CN110232922A - Robot voice halts control method and device - Google Patents
Robot voice halts control method and device Download PDFInfo
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/26—Speech to text systems
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification techniques
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- 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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Abstract
This application discloses a kind of robot voices to halt control method and device, by including: the voice messaging for obtaining user；Judge whether the voice messaging is used to halt robot, and obtains judging information；If so, generating instruction out of service according to the judgement information；Otherwise any operation is not executed；According to the operation out of service for instructing the mechanism that breaks off an action.Robot can be carried out by way of voice control by, which having achieved the purpose that, halts; to realize when robot during exercise; only can need to easily halt the technical effect of robot by specific voice, and then solve as button click type triggering caused by the technical issues of clicking is inconvenient in robot motion.
Description
Technical field
This application involves technical field of robot control, halt control method in particular to a kind of robot voice
And device.
Background technique
In people's daily life, more and more important role plays the part of in robot.It will be various in existing technology
Functional unit be built in robot, impart the more and more functions of robot.But robot in the prior art
Be to be provided services to the user in fixed position mostly, be then to maintain the state of cruising there are also a kind of, when user needs into
Row is halted；Halting robot on the market at present is mainly the triggering of button click type, due to working as robot during exercise, button point
Move therewith, therefore there are the bad click of button point, operation difficulty is higher for a user, be difficult it is primary just can accurately by
Under, it is easy the disadvantages of being collided by robot.
For the problem for halting robot manipulation's inconvenience is clicked in the related technology, effective solution side is not yet proposed at present
Case.
Summary of the invention
The main purpose of the application is to provide a kind of robot voice and halts control method and device, to solve background skill
At least one technical problem present in art.
To achieve the goals above, it according to the one aspect of the application, provides a kind of robot voice and halts controlling party
Method.
Halting control method according to the robot voice of the application includes:
Obtain the voice messaging of user；
Judge whether the voice messaging is used to halt robot, and obtains judging information；
If so, generating instruction out of service according to the judgement information；Otherwise any operation is not executed；
According to the operation out of service for instructing the mechanism that breaks off an action.
Further, robot voice as the aforementioned halts control method, described to judge whether the voice messaging is used for
Robot is halted, and obtains judging information；Include:
It presets and halts keyword for halt robot；
Whether the voice messaging for judging the user includes described halting keyword；
If the voice messaging of the user include it is described halt keyword, generate and characterize the voice messaging of the user and be
First for halting robot judges information；Otherwise the voice messaging for generating the characterization user is not intended to halt robot
Second judge information.
Further, robot voice as the aforementioned halts control method, the voice messaging for judging the user whether
Including it is described halt keyword before, further includes:
The voiceprint of preparatory typing registration user, and establish the corresponding relationship of registration user and voiceprint；
The voiceprint of the user is obtained according to the voice messaging；
Judge whether the user is registration user according to the voiceprint of the user and corresponding relationship；
If the user is registration user, perform the next step rapid；Otherwise any operation is not executed.
Further, robot voice as the aforementioned halts control method, further includes:
Obtain the distance between user information；And
Determine the minimum distance threshold value for carrying out emergent stopping；
The distance between with user according to the information the distance between with user and minimum distance threshold decision
Whether information is in minimum distance threshold value；
If generating instruction out of service in minimum distance threshold value；Otherwise any operation is not executed.
Further, robot voice as the aforementioned halts control method, after the operation for the mechanism that breaks off an action, also wraps
It includes:
Obtain the temporal information of the last operation for receiving the user；
Judge whether the temporal information has been more than preset waiting time；
If the temporal information has been more than preset waiting time, speech prompt information is issued, and starts the action
Mechanism；Otherwise keep stopping the operation of the executing mechanism.
To achieve the goals above, it according to the another aspect of the application, provides a kind of robot voice and halts control dress
It sets.
Halting control device according to the robot voice of the application includes:
Voice messaging acquiring unit, for obtaining the voice messaging of user；
Phonetic decision unit for judging whether the voice messaging is used to halt robot, and obtains judging information；
Command unit out of service, for being sentenced when the voice messaging is for halting robot according to described
Disconnected information generates instruction out of service；Otherwise any operation is not executed；
Execution unit, for according to the operation out of service for instructing the mechanism that breaks off an action.
Further, robot voice as the aforementioned halts control device, and the phonetic decision unit includes:
Keyword module is halted, halts keyword for halt robot for presetting；
Keyword comparison module, for judging whether the voice messaging of the user includes described halting keyword；
Judge information generating module, when halting keyword including described in for the voice messaging in the user, generates table
The voice messaging for levying the user is to judge information for halting the first of robot；Otherwise the voice for characterizing the user is generated
What information was not intended to halt robot second judges information.
Further, robot voice as the aforementioned halts control device, further includes: identity authenticating unit；The identity
Authentication unit includes:
Vocal print recording module for the voiceprint of preparatory typing registration user, and establishes registration user and voiceprint
Corresponding relationship；
Vocal print acquisition module, for obtaining the voiceprint of the user according to the voice messaging；
Identity judgment module, for judging whether the user is note according to the voiceprint and corresponding relationship of the user
Volume user；
First execution module, for when the user is registration user, then performing the next step rapid；Otherwise it does not execute any
Operation.
Further, robot voice as the aforementioned halts control device, further includes: emergency stop unit；The emergency stop unit
Include:
Range information obtains module, for obtaining the distance between user information；And
Distance threshold determining module, for determining the minimum distance threshold value for carrying out emergent stopping；
Distance judgment module, for according to the distance between described and user information and minimum distance threshold decision
Whether the distance between user information is in minimum distance threshold value；
Second execution module then generates instruction out of service when in minimum distance threshold value；Otherwise it does not execute any
Operation.
Further, robot voice as the aforementioned halts control device, further includes: resume operation unit；The recovery
Running unit includes:
Operating time obtains module, for obtaining the temporal information of the last operation for receiving the user；
Duration judgment module, for judging whether the temporal information has been more than preset waiting time；
Third execution module, for when the temporal information has been more than preset waiting time, issuing voice prompting letter
Breath, and start the executing mechanism；Otherwise keep stopping the operation of the executing mechanism.
In the embodiment of the present application, controlling party is halted using the robot voice that one kind can halt robot by voice
The mode of method and device, by including: the voice messaging for obtaining user；Judge whether the voice messaging is used to halt machine
People, and obtain judging information；If so, generating instruction out of service according to the judgement information；Otherwise any operation is not executed；
According to the operation out of service for instructing the mechanism that breaks off an action.Robot can be carried out by way of voice control by having reached
The purpose halted, thus realize when robot during exercise, only can need to easily halt machine by specific voice
The technical effect of people, and then solve and be inconvenient in robot motion to be clicked as caused by the triggering of button click type
Technical problem.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the flow diagram that control method is halted according to a kind of robot voice of embodiment of the application；
Fig. 2 is the functional module structure signal that control device is halted according to a kind of robot voice of embodiment of the application
Figure；And
Fig. 3 is according to a kind of flow diagram of the application examples of embodiment of the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application 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.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in this application can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
According to one embodiment of the application, provides a kind of robot voice and halt control method.As shown in Figure 1, should
Method includes the following steps, namely S1 to step S4:
S1. the voice messaging of user is obtained；
Specifically, can be by the acquisition of user speech described in the double Zhi Jinhang of the radio reception such as microphone accordingly, in turn
Processing obtains the voice messaging；Preferably, when noise of the sound in environment excessively or in addition to voice is too many, also
The voice messaging can be removed dryness using corresponding algorithm；
S2. judge whether the voice messaging is used to halt robot, and obtain judging information；
That is, needing to handle the affiliated voice messaging of acquisition, because can deposit in the running environment of robot
In multiple people, it is thus possible to voice messaging can be unanimously received, but if being carried out and halting to each voice messaging,
Cruising for robot can be seriously affected, or even can be stagnated, it is therefore desirable to judge whether the voice messaging is for halting
Robot；
S3. if so, generating instruction out of service according to the judgement information；Otherwise any operation is not executed；
That is, robot can generate instruction out of service according to the judgement information, in general, the stopping is transported
Row instruction is the instruction for making the walking executing mechanism of robot break off an action；
S4. according to the operation out of service for instructing the mechanism that breaks off an action；
That is, managing the executing mechanism according to the instruction out of service, allow the robot to stop
Only；Specifically, the driving unit that the instruction out of service can be for controlling corresponding executing mechanism is out of service, in turn
Achieve the purpose that control action mechanism.
In some embodiments, robot voice as the aforementioned halts control method, and the judgement voice messaging is
It is no to be used to halt robot, and obtain judging information；Include:
It presets and halts keyword for halt robot；
Specifically, stopping for example, keyword may include: XX (robot code name or name)；
Whether the voice messaging for judging the user includes described halting keyword；
That is, using speech recognition technology, halts keyword according to described in the voice messaging and is matched,
Judge whether there is corresponding keyword in the voice messaging, in general, the classification of the keyword in the voice messaging and a
Number can be adjusted according to preset precision, and then keep the robot out of service according to trigger condition；
If the voice messaging of the user include it is described halt keyword, generate and characterize the voice messaging of the user and be
First for halting robot judges information；Otherwise the voice messaging for generating the characterization user is not intended to halt robot
Second judge information；
Specifically, generate described first judge information be intended to indicate that in the voice messaging include described in halt key
Word；Generate described second judge information be intended to indicate that in the voice messaging do not include described in halt keyword.
In some embodiments, robot voice as the aforementioned halts control method, in the voice letter for judging the user
Whether breath is halted including described in front of keyword, further includes:
The voiceprint of preparatory typing registration user, and establish the corresponding relationship of registration user and voiceprint；
Specifically, the vocal print is the sound wave spectrum for the carrying verbal information that electricity consumption acoustic instrument is shown；And vocal print is not only
With specificity, and there is the characteristics of relative stability；Therefore the corresponding vocal print of different people is different, therefore can be by sound
The feature that line information is distinguished as different user；And the typing of the voiceprint can be by the robotic end
It carries out typing and is stored in local or cloud；Simultaneously by the voiceprint of typing and corresponding registration user carry out it is corresponding i.e.
The function can be achieved；
The voiceprint of the user is obtained according to the voice messaging；
That is, analyzing the voice messaging, and then obtain the voiceprint of the corresponding user；
Judge whether the user is registration user according to the voiceprint of the user and corresponding relationship；
That is the voiceprint of the user is compared with all voiceprints that local or cloud store, when
After matching obtains the identical voiceprint of feature, then judge that the user further can also determine this for registration user
The identity information of user, and can be written into running log；
If the user is registration user, perform the next step rapid；Otherwise any operation is not executed；
That is, when the user be registration user when, just perform the next step in the language for judging the user
Whether message breath includes described halting keyword；And then the data processing amount of robot system can be reduced；Data are promoted simultaneously
Treatment effeciency.
In some embodiments, robot voice as the aforementioned halts control method, further includes:
Obtain the distance between user information；
Specifically, the front people or other in robot current operating environment can be acquired by the first-class device of depth camera
The distance of barrier, and obtain corresponding range information；
Determine the minimum distance threshold value for carrying out emergent stopping；
That is, the minimum distance threshold value is a pre-set distance values, with when there are an other objects
Body when on the running track of robot, and at a distance from robot be less than the minimum distance threshold value when, then need robot into
Row stops or modification route, prevents to collide；
The distance between with user according to the information the distance between with user and minimum distance threshold decision
Whether information is in minimum distance threshold value；
That is, judgement is compared to the range information and minimum distance threshold value, the range information is obtained
Whether the result in minimum distance threshold value；
If generating instruction out of service in minimum distance threshold value；Otherwise any operation is not executed.
That is, then generating instruction out of service, and then make when appearing in the distance threshold there are a user
Robot can be out of service.
In some embodiments, robot voice as the aforementioned halts control method, the mechanism that breaks off an action operation it
Afterwards, further includes:
Obtain the temporal information of the last operation for receiving the user；
That is, the temporal information be used to characterize user the last operation be spaced how long, when just several seconds
When, then it may indicate that user does not operate temporarily only, when temporal information characterization has been a few minutes, then characterize
The user may to the robot, use be finished；
Judge whether the temporal information has been more than preset waiting time；
That is, the waiting time be it is pre-set, can be adjusted according to specific service condition, herein
It is not specifically limited；
If the temporal information has been more than preset waiting time, speech prompt information is issued, and starts the action
Mechanism；Otherwise keep stopping the operation of the executing mechanism.
Specifically, the speech prompt information will bring into operation for prompting the user with robot, make before robot
User that side does not for a long time operate robot or the user passed by can hide in time, prevent to collide, or use
Family can operate robot in time, and robot is made to continue to keep halted state；Preferably, the voice is issued in the robot
Between prompt information and the starting executing mechanism, can interval for some time, the user for enabling operator or passing by
Having time makes corresponding reaction.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
According to embodiments of the present invention, a kind of machine that control method is halted for implementing above-mentioned robot voice is additionally provided
Human speech sound halts control device, as shown in Fig. 2, the device includes:
Voice messaging acquiring unit 1, for obtaining the voice messaging of user；
Phonetic decision unit 2 for judging whether the voice messaging is used to halt robot, and obtains judging information；
Command unit 3 out of service, for being sentenced when the voice messaging is for halting robot according to described
Disconnected information generates instruction out of service；Otherwise any operation is not executed；
Execution unit 4, for according to the operation out of service for instructing the mechanism that breaks off an action.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot voice as the aforementioned halts control device, and the phonetic decision unit includes:
Keyword module is halted, halts keyword for halt robot for presetting；
Keyword comparison module, for judging whether the voice messaging of the user includes described halting keyword；
Judge information generating module, when halting keyword including described in for the voice messaging in the user, generates table
The voice messaging for levying the user is to judge information for halting the first of robot；Otherwise the voice for characterizing the user is generated
What information was not intended to halt robot second judges information.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot voice as the aforementioned halts control device, further includes: identity authenticating unit；Institute
Stating identity authenticating unit includes:
Vocal print recording module for the voiceprint of preparatory typing registration user, and establishes registration user and voiceprint
Corresponding relationship；
Vocal print acquisition module, for obtaining the voiceprint of the user according to the voice messaging；
Identity judgment module, for judging whether the user is note according to the voiceprint and corresponding relationship of the user
Volume user；
First execution module, for when the user is registration user, then performing the next step rapid；Otherwise it does not execute any
Operation.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot voice as the aforementioned halts control device, further includes: emergency stop unit；The urgency
Stopping unit includes:
Range information obtains module, for obtaining the distance between user information；And
Distance threshold determining module, for determining the minimum distance threshold value for carrying out emergent stopping；
Distance judgment module, for according to the distance between described and user information and minimum distance threshold decision
Whether the distance between user information is in minimum distance threshold value；
Second execution module then generates instruction out of service when in minimum distance threshold value；Otherwise it does not execute any
Operation.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
In some embodiments, robot voice as the aforementioned halts control device, further includes: resume operation unit；Institute
Stating the unit that resumes operation includes:
Operating time obtains module, for obtaining the temporal information of the last operation for receiving the user；
Duration judgment module, for judging whether the temporal information has been more than preset waiting time；
Third execution module, for when the temporal information has been more than preset waiting time, issuing voice prompting letter
Breath, and start the executing mechanism；Otherwise keep stopping the operation of the executing mechanism.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
It is as described below that the application examples that robot halts is carried out according to the method in a kind of embodiment of the application:
As shown in figure 3, when robot cruises and executes task, when a user is saying halt instruction to robot, such as:
Wen De (robot code name) stops under meeting；Robot receives corresponding voice messaging；Then judge whether the voice messaging is to set
The halt instruction set；If it is, generate corresponding instruction out of service, and broken off an action machine according to the instruction out of service
The operation of structure waits the further operating of user.
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
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of robot voice halts control method characterized by comprising
Obtain the voice messaging of user；
Judge whether the voice messaging is used to halt robot, and obtains judging information；
If so, generating instruction out of service according to the judgement information；Otherwise any operation is not executed；
According to the operation out of service for instructing the mechanism that breaks off an action.
2. robot voice according to claim 1 halts control method, which is characterized in that the judgement voice letter
Whether breath obtains judging information for halting robot；Include:
It presets and halts keyword for halt robot；
Whether the voice messaging for judging the user includes described halting keyword；
If the voice messaging of the user halts keyword described in including, generating and characterizing the voice messaging of the user is to be used for
Halt robot first judges information；Otherwise it generates and characterizes the voice messaging of the user and be not intended to halt the of robot
Two judge information.
3. robot voice according to claim 2 halts control method, which is characterized in that in the language for judging the user
Whether message breath is halted including described in front of keyword, further includes:
The voiceprint of preparatory typing registration user, and establish the corresponding relationship of registration user and voiceprint；
The voiceprint of the user is obtained according to the voice messaging；
Judge whether the user is registration user according to the voiceprint of the user and corresponding relationship；
If the user is registration user, perform the next step rapid；Otherwise any operation is not executed.
4. robot voice according to claim 2 halts control method, which is characterized in that further include:
Obtain the distance between user information；And
Determine the minimum distance threshold value for carrying out emergent stopping；
According to the information the distance between with user and minimum distance threshold decision with the distance between user information
Whether in minimum distance threshold value；
If generating instruction out of service in minimum distance threshold value；Otherwise any operation is not executed.
5. robot voice according to claim 1 halts control method, which is characterized in that in the fortune of mechanism that breaks off an action
After row, further includes:
Obtain the temporal information of the last operation for receiving the user；
Judge whether the temporal information has been more than preset waiting time；
If the temporal information has been more than preset waiting time, speech prompt information is issued, and starts the executing mechanism；
Otherwise keep stopping the operation of the executing mechanism.
6. a kind of robot voice halts control device characterized by comprising
Voice messaging acquiring unit, for obtaining the voice messaging of user；
Phonetic decision unit for judging whether the voice messaging is used to halt robot, and obtains judging information；
Command unit out of service, for being believed when the voice messaging is for halting robot according to the judgement
Breath generates instruction out of service；Otherwise any operation is not executed；
Execution unit, for according to the operation out of service for instructing the mechanism that breaks off an action.
7. robot voice according to claim 6 halts control device, which is characterized in that the phonetic decision unit packet
It includes:
Keyword module is halted, halts keyword for halt robot for presetting；
Keyword comparison module, for judging whether the voice messaging of the user includes described halting keyword；
Judge information generating module, when halting keyword including described in for the voice messaging in the user, generates characterization institute
The voice messaging for stating user is to judge information for halting the first of robot；Otherwise the voice messaging for characterizing the user is generated
Be not intended to halt robot second judges information.
8. robot voice according to claim 7 halts control device, which is characterized in that further include: authentication list
Member；The identity authenticating unit includes:
Vocal print recording module for the voiceprint of preparatory typing registration user, and establishes pair of registration user and voiceprint
It should be related to；
Vocal print acquisition module, for obtaining the voiceprint of the user according to the voice messaging；
Identity judgment module judges whether the user is that registration is used for the voiceprint and corresponding relationship according to the user
Family；
First execution module, for when the user is registration user, then performing the next step rapid；Otherwise any behaviour is not executed
Make.
9. robot voice according to claim 7 halts control device, which is characterized in that further include: emergency stop unit；Institute
Stating emergency stop unit includes:
Range information obtains module, for obtaining the distance between user information；And
Distance threshold determining module, for determining the minimum distance threshold value for carrying out emergent stopping；
Distance judgment module, for according to described in the distance between described and user information and minimum distance threshold decision with
Whether the distance between family information is in minimum distance threshold value；
Second execution module then generates instruction out of service when in minimum distance threshold value；Otherwise any behaviour is not executed
Make.
10. robot voice according to claim 6 halts control device, which is characterized in that further include: resume operation list
Member；The unit that resumes operation includes:
Operating time obtains module, for obtaining the temporal information of the last operation for receiving the user；
Duration judgment module, for judging whether the temporal information has been more than preset waiting time；
Third execution module, for when the temporal information has been more than preset waiting time, issuing speech prompt information, and
Start the executing mechanism；Otherwise keep stopping the operation of the executing mechanism.
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