CN109493857A - A kind of auto sleep wake-up robot system - Google Patents
A kind of auto sleep wake-up robot system Download PDFInfo
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- CN109493857A CN109493857A CN201811142892.3A CN201811142892A CN109493857A CN 109493857 A CN109493857 A CN 109493857A CN 201811142892 A CN201811142892 A CN 201811142892A CN 109493857 A CN109493857 A CN 109493857A
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- 230000009977 dual effect Effects 0.000 claims description 18
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- 230000005611 electricity Effects 0.000 claims description 4
- 239000011810 insulating material Substances 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
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- 238000013500 data storage Methods 0.000 claims 1
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- 238000005516 engineering process Methods 0.000 description 3
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- 230000004048 modification Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 206010037660 Pyrexia Diseases 0.000 description 1
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- 230000005059 dormancy Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
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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
- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0208—Noise filtering
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- 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
- G10L15/26—Speech to text systems
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
- G10L17/02—Preprocessing operations, e.g. segment selection; Pattern representation or modelling, e.g. based on linear discriminant analysis [LDA] or principal components; Feature selection or extraction
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
- G10L17/04—Training, enrolment or model building
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
- G10L17/22—Interactive procedures; Man-machine interfaces
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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
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/78—Detection of presence or absence of voice signals
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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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- 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
- G10L25/78—Detection of presence or absence of voice signals
- G10L2025/783—Detection of presence or absence of voice signals based on threshold decision
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Abstract
The present invention provides the systems that a kind of auto sleep wakes up robot, it include: sound collecting module, decibel test module, speech recognition module, phonetic order memory module and voice match module, wherein: decibel test module, for carrying out decibel test to the sound of collection, the sound that will be less than default decibel threshold range is filtered；By the voice transmission within the scope of default decibel threshold to the speech recognition module；If detecting the sound for being higher than default decibel threshold range, robot is waken up；Speech recognition module, for the sound progress voice content identification to being preset after the filtering of decibel test module within the scope of decibel threshold；Voice match module is matched for the content to speech recognition with the phonetic order in phonetic order memory module, if successful match, wakes up robot；Otherwise robot continues to keep suspend mode, avoids robot and waits instruction in a long time, reduces the loss of robot in use.
Description
Technical field
The present invention relates to auto sleep awakening technology fields, the in particular to a kind of system of auto sleep wake-up robot.
Background technique
With the progress of science and technology, artificial intelligence has been applied to the every aspect of human lives and work.
Under normal circumstances, when not needing using artificial intelligence robot, robot is all in off-mode, when people needs
The machine man-hour also needs artificial trigger switch, starts the robot, causes the inconvenience used.But work as robot head
Phase is in open state, consumes a large amount of electric power energies, while robot interior may be caused electric due to working time too long fever
Road is burnt out, and is caused centainly to damage to robot, is shortened robot service life, and the normal work and life of the mankind are influenced.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of system that auto sleep wakes up robot.
A kind of system that auto sleep wakes up robot, a kind of auto sleep wake-up machine are provided in the embodiment of the present invention
The system of people, the system comprises: sound collecting module, decibel test module, speech recognition module, phonetic order memory module
With voice match module, in which:
The sound collecting module, for when the robot in a dormant state when, to around locating for the robot
The sound of environment is collected；
The decibel test module, including decibel instrument, for dividing the sound collected in the sound collecting module
Shellfish test, the sound that will be less than default decibel threshold range are filtered；Sound within the scope of default decibel threshold is passed
It is defeated to arrive the speech recognition module；If detecting the sound for being higher than default decibel threshold range, robot is directly waken up；
The speech recognition module, for the sound preset after decibel test module filtering within the scope of decibel threshold
Carry out voice content identification；
The phonetic order memory module, for being stored to the phonetic order for waking up robot；
The voice match module, for the language in the content and the phonetic order memory module to the speech recognition
Sound instruction is matched, if successful match, wakes up the robot；Otherwise the robot continues to keep suspend mode.
In one embodiment, the sound collecting module presets every 3 seconds nodes and collects week locating for the robot
The sound in collarette border.
In one embodiment, the default decibel threshold range is set as 40-70db, the default decibel threshold model
It encloses for mankind's normal voice decibel range.
In one embodiment, when the robot is in wake-up states, it is not connected to any instruction in preset time, then
Automatically into dormant state.
In one embodiment, the speech recognition module, including feature extraction unit, acoustic elements, linguistic unit, sound
Learn model and probability comparing unit, in which:
The acoustic model, the acoustic elements and the linguistic unit analyze the language that the feature extraction unit is extracted
Sound is to generate multiple character strings；
The probability comparing unit is for extracting the highest character string of probability in the multiple character string.
In one embodiment, the sound collecting module includes a kind of voice collection device, the voice collection device
Judging unit is transmitted including microphone, vibration measuring set, signal, in which:
The microphone, for voice signal will to be converted to by airborne sound wave；
The vibration measuring set, for the vibration generated around sound source to be converted to vibration signal；
The signal transmits judging unit, connect with the vibration measuring set, for detecting to the vibration measuring set
Vibration signal judged that the vibration signal is the signal that the sound source generates if detecting, allow vibration letter
Number transmission, if detect the vibration signal be noise, cancel the transmission of the vibration signal；
The signal transmission judging unit includes: voice recognition circuit and converting unit；
The voice recognition circuit: for being connected to the input terminal of the vibration measuring set, if detecting the vibration letter
Number for the sound source generate signal when, output signal is changed into high level, if detect the vibration signal be noise,
The output signal is maintained at low level, wherein the output signal is used to be connected to the control of the voice recognition circuit
The on or off of signal transmission；
The converting unit, for the vibration measuring set output end to be connect with the input terminal of the microphone, simultaneously
It is connect with the output end of the voice recognition circuit, and to the output signal of the voice recognition circuit in response to the sound
The output end and input terminal of acquisition device.
In one embodiment, the phonetic order memory module, including high speed storing logger, data exchange buffering are single
Member, first location of instruction and second location of instruction, in which:
The voice match module includes multiple miniature drive units, and each miniature drive units include multiple micro drives
Group, each micro drives group include multiple micro drives, corresponding one of each micro drives high speed storing note
Record device and a data exchange buffer cell, the high speed storing logger are connected with the micro drives, the data
The setting of exchange buffering unit is connect with the high speed storing logger；
Each micro engine group is corresponding with first location of instruction, in the micro drives group
The corresponding data exchange buffer cell setting of each micro drives is connect with first location of instruction；It is described each miniature
Driving unit is corresponding with second command memory, the corresponding number of each micro drives in the miniature drive units
It is arranged according to exchange buffering unit and is connect with second command memory；
The micro drives send director data request to the high speed storing logger, inquire the high speed storing record
Whether device has described instruction data, is stored with described instruction data if inquiring, and described instruction data are transferred to miniature drive
It is dynamic, described instruction data are stored with if not inquiring, described instruction data are transferred to data exchange buffer cell；
The data exchange buffer cell includes two data exchange buffering groups, each data exchange buffering group storage
There is a plurality of director data, the data exchange buffering group is used to receive the described instruction data of the high speed storing logger transmission
Request, inquires whether the data exchange buffer cell is stored with described instruction data, is stored with described instruction number if inquiring
According to described instruction data are transferred to micro drives by high speed storing logger, are stored with described instruction if not inquiring
Described instruction data are transferred to first location of instruction or second location of instruction by data；
The phonetic order memory module further includes the first judging unit, second judgment unit and third judging unit,
In:
Each micro drives are corresponding in first judging unit, the first judging unit setting and institute
State the data exchange buffer cell connection of each micro drives；Each micro drives group and second judgement are single
Member is corresponding, and the second judgment unit is connected with the first judging unit of each micro drives in the micro drives group,
Meanwhile the second judgment unit is connect with the first low speed storage unit；Each miniature drive units with one the
Three judging units are corresponding, and the third judging unit is connected with the first judging unit of each micro drives, meanwhile,
The third judging unit setting is connect with the second low speed storage unit；
First judging unit, when for receiving the data exchange buffer cell request described instruction data, judgement
Described instruction data are stored in the first low speed storage unit or the second low speed storage unit, and Xiang Suoshu first is low
Fast storage unit or the second low speed storage unit send described instruction request of data；It is also used to receive first low speed to deposit
It is single to be transferred to data exchange buffering by storage unit or the director data of the second low speed storage unit transmission for described instruction data
Member；
The second judgment unit, in the described instruction data for receiving one or more first judging units transmissions
When request, one of director data request is selected to be transferred to the first low speed storage unit processing, by first low speed
The director data that storage unit is read is sent to corresponding first judging unit；
The third judging unit, in the described instruction data for receiving one or more first judging units transmissions
When request, one of director data request is selected to be sent to the second low speed storage unit processing, by second low speed
The director data request that storage unit is read is sent to corresponding first judging unit.
In one embodiment, the robot includes a kind of algorithm of robot forward motion, and the robot includes
Pedestal and motion platform, motion platform connect pedestal by 6 movement supporting devices, are established using unit dual quaterion positive
Kinematical equation includes the following steps:
(1), Robot kinematics equations are established: E1(θ)=p+Rai；I=1,2 ..., n；
Wherein, active joint variable θ, p are the absolute position vectors of motion platform, and R is spin matrix, indicate that movement is flat
The posture of platform, ai are the position vectors of motion platform Yu each support device relative motion platform, and n >=6 indicate of equation
Number, for the robot n=6 of irredundant input, robot n > 6 with redundant input；
(2), position and posture that unit dual quaterion describes motion platform are introduced:
E1(θ)ε=λ+ε ai；I=1,2 ..., n；
Wherein, ε is the real part of unit dual quaterion, and λ is the antithesis portion of unit dual quaterion, and ε and λ collectively form machine
The generalized coordinates x=(ε λ) of device people's systemT；
ε and λ are constructed in the following way:
εaiε *=Rai, λ=c1pε；
c1And c2It is any non-zero constant；
(3), the direct kinematics equation based on dual quaterion is established
||E2(θ)||2=| | λ | |2+||ai||2+||ci||2+2(ε*λ)·ai+2(λε*)·ci+2ai·ci；I=1,
2,…,n
Wherein, ciIt is from E1The normal vector separated in (θ)；
(4), the deformation of the inherent constraint equation of direct kinematics equation and dual quaterion
fi(x)=1/2xTQix-Ci；I=1,2 ..., n+2；
CiIt is constant, is determined by given active joint input value and robot geometric parameter, QiIt is only by robot geometry
The constant symmetrical matrix that parameter determines.
In one embodiment, the microphone includes:
First bottom plate is provided with multiple holes in upper surface；
First electrode device is located above first bottom plate, covers the hole of first bottom plate；
Second bottom plate is set to the top of first bottom plate, is covered in the first electrode device；
Second electrode device is set to below second bottom plate, is oppositely arranged with the first electrode setting position；
Egative film connects with the first electrode device, positioned at the peripheral portion of the first electrode device；
Separated between the egative film and the first electrode device by slit；
The center position and four of the egative film and the first electrode device connecting position to the first electrode device
Circumferential direction is extended, and the hole of first bottom plate extends to the position between the egative film；
The egative film supports described second by first component by the side opposite with the first electrode setting position
Component；
The first component includes first bottom plate, and the egative film is set to first bottom plate by first component
Top；The egative film and first bottom plate realize the conduction of described device by the inside of the first component.
In one embodiment, the microphone further includes power module, and the power module includes a kind of cell support
Device and at least 2 batteries in cell supporting device are set to be embodied as the power supply of microphone；
The cell supporting device includes battery containing frame and conductive plate；The battery containing frame is accommodated with multiple batteries
Single-chamber, each battery accommodate single-chamber and single battery shape adaptation；The battery containing frame is made of insulating materials, and is had
With the dismounting of battery elastic deformation can occur for elasticity；Towards being arranged on the wall surface of the electrode of battery on the battery containing frame
There is conductive plate, so that when the battery is loaded in the battery containing frame, the conductive plate and phase in battery electrode
The electrode electrical connection answered；
The battery containing frame further includes gasket, battery limiting part, nut and screw；Each battery accommodates to be set above single-chamber
It is equipped with a battery limiting part, battery limiting part has an inner cavity, and the shape and battery of the inner cavity are exposed to battery and accommodate outside single-chamber
Battery portion shape adaptation, battery accommodate single-chamber upper surface be provided with the lower end surface shape adaptation with the battery limiting part
Groove, the lower end surface of battery limiting part is inserted into the corresponding recesses for the upper surface that the battery accommodates single-chamber, two adjacent
One gasket is set above the intermediate space position of battery limiting part, and the screw upper end is fixed on gasket by nut, the spiral shell
It follows closely across gasket and extends downwardly, is connected to battery containing frame bottom, the battery across the intermediate space of two neighboring battery
The inner wall for accommodating single-chamber carries out detent to battery；The intermediate space is 0.5~2 centimetre.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the system structure diagram that a kind of auto sleep provided by the present invention wakes up robot；
Fig. 2 is the structural representation that a kind of auto sleep provided by the present invention wakes up battery containing frame in the system of robot
Figure；
Fig. 3 is the structural schematic diagram that a kind of auto sleep provided by the present invention wakes up microphone in the system of robot.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
A kind of system that auto sleep wakes up robot is provided in the embodiment of the present invention, as shown in Figure 1, a kind of stop automatically
The system that dormancy wakes up robot, system includes: sound collecting module 11, decibel test module 12, speech recognition module 13, voice
Instruct memory module 14 and voice match module 15, in which:
Sound collecting module 11, for when robot in a dormant state when, to the sound of ambient enviroment locating for robot
It is collected；
Decibel test module 12, including decibel instrument, for carrying out decibel survey to the sound collected in sound collecting module 11
Examination, the sound that will be less than default decibel threshold range are filtered；Voice transmission within the scope of default decibel threshold is arrived
Speech recognition module 13；If detecting the sound for being higher than default decibel threshold range, robot is directly waken up；
Speech recognition module 13, for the sound progress language preset after the filtering of decibel test module within the scope of decibel threshold
Sound content recognition；
Phonetic order memory module 14, for being stored to the phonetic order for waking up robot；
Voice match module 15, for speech recognition content and phonetic order memory module 14 in phonetic order into
Row matching, if successful match, wakes up robot；Otherwise robot continues to keep suspend mode.
The beneficial effect that above-mentioned auto sleep wakes up the system of robot is: when robot is in running order, presetting
Any instruction is not received in time, then automatically into dormant state；When receiving wake up instruction or receive larger decibel
When sound, then robot is waken up；It avoids robot and waits instruction in a long time, be effectively saved resource, reduce machine
The loss of device people in use.When needing to start, without artificially going triggering to develop, it is only necessary to issue correct phonetic order
Or higher sound, so that it may wake up robot, facilitate the operation of user.
In one embodiment, sound collecting module presets ambient enviroment locating for every 3 seconds node collecting robot people
Sound.Sound collecting module can set each period and once be collected to the sound of ambient enviroment, can make to be collected into
Each period of sound be that a node is transmitted to a decibel test module and is detected.
In one embodiment, decibel threshold range is preset, 40-70db is set as, presetting decibel threshold range is the mankind
Normal voice decibel range.Above system detects the voice of collection using decibel test module, only to default decibel threshold
The voice being worth in range carries out speech recognition, reduces the workload of speech recognition module, reduces the operating cost of the system.
In one embodiment, when robot is in wake-up states, it is not connected to any instruction in preset time, then automatically
Into dormant state.Preset time can effectively economize on resources according to artificial settings, realize the protection to robot.
In one embodiment, speech recognition module, including feature extraction unit, acoustic elements, linguistic unit, acoustic mode
Type and probability comparing unit, in which:
The voice that acoustic model, acoustic elements and linguistic unit analysis feature extraction unit are extracted is to generate multiple characters
String；
Probability comparing unit is for extracting the highest character string of probability in multiple character strings.
Above-mentioned speech recognition module may be implemented to analyze the voice of a variety of different accent types, pass through speech recognition
Acoustic model, acoustic elements and the linguistic unit of module analyze phonetic feature, multiple word strings of generation, probability comparing unit
For extracting the highest character string of probability in multiple character strings.Above-mentioned speech recognition module can accurately identify language
Information in sound.
In one embodiment, sound collecting module includes a kind of voice collection device, and voice collection device includes Mike
Wind, vibration measuring set, signal transmit judging unit, in which:
Microphone, for voice signal will to be converted to by airborne sound wave；
Vibration measuring set, for the vibration generated around sound source to be converted to vibration signal；
Signal transmit judging unit, connect with vibration measuring set, the vibration signal for being detected to vibration measuring set into
Row judgement, if detecting, vibration signal is the signal that sound source generates, and allows vibration signal to transmit, vibration signal is if detecting
When noise, cancel the transmission of vibration signal；
It includes: voice recognition circuit and converting unit that signal, which transmits judging unit,；
Voice recognition circuit: for being connected to the input terminal of vibration measuring set, if detecting vibration signal for sound source generation
Signal when, output signal is changed into high level, if detect vibration signal be noise, output signal is maintained at low electricity
It is flat, wherein output signal is used to be connected to the on or off of the control signal transmission of voice recognition circuit；
Converting unit, for the input terminal of vibration measuring set output end and microphone to be connected, and meanwhile it is electric with voice recognition
The output end on road connects, and output end and input to the output signal of voice recognition circuit in response to voice collection device
End.
Above-mentioned technical proposal for being filtered to the sound collected in sound collecting module, and to the sound being collected into
Row judgement is sound source generation or noise, significantly reduces the workload of decibel test module and speech recognition module, greatly
The system operation cost has been saved greatly.
In one embodiment, phonetic order memory module, including high speed storing logger, data exchange buffer cell,
First location of instruction and second location of instruction, in which:
Voice match module includes multiple miniature drive units, and each miniature drive units include that multiple micro drives are small
Group, each micro drives group include multiple micro drives, and each micro drives correspond to a high speed storing logger and one
Data exchange buffer cell, high speed storing logger are connected with micro drives, the setting of data exchange buffer cell and high speed storing
Logger connection；
Each micro engine group is corresponding with first location of instruction, each micro drives in micro drives group
Corresponding data exchange buffer cell setting is connect with first location of instruction；Each miniature drive units and one second finger
Enable memory corresponding, the corresponding data exchange buffer cell setting of each micro drives and the second instruction in miniature drive units
Memory connection；
Micro drives send director data request to high speed storing logger, and whether inquiry high speed storing logger has finger
Data are enabled, are stored with director data if inquiring, director data is transferred to micro drives, are stored with instruction if not inquiring
Director data is transferred to data exchange buffer cell by data；
Data exchange buffer cell includes two data exchange buffering groups, and each data exchange buffering group stores a plurality of finger
Data are enabled, data exchange buffering group is used to receive the director data request of high speed storing logger transmission, and inquiry data exchange is slow
It rushes whether unit is stored with director data, is stored with director data if inquiring, director data is passed through into high speed storing logger
Be transferred to micro drives, be stored with director data if not inquiring, by director data be transferred to first location of instruction or
Second location of instruction；
Phonetic order memory module further includes the first judging unit, second judgment unit and third judging unit, in which:
Each micro drives are corresponding in first judging unit, the setting of the first judging unit and each micro drives
The connection of data exchange buffer cell；Each micro drives group is corresponding with a second judgment unit, second judgment unit with
The first judging unit of each micro drives is connected in micro drives group, meanwhile, second judgment unit and the first low speed store
Unit connection；Each miniature drive units are corresponding with a third judging unit, third judging unit with each miniature drive
The first dynamic judging unit is connected, meanwhile, the setting of third judging unit is connect with the second low speed storage unit；
First judging unit, for receiving data when exchange buffering unit requests director data, the storage of decision instruction data
In the first low speed storage unit or the second low speed storage unit, to the first low speed storage unit or the second low speed storage unit
Send director data request；It is also used to receive the director data of the first low speed storage unit or the transmission of the second low speed storage unit,
Director data is transferred to data exchange buffer cell；
Second judgment unit, when for being requested in the director data for receiving one or more first judging units transmissions,
One of director data request is selected to be transferred to the processing of the first low speed storage unit, the finger that the first low speed storage unit is read
Data are enabled to be sent to the first corresponding judging unit；
Third judging unit, when for being requested in the director data for receiving one or more first judging units transmissions,
One of director data request is selected to be sent to the processing of the second low speed storage unit, the finger that the second low speed storage unit is read
Request of data is enabled to be sent to corresponding first judging unit.
The beneficial effect of above-mentioned technical proposal is:
The phonetic order file stored in phonetic order memory module is excessive, occupies a large amount of hardware resource, and by
The inaccurate of director data reading is resulted in the storage of large capacity, reduces the efficiency of system command reading, above-mentioned technical side
Case is that each storage unit distributes micro drives, substantially increases the accuracy and efficiency of director data reading, and save
A large amount of hardware store resource.
In one embodiment, robot includes a kind of algorithm of robot forward motion, and robot includes pedestal and fortune
Moving platform, motion platform connect pedestal by 6 movement supporting devices, establish direct kinematics side using unit dual quaterion
Journey includes the following steps:
(1), Robot kinematics equations are established: E1(θ)=p+Rai；I=1,2 ..., n；
Wherein, active joint variable θ, p are the absolute position vectors of motion platform, and R is spin matrix, indicate that movement is flat
The posture of platform, ai are the position vectors of motion platform Yu each support device relative motion platform, and n >=6 indicate of equation
Number, for the robot n=6 of irredundant input, robot n > 6 with redundant input；
(2), position and posture that unit dual quaterion describes motion platform are introduced:
E1(θ)ε=λ+ε ai；I=1,2 ..., n；
Wherein, ε is the real part of unit dual quaterion, and λ is the antithesis portion of unit dual quaterion, and ε and λ collectively form machine
The generalized coordinates x=(ε λ) of device people's systemT；
ε and λ are constructed in the following way:
εaiε *=Rai, λ=c1pε；
c1And c2It is any non-zero constant；
(3), the direct kinematics equation based on dual quaterion is established
||E2(θ)||2=| | λ | |2+||ai||2+||ci||2+2(ε*λ)·ai+2(λε*)·ci+2ai·ci；I=1,
2,…,n
Wherein, ciIt is from E1The normal vector separated in (θ)；
(4), the deformation of the inherent constraint equation of direct kinematics equation and dual quaterion
fi(x)=1/2xTQix-Ci；I=1,2 ..., n+2；
CiIt is constant, is determined by given active joint input value and robot geometric parameter, QiIt is only by robot geometry
The constant symmetrical matrix that parameter determines.For above-mentioned technical proposal for robot motion, it is more accurate to execute instruction corresponding operation,
Micron order task can be completed, the experience and use of user are more convenient for.
In one embodiment, as shown in Fig. 2, the microphone further includes power module, the power module includes one
It plants cell supporting device and is set at least 2 batteries in cell supporting device to be embodied as the power supply of microphone；
The cell supporting device 20 includes battery containing frame 21 and conductive plate；The battery containing frame 21 has multiple electricity
Pool capacity receives single-chamber 22, and each battery accommodates single-chamber 22 and single battery shape adaptation；The battery containing frame 21 is by insulating materials
Composition, and there is elasticity elastic deformation can occur with the dismounting of battery；Towards battery on the battery containing frame 21
It is provided with conductive plate on the wall surface of electrode, so that when the battery is loaded in the battery containing frame 21, it is described to lead
Battery plate electrode electrical connection corresponding with battery electrode；
The battery containing frame 21 further includes gasket 23, battery limiting part 24, nut 25 and screw 26；Each battery accommodates
A battery limiting part is provided with above single-chamber, battery limiting part has an inner cavity 27, and the shape and battery of the inner cavity are exposed to electricity
Pool capacity receives the battery portion shape adaptation outside single-chamber, the upper surface that battery accommodates single-chamber be provided with under the battery limiting part
The corresponding recesses that the battery accommodates the upper surface of single-chamber are inserted into the groove of end surface shape adaptation, the lower end surface of battery limiting part
In, a gasket is set above the intermediate space position of two adjacent battery limiting parts, and the screw upper end is fixed on by nut
On gasket, the screw passes through gasket and extends downwardly, is connected to battery containing frame across the intermediate space of two neighboring battery
Bottom, the inner wall that the battery accommodates single-chamber carry out detent to battery；The intermediate space is 0.5~2 centimetre.
Above-mentioned technical proposal has the beneficial effect that the battery containing frame is made of insulating materials, and has elasticity can
Elastic deformation occurs with the dismounting of battery；Conductive plate is provided on the inner wall of battery containing frame, battery containing frame can
To from from external continuous vibration sharply, impact cause to occur to the momentary interruption that external DC power supply exports into
Row inhibits, and the disassembling operations of battery are good.Also, battery can be firmly secured at battery containing frame by battery limiting part
It is interior, even if battery will not be fallen, ensure that battery makes when extruding occurs, elastic deformation occurs for battery containing frame
Stability.
In one embodiment, as shown in figure 3, microphone includes:
First bottom plate 31 is provided with multiple holes in upper surface；
First electrode device is located at 31 top of the first bottom plate, covers the hole of the first bottom plate 31；
Second bottom plate 32 is set to the top of the first bottom plate 31, is covered in first electrode device；
Second electrode device 33 is set to 32 lower section of the second bottom plate, is oppositely arranged with first electrode setting position；
Egative film 34 connects with first electrode device, positioned at the peripheral portion of first electrode device；
Separated between egative film 34 and first electrode device by slit；
Egative film 34 and first electrode device connecting position are carried out to the center position and peripheral direction of first electrode device
Extend, the hole of the first bottom plate 31 extends to the position between egative film；
Egative film 34 supports second component by first component by the side opposite with first electrode setting position；
First component includes the first bottom plate 31, and egative film is set to the top of the first bottom plate 31 by first component；Egative film with
The conduction that first bottom plate passes through the inside realization device of first component.
The beneficial effect of above-mentioned technical proposal is: since microphone can increase the deformed part of egative film, so first
The displacement of electrode assembly increases, so that the sensitivity that microphone collects sound improves, while the hole of the first bottom plate is to egative film
Between position extend, be capable of increasing the capacity of the first bottom plate hole, do not need from first electrode plate lead-out wiring, so can
So that the size of microphone reduces, above-mentioned technical proposal not only realizes the diminution to microphone size, while but also Mike
The sensitivity that wind collects sound greatly promotes.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. the system that a kind of auto sleep wakes up robot, which is characterized in that the system comprises: sound collecting module, decibel
Test module, speech recognition module, phonetic order memory module and voice match module, in which:
The sound collecting module, for when the robot in a dormant state when, to ambient enviroment locating for the robot
Sound be collected；
The decibel test module, including decibel instrument, for carrying out decibel survey to the sound collected in the sound collecting module
Examination, the sound that will be less than default decibel threshold range are filtered；Voice transmission within the scope of default decibel threshold is arrived
The speech recognition module；If detecting the sound for being higher than default decibel threshold range, robot is directly waken up；
The speech recognition module, for the sound progress to being preset after decibel test module filtering within the scope of decibel threshold
Voice content identification；
The phonetic order memory module, for being stored to the phonetic order for waking up robot；
The voice match module refers to for the content to the speech recognition with the voice in the phonetic order memory module
Order is matched, if successful match, wakes up the robot；Otherwise the robot continues to keep suspend mode.
2. the system as claimed in claim 1, which is characterized in that
The sound collecting module presets every 3 seconds nodes and collects the sound of ambient enviroment locating for the robot.
3. the system as claimed in claim 1, which is characterized in that
The default decibel threshold range, is set as 40-70db, and the default decibel threshold range is mankind's normal voice decibel
Range.
4. the system as claimed in claim 1, which is characterized in that
When the robot is in wake-up states, it is not connected to any instruction in preset time, then automatically into dormant state.
5. the system as claimed in claim 1, which is characterized in that
The speech recognition module, including feature extraction unit, acoustic elements, linguistic unit, acoustic model and probability are more single
Member, in which:
The acoustic model, the acoustic elements and the linguistic unit analyze the voice that the feature extraction unit is extracted with
Generate multiple character strings；
The probability comparing unit is for extracting the highest character string of probability in the multiple character string.
6. the system as claimed in claim 1, which is characterized in that
The sound collecting module includes a kind of voice collection device, and the voice collection device includes microphone, vibration measurement
Instrument, signal transmit judging unit, in which:
The microphone, for voice signal will to be converted to by airborne sound wave；
The vibration measuring set, for the vibration generated around sound source to be converted to vibration signal；
The signal transmits judging unit, connect with the vibration measuring set, the vibration for detecting to the vibration measuring set
Dynamic signal is judged that the vibration signal is the signal that the sound source generates if detecting, the vibration signal is allowed to pass
It is defeated, if detect that the vibration signal is noise, cancel the transmission of the vibration signal；
The signal transmission judging unit includes: voice recognition circuit and converting unit；
The voice recognition circuit: for being connected to the input terminal of the vibration measuring set, if detecting, the vibration signal is
When the signal that the sound source generates, output signal is changed into high level, if detect that the vibration signal is noise, by institute
It states output signal and is maintained at low level, wherein the output signal is used to be connected to the control signal of the voice recognition circuit
The on or off of transmission；
The converting unit, for the vibration measuring set output end to be connect with the input terminal of the microphone, while with institute
The output end connection of voice recognition circuit is stated, and to the output signal of the voice recognition circuit in response to the sound collection
The output end and input terminal of device.
7. the system as claimed in claim 1, which is characterized in that
The phonetic order memory module, including high speed storing logger, data exchange buffer cell, first location of instruction
With second location of instruction, in which:
The voice match module includes multiple miniature drive units, and each miniature drive units include that multiple micro drives are small
Group, each micro drives group include multiple micro drives, corresponding one of each micro drives high speed storing record
Device and a data exchange buffer cell, the high speed storing logger are connected with the micro drives, and the data are handed over
Buffer cell setting is changed to connect with the high speed storing logger；
Each micro engine group is corresponding with first location of instruction, each in the micro drives group
The corresponding data exchange buffer cell setting of micro drives is connect with first location of instruction；Each micro drives
Unit is corresponding with second command memory, and the corresponding data of each micro drives are handed in the miniature drive units
Buffer cell setting is changed to connect with second command memory；
The micro drives send director data request to the high speed storing logger, and inquiring the high speed storing logger is
It is no to have described instruction data, described instruction data are stored with if inquiring, described instruction data are transferred to micro drives, if
It does not inquire and is stored with described instruction data, described instruction data are transferred to data exchange buffer cell；
The data exchange buffer cell includes two data exchange buffering groups, and each data exchange buffering group stores more
Director data, the described instruction data that the data exchange buffering group is used to receive the high speed storing logger transmission are asked
It asks, inquires whether the data exchange buffer cell is stored with described instruction data, be stored with described instruction data if inquiring,
Described instruction data are transferred to micro drives by high speed storing logger, are stored with described instruction number if not inquiring
According to described instruction data are transferred to first location of instruction or second location of instruction；
The phonetic order memory module further includes the first judging unit, second judgment unit and third judging unit, in which:
Each micro drives are corresponding in first judging unit, first judging unit setting with it is described every
The data exchange buffer cell of a micro drives connects；Each micro drives group and a second judgment unit phase
Corresponding, the second judgment unit is connected with the first judging unit of each micro drives in the micro drives group, meanwhile,
The second judgment unit is connect with the first low speed storage unit；Each miniature drive units judge with a third
Unit is corresponding, and the third judging unit is connected with the first judging unit of each micro drives, meanwhile, described
The setting of three judging units is connect with the second low speed storage unit；
First judging unit, when for receiving the data exchange buffer cell request described instruction data, described in judgement
Instruction data storage in the first low speed storage unit or the second low speed storage unit, deposit by the first low speed of Xiang Suoshu
Storage unit or the second low speed storage unit send described instruction request of data；It is single to be also used to receive the first low speed storage
Described instruction data are transferred to data exchange buffer cell by the director data of the first or described second low speed storage unit transmission；
The second judgment unit, in the described instruction request of data for receiving one or more first judging units transmissions
When, it selects one of director data request to be transferred to the first low speed storage unit processing, first low speed is stored
The director data that unit is read is sent to corresponding first judging unit；
The third judging unit, in the described instruction request of data for receiving one or more first judging units transmissions
When, it selects one of director data request to be sent to the second low speed storage unit processing, second low speed is stored
The director data request that unit is read is sent to corresponding first judging unit.
8. the system as claimed in claim 1, which is characterized in that
The robot includes a kind of algorithm of robot forward motion, and the robot includes pedestal and motion platform, movement
Platform connects pedestal by 6 movement supporting devices, establishes direct kinematics equation using unit dual quaterion, including as follows
Step:
(1), Robot kinematics equations are established: E1(θ)=p+Rai；I=1,2 ..., n；
Wherein, active joint variable θ, p are the absolute position vectors of motion platform, and R is spin matrix, indicate motion platform
Posture, ai are the position vectors of motion platform Yu each support device relative motion platform, and n >=6 indicate the number of equation, right
In the robot n=6 of irredundant input, robot n > 6 with redundant input；
(2), position and posture that unit dual quaterion describes motion platform are introduced:
E1(θ)ε=λ+ε ai；I=1,2 ..., n；
Wherein, ε is the real part of unit dual quaterion, and λ is the antithesis portion of unit dual quaterion, and ε and λ collectively form robot
The generalized coordinates x=(ε λ) of systemT；
ε and λ are constructed in the following way:
εaiε *=Rai, λ=c1pε；
c1And c2It is any non-zero constant；
(3), the direct kinematics equation based on dual quaterion is established
||E2(θ)||2=| | λ | |2+||ai||2+||ci||2+2(ε*λ)·ai+2(λε*)·ci+2ai·ci；I=1,2 ..., n
Wherein, ciIt is from E1The normal vector separated in (θ)；
(4), the deformation of the inherent constraint equation of direct kinematics equation and dual quaterion
fi(x)=1/2xTQix-Ci；I=1,2 ..., n+2；
CiIt is constant, determines that Qi is only by robot geometric parameter by given active joint input value and robot geometric parameter
Determining constant symmetrical matrix.
9. system as claimed in claim 6, which is characterized in that the microphone includes:
First bottom plate is provided with multiple holes in upper surface；
First electrode device is located above first bottom plate, covers the hole of first bottom plate；
Second bottom plate is set to the top of first bottom plate, is covered in the first electrode device；
Second electrode device is set to below second bottom plate, is oppositely arranged with the first electrode setting position；
Egative film connects with the first electrode device, positioned at the peripheral portion of the first electrode device；
Separated between the egative film and the first electrode device by slit；
The egative film and center position and surrounding side of the first electrode device connecting position to the first electrode device
To being extended, the hole of first bottom plate extends to the position between the egative film；
The egative film supports the second component by first component by the side opposite with the first electrode setting position；
The first component includes first bottom plate, and the egative film is set to the upper of first bottom plate by first component
Side；The egative film and first bottom plate realize the conduction of described device by the inside of the first component.
10. system as claimed in claim 9, which is characterized in that
The microphone further includes power module, and the power module includes a kind of cell supporting device and is set to battery branch
At least 2 batteries in support arrangement are embodied as the power supply of microphone；
The cell supporting device includes battery containing frame and conductive plate；It is single that there are the battery containing frame multiple batteries to accommodate
Chamber, each battery accommodate single-chamber and single battery shape adaptation；The battery containing frame is made of insulating materials, and has bullet
With the dismounting of battery elastic deformation can occur for property；Towards being provided on the wall surface of the electrode of battery on the battery containing frame
Conductive plate, so that the conductive plate is corresponding to battery electrode when the battery is loaded in the battery containing frame
An electrode electrical connection；
The battery containing frame further includes gasket, battery limiting part, nut and screw；Each battery accommodates to be provided with above single-chamber
One battery limiting part, battery limiting part have an inner cavity, and the shape and battery of the inner cavity are exposed to the electricity outside battery receiving single-chamber
Pond partial shape adaptation, the upper surface that battery accommodates single-chamber are provided with recessed with the lower end surface shape adaptation of the battery limiting part
Slot, the lower end surface of battery limiting part are inserted into the corresponding recesses for the upper surface that the battery accommodates single-chamber, two adjacent batteries
One gasket is set above the intermediate space position of locating part, and the screw upper end is fixed on gasket by nut, and the screw is worn
It crosses gasket and extends downwardly, is connected to battery containing frame bottom across the intermediate space of two neighboring battery, the battery accommodates
The inner wall of single-chamber carries out detent to battery；The intermediate space is 0.5~2 centimetre.
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| CN110312235A (en) * | 2019-05-16 | 2019-10-08 | 深圳市豪恩声学股份有限公司 | Audio frequency apparatus, operation method, device and the storage medium that real-time voice wakes up |
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| CN111081250A (en) * | 2019-12-29 | 2020-04-28 | 杭州睿沃科技有限公司 | Robot awakening method based on decibel detection |
| CN112379781A (en) * | 2020-12-10 | 2021-02-19 | 深圳华芯信息技术股份有限公司 | Man-machine interaction method, system and terminal based on foot information identification |
| CN113140217A (en) * | 2021-04-08 | 2021-07-20 | 青岛歌尔智能传感器有限公司 | Voice instruction testing method, testing device and readable storage medium |
| CN113160812A (en) * | 2021-02-23 | 2021-07-23 | 青岛歌尔智能传感器有限公司 | Speech recognition apparatus, speech recognition method, and readable storage medium |
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