less than the second preset value the case where
Under, the far field identification model is switched near field identification model.
Through the above steps, the noise jamming for solving noisy environment in the related technology causes smart machine to phonetic incepting
With the ineffective problem of identification, distance uses far field identification model farther out, is positioned according to the voice of acquisition to sound source,
It is close to sound source position to control smart machine, near field identification model is used when closer, improves smart machine in noisy environment
Recognition effect, achieve the effect that improve user experience.
In the embodiment of the present invention, according to the distance of sound source and microphone array column distance, sound-field model can be divided into two kinds: close
Field identification model and far field identification model.Near field identification model regards sound wave as spherical wave, it considers that microphone array element receives letter
Amplitude difference between number；Far field identification model then regards sound wave as plane wave, it ignores the amplitude difference between each array element reception signal, closely
Seemingly think between each reception signal to be simple time delay relationship.The division of near field identification model and far field identification model is not absolute
Standard, it is considered that sound source with a distance from microphone array center reference point be much larger than signal wavelength when be far field；Conversely, then
For near field.If the distance between the adjacent array element of uniform linear array (also known as array aperture) is D=n*d, n is array pitch
Number, usually M-1；The wavelength (i.e. the minimum wavelength of sound source) of sound source highest frequency voice is λ min, if sound source is into array
The distance of the heart is greater than 2D2/ λ min, then is far field identification model, is otherwise near field identification model.
In the embodiment of the present invention, control the smart machine can specifically include to user movement: determine from described
Movement routine of the smart machine to predetermined position, wherein the distance between the predetermined position and the user position are
First distance threshold value；It controls the smart machine and the predetermined position is moved to according to the movement routine.Further, it is determined that
Movement routine from the smart machine to predetermined position includes: first phonetic control command according to acquisition, passes through sound
Source positioning determines the user position；Determine distance and side of the smart machine relative to the user position
To；According to the smart machine position, the first distance threshold value and the smart machine relative to the user institute
The predetermined position is determined in the distance of position and direction；It is generated by indoor navigation with the seat of the smart machine current location
It is designated as starting point, using the corresponding position coordinates in the predetermined position as the movement routine of terminal.Further, the intelligence is controlled
Can equipment the predetermined position is moved to according to the movement routine can specifically include: smart machine described in real-time control according to
The movement routine is simultaneously moved to the predetermined position with preset fixed step size.
In the embodiment of the present invention, if detecting that user initiates voice signal again in moving process, then stopping moving,
Specifically, it after the far field identification model is switched near field identification model, is monitored by the near field identification model
User issues the second phonetic control command；While acquiring and identify second phonetic control command, stop movement；According to knowledge
Other result determines user's present position, judge the smart machine currently with user's present position
Whether distance is greater than second preset value；In the case where the judgment result is yes, the near field identification model is switched to institute
State far field identification model.
By identifying to the voice signal that user issues, when speech recognition result is undesirable, smart machine is controlled
It is mobile towards user, shorten user at a distance from smart machine, after being moved to user at a distance of closer position, again to
The voice signal that family issues is identified and (e.g., identifies the order word that user issues) to realize the feelings bad in recognition effect
Under condition, control equipment is moved to speaker nearby, carries out near field voice identification, compensates for lacking for far field speech recognition effect difference
Point.Also, it only needs user to issue a phonetic order, wake-up, instruction identification and positioning locomotive function, optimization can be completed at the same time
User experience.
In the embodiment of the present invention, carrying out speech recognition to first phonetic control command of acquisition be can specifically include:
Wake-up word is identified from first phonetic control command；Movement is executed to the smart machine according to wake-up word determination
Operation.The corresponding function for waking up smart machine can be the voice interactive function for waking up smart machine, in actual application, intelligence
Energy equipment may be at suspend mode/standby mode when no user and its dialogue to save power consumption, and in smart machine
Microphone array can be set, for real-time monitoring and acquire smart machine user sending voice signal.
The embodiment of the present invention acquires the voice that user issues by microphone array, is positioned by voice to user,
The intelligent sweeping robot of microphone array is carried after the voice that issues according to user positions user position, automatically into
Row user tracking triggers mobile to user in the case where being greater than preset distance apart from user position.When being moved to and use
When the distance of family position is less than preset distance, voice signal is acquired using near field identification model, amplification target controls voice,
Under the conditions of same voice hardware device, voice collecting is purer, and noise source is smaller, and recognition effect is accurate.And it can be based on control
Voice auditory localization switches far and near field speech recognition equipment, when detecting user's sending voice signal again, acquires and identifies, really
Determine user position, if the distance apart from user position is greater than predetermined threshold at this time, is switched to far field identification model
Acquire voice signal.The intelligent sweeping robot voice control that microphone array is carried due to using, can location tracking user
Position reduces voice acquisition device to the distance of voice signal, reduces voice noise jamming, reduce the wave during voice delivery
Shape decaying.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
Embodiment 2
Additionally provide a kind of smart machine control device in the present embodiment, the device is for realizing above-described embodiment and excellent
Embodiment is selected, the descriptions that have already been made will not be repeated.As used below, predetermined function may be implemented in term " module "
Software and/or hardware combination.Although device described in following embodiment is preferably realized with software, hardware,
Or the realization of the combination of software and hardware is also that may and be contemplated.
Fig. 3 is the block diagram of smart machine control device according to an embodiment of the present invention, as shown in Figure 3, comprising:
Voice collecting identification module 32 for the far field identification model real-time monitoring by default and acquires user to intelligence
The first phonetic control command that equipment issues, and speech recognition is carried out to first phonetic control command；
First judgment module 34 determines the user position for the result according to identification, judges that the intelligence is set
It is standby currently whether to be greater than the first preset value at a distance from the user position；
Control module 36, it is mobile to the user in the case where the judgment result is yes, controlling the smart machine；
Detection module 38, in the smart machine into user's moving process smart machine described in real-time detection
At a distance from the user position；
First switching module 310, for pre- less than second at a distance from the user position in the smart machine
If the far field identification model is switched near field identification model in the case where value.
Fig. 4 is the block diagram one of smart machine control device according to the preferred embodiment of the invention, as shown in figure 4, the control
Molding block 36 includes:
Determination unit 42, for determining the movement routine from the smart machine to predetermined position, wherein the pre-determined bit
Setting the distance between described user position is first distance threshold value；
Control unit 44 is moved to the predetermined position according to the movement routine for controlling the smart machine.
Optionally, the determination unit 42, is also used to
According to first phonetic control command of acquisition, the user position is determined by auditory localization；
Determine distance and direction of the smart machine relative to the user position；
According to the smart machine position, the first distance threshold value and the smart machine relative to the use
The distance of family position and direction determine the predetermined position；
It is generated by indoor navigation using the coordinate of the smart machine current location as starting point, it is corresponding with the predetermined position
Position coordinates be terminal the movement routine.
Optionally, described control unit 44 are also used to
Smart machine described in real-time control is moved to described predetermined according to the movement routine and with preset fixed step size
Position.
Optionally, described device further include:
Monitoring modular, for monitoring that user issues the second phonetic control command by the near field identification model；
Stopping modular while for acquiring and identifying second phonetic control command, stops movement；
Second judgment module determines user's present position for the result according to identification, judges the intelligence
Whether equipment is currently greater than second preset value at a distance from user's present position；
Second switching module, in the case where the judgment result is yes, the near field identification model being switched to described
Far field identification model.
Fig. 5 is the block diagram two of smart machine control device according to the preferred embodiment of the invention, as shown in figure 5, institute's predicate
Sound acquiring and identifying module 32 includes:
Recognition unit 52, for identifying wake-up word from first phonetic control command；
Execution unit 54 executes moving operation to the smart machine for determining according to the wake-up word.
It should be noted that above-mentioned modules can be realized by software or hardware, for the latter, Ke Yitong
Following manner realization is crossed, but not limited to this: above-mentioned module is respectively positioned in same processor；Alternatively, above-mentioned modules are with any
Combined form is located in different processors.
Embodiment 3
The embodiments of the present invention also provide a kind of storage medium, computer program is stored in the storage medium, wherein
The computer program is arranged to execute the step in any of the above-described embodiment of the method when operation.
Optionally, in the present embodiment, above-mentioned storage medium can be set to store by executing based on following steps
Calculation machine program:
S11 passes through the far field identification model real-time monitoring of default and acquires the first voice that user issues to smart machine
Control instruction, and speech recognition is carried out to first phonetic control command；
S12 determines the user position according to the result of identification, judge the smart machine currently with the user
Whether the distance of position is greater than the first preset value；
It is mobile to the user to control the smart machine in the case where the judgment result is yes by S13；
S14, in the smart machine into user's moving process smart machine described in real-time detection and the user
The distance of position；
S15, the smart machine at a distance from the user position less than the second preset value in the case where, by institute
It states far field identification model and is switched near field identification model.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (Read-
Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard
The various media that can store computer program such as disk, magnetic or disk.
Embodiment 4
The embodiments of the present invention also provide a kind of electronic device, including memory and processor, stored in the memory
There is computer program, which is arranged to run computer program to execute the step in any of the above-described embodiment of the method
Suddenly.
Optionally, above-mentioned electronic device can also include transmission device and input-output equipment, wherein the transmission device
It is connected with above-mentioned processor, which connects with above-mentioned processor.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
S11 passes through the far field identification model real-time monitoring of default and acquires the first voice that user issues to smart machine
Control instruction, and speech recognition is carried out to first phonetic control command；
S12 determines the user position according to the result of identification, judge the smart machine currently with the user
Whether the distance of position is greater than the first preset value；
It is mobile to the user to control the smart machine in the case where the judgment result is yes by S13；
S14, in the smart machine into user's moving process smart machine described in real-time detection and the user
The distance of position；
S15, the smart machine at a distance from the user position less than the second preset value in the case where, by institute
It states far field identification model and is switched near field identification model.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein
Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or
Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.It is all within principle of the invention, it is made it is any modification, etc.
With replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of smart machine control method characterized by comprising
Pass through the far field identification model real-time monitoring of default and acquire the first phonetic control command that user issues to smart machine,
And speech recognition is carried out to first phonetic control command；
Determine the user position according to the result of identification, judge the smart machine currently with the user position
Distance whether be greater than the first preset value；
In the case where the judgment result is yes, it is mobile to the user to control the smart machine；
In the smart machine into user's moving process smart machine described in real-time detection and the user position
Distance；
The smart machine at a distance from the user position less than the second preset value in the case where, the far field is known
Other models switching is near field identification model.
2. the method according to claim 1, wherein controlling the smart machine to user movement and including:
Determine the movement routine from the smart machine to predetermined position, wherein the predetermined position and user institute are in place
It the distance between sets as first distance threshold value；
It controls the smart machine and the predetermined position is moved to according to the movement routine.
3. according to the method described in claim 2, it is characterized in that, determining the mobile road from the smart machine to predetermined position
Diameter includes:
According to first phonetic control command of acquisition, the user position is determined by auditory localization；
Determine distance and direction of the smart machine relative to the user position；
According to the smart machine position, the first distance threshold value and the smart machine relative to the user institute
The predetermined position is determined in the distance of position and direction；
It is generated by indoor navigation using the coordinate of the smart machine current location as starting point, with the corresponding position in the predetermined position
Set the movement routine that coordinate is terminal.
4. according to the method described in claim 2, it is characterized in that, controlling the smart machine according to movement routine movement
Include: to the predetermined position
Smart machine described in real-time control is moved to the predetermined position according to the movement routine and with preset fixed step size.
5. according to the method described in claim 2, it is characterized in that, the far field identification model is switched near field identification mould
After type, the method also includes:
Monitor that user issues the second phonetic control command by the near field identification model；
While acquiring and identify second phonetic control command, stop movement；
User's present position is determined according to the result of identification, judges that the smart machine is currently current with the user
Whether the distance of position is greater than second preset value；
In the case where the judgment result is yes, the near field identification model is switched to the far field identification model.
6. the method according to any one of claims 1 to 5, which is characterized in that first voice control of acquisition
Instruction carries out speech recognition
Wake-up word is identified from first phonetic control command；
It is determined according to the wake-up word and moving operation is executed to the smart machine.
7. a kind of smart machine control device characterized by comprising
Voice collecting identification module for the far field identification model real-time monitoring by default and acquires user to smart machine hair
The first phonetic control command out, and speech recognition is carried out to first phonetic control command；
First judgment module determines the user position for the result according to identification, judges that the smart machine is current
Whether it is greater than the first preset value at a distance from the user position；
Control module, it is mobile to the user in the case where the judgment result is yes, controlling the smart machine；
Detection module, for the smart machine into user's moving process smart machine described in real-time detection with it is described
The distance of user position；
First switching module, in the smart machine at a distance from the user position less than the feelings of the second preset value
Under condition, the far field identification model is switched near field identification model.
8. device according to claim 7, which is characterized in that the control module includes:
Determination unit, for determining the movement routine from the smart machine to predetermined position, wherein the predetermined position and institute
Stating the distance between user position is first distance threshold value；
Control unit is moved to the predetermined position according to the movement routine for controlling the smart machine.
9. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer
Program is arranged to execute method described in any one of claim 1 to 6 when operation.
10. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory
Sequence, the processor are arranged to run the computer program to execute side described in any one of claim 1 to 6
Method.
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