CN111385911B - Inspection robot and voice communication method thereof - Google Patents
Inspection robot and voice communication method thereof Download PDFInfo
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- CN111385911B CN111385911B CN201811609744.8A CN201811609744A CN111385911B CN 111385911 B CN111385911 B CN 111385911B CN 201811609744 A CN201811609744 A CN 201811609744A CN 111385911 B CN111385911 B CN 111385911B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/15—Setup of multiple wireless link connections
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention is suitable for the technical field of intelligent robots, and provides an inspection robot and a voice call method thereof, wherein the inspection robot comprises a first voice call module and a second voice call module; the first voice call module is in communication connection with the control terminal through a first communication link, and the second voice call module is in communication connection with the control terminal through a second communication link; the first voice call module comprises a first audio receiving unit and a first audio playing unit; the second voice call module comprises a second audio receiving unit and a second audio playing unit, and when the inspection robot carries out voice call with the control terminal through the first voice call module, the second voice call module stops working; when the inspection robot communicates with the controlled terminal through the second communication module, the first voice communication module stops working; the inspection robot actively establishes call connection and receives call connection initiated by the control terminal through the inspection robot, so that bidirectional voice call of the inspection robot is realized.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to an inspection robot and a voice communication method thereof.
Background
When the inspection robot operates outdoors, a one-way voice call is a common mode in the voice call process at present, if a sound pick-up is arranged on the robot, audio data are captured through the sound pick-up, and then the captured audio data are transmitted to the control terminal. Or a loudspeaker is arranged on the robot, and the voice information sent by the control terminal is played through the loudspeaker. The two-way voice communication capability is not provided, because the sound played by the loudspeaker of the robot will interfere with the sound pick-up during two-way communication, and the sound pick-up effect is affected.
To sum up, the current patrol and examine robot has the problem that two-way voice communication can not be realized.
Disclosure of Invention
In view of this, the embodiment of the invention provides an inspection robot and a voice communication method thereof, so as to solve the problem that the existing inspection robot cannot perform two-way voice communication.
The invention provides an inspection robot, which is in communication connection with a control terminal and is characterized by comprising a first voice call module and a second voice call module;
the first voice call module is in communication connection with the control terminal through a first communication link, and the second voice call module is in communication connection with the control terminal through a second communication link;
The first voice call module comprises a first audio receiving unit and a first audio playing unit; the first audio receiving unit and the first audio playing unit are respectively arranged on two sides of the inspection robot;
the second voice call module comprises a second audio receiving unit and a second audio playing unit; the second audio receiving unit and the second audio receiving unit are respectively arranged on two sides of the inspection robot;
when the inspection robot carries out voice communication with the control terminal through the first voice communication module, the second voice communication module stops working; when the inspection robot communicates with the control terminal through the second communication module, the first voice communication module stops working.
The second aspect of the invention provides a voice call method of an inspection robot, which comprises the following steps:
detecting whether a first call connection request of a control terminal is received;
if a first call connection request of the control terminal is received, controlling the inspection robot to establish a voice call with the control terminal through a first voice call module through a first communication link, playing audio data sent by the control terminal through a first audio playing unit, collecting the audio data through a first audio receiving unit, and sending the audio data to the control terminal;
Detecting whether a second communication connection request is sent to the control terminal or not;
and if the second communication connection request is sent to the control terminal, controlling the inspection robot to establish a voice communication with the control terminal through a second voice communication link through a second voice communication module, playing audio data sent by the control terminal through a second audio playing unit, collecting the audio data through a second audio receiving unit, and sending the audio data to the control terminal.
The invention provides an inspection robot and a voice call method thereof, wherein two sets of voice call modules of the robot respectively adopt different communication links to realize complete isolation and mutual noninterference of two paths of signals, and voice calls are realized through an audio receiving unit and an audio playing unit of the two sets of voice call modules, so that call connection with a control terminal can be actively established by the inspection robot, and call connection initiated by the control terminal can be received through the inspection robot, so that two-way voice calls of the inspection robot are realized, and the problem that the conventional inspection robot cannot perform two-way voice communication is effectively solved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of an inspection robot 10 according to an embodiment of the present invention;
fig. 2 is a schematic distribution diagram of a first voice call module and a second voice call module in the inspection robot 10 according to the first embodiment of the present invention;
fig. 3 is a schematic diagram of communication connection between the inspection robot 10 and the control terminal 20 according to the first embodiment of the present invention;
fig. 4 is a schematic diagram illustrating an implementation flow of a voice call method according to a second embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating an implementation of the second step S102 according to the third embodiment of the present invention;
fig. 6 is a schematic flow chart illustrating an implementation of step S104 according to a fourth embodiment of the present invention;
fig. 7 is a schematic diagram of a terminal device according to a fifth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to illustrate the technical means of the present invention, the following description is given by way of specific examples.
The first embodiment is as follows:
as shown in fig. 1, the present embodiment provides an inspection robot 10, and the inspection robot 10 is in communication connection with a control terminal 20, and specifically includes a first voice call module 110 and a second voice call module 120.
The first voice call module 110 is communicatively connected to the control terminal 20 through a first communication link, and the second voice call module 120 is communicatively connected to the control terminal 20 through a second communication link.
The first voice call module 110 includes a first audio receiving unit 111 and a first audio playing unit 112; the first audio receiving unit 111 and the first audio playing unit 112 are respectively disposed at both sides of the inspection robot 10.
The second voice call module 120 includes a second audio receiving unit 121 and a second audio playing unit 122; the second audio receiving unit 121 and the second audio playing unit 122 are respectively disposed at both sides of the inspection robot 10.
When the inspection robot 10 performs voice communication with the control terminal 20 through the first voice communication module 110, the second voice communication module 120 stops working; when the inspection robot 10 makes a call with the controlled terminal 20 through the second call module 120, the first voice call module 110 stops working.
In one embodiment, a convex cradle head is disposed on the body of the inspection robot 10, and the cradle head is used for performing audio attenuation on the audio data played by the first audio playing unit 112 and the second audio playing unit 122. Thereby spatially reducing interference of the first and second audio playing units 112 and 122 with the first and second audio receiving units 111 and 121.
The first audio receiving unit 111 and the first audio playing unit 112 are respectively disposed at two sides of the pan/tilt head.
The second audio receiving unit 121 and the second audio playing unit 122 are respectively disposed at both sides of the table.
In a specific application, as shown in fig. 2, the first audio receiving unit 111 and the first audio playing unit 112 are respectively disposed at two sides of the pan/tilt head, preferably, the first audio receiving unit 111 and the first audio playing unit 112 are distributed diagonally; the second audio receiving unit 121 and the second audio playing unit 122 are respectively disposed at two sides of the pan/tilt head, preferably, the second audio receiving unit 121 and the second audio playing unit 122 are distributed diagonally.
In a specific application, the first audio receiving unit 111 and the second audio playing unit 122 are disposed on one side of the pan/tilt head, and the first audio playing unit 112 and the second audio receiving unit 121 are disposed on the other side of the pan/tilt head, so that the first audio receiving unit 111, the second audio playing unit 122, the first audio playing unit 112, and the second audio receiving unit 121 are distributed on two sides of the pan/tilt head at 180 degrees. Because the first audio playing unit 112 does not work when the second audio receiving unit 121 works, and the second audio playing unit 122 does not work when the first audio receiving unit 111 works, it is possible to avoid interference of the first audio playing unit 112 to the second audio receiving unit 121, and also to avoid interference of the second audio playing unit 122 to the first audio receiving unit 111, and sound of the first audio playing unit 112 and the second audio playing unit 122 is spatially attenuated by the cloud platform, interference of the first audio playing unit 112 to the first audio receiving unit 111 is spatially reduced, and interference of the second audio playing unit 122 to the second audio receiving unit 121 is also reduced.
In one embodiment, the first communication link is a data flow channel, and when the inspection robot 10 detects the first call connection request initiated by the control terminal 20, the inspection robot makes a voice call with the control terminal 20 through the data flow channel.
The second communication link is a voice telephone channel, and when the inspection robot 10 actively sends a second communication connection request to the control terminal and establishes a communication connection with the control terminal 20, voice communication is performed with the control terminal through the voice telephone channel.
In a specific application, as shown in fig. 3, the first voice call module 110 establishes a communication link of a data traffic channel with a network base station of an operator, and finally forms a communication link with the control terminal 20 through the internet and a server, so as to implement a voice call. The second voice call module 120 establishes a communication link of a voice telephone channel with a network base station of an operator, and finally forms a communication link with the control terminal 20 through a voice telephone network and a server, thereby implementing a voice call.
In practical applications, the first audio receiving unit 111 includes a first microphone a1, and the first audio playing unit 112 includes a first speaker B1.
The first microphone a1 is configured to collect audio data when the first voice call module 110 is in operation, and perform equalization processing, automatic gain processing, and adaptive noise reduction processing on the collected audio data.
In practical applications, the second audio receiving unit 121 includes the second microphone a2, and the 122 includes the second speaker B2.
The second sound pick-up a2 is used for collecting audio data when the second voice call module works, and performing equalization processing, automatic gain processing and adaptive noise reduction processing on the collected audio data.
In one embodiment, the inspection robot further comprises a main control module.
In specific application, the main control module is in communication connection with the first voice communication module and the second voice communication module respectively.
The main control module is used for carrying out analog-to-digital conversion and noise reduction processing on the audio data collected by the first voice communication module and the audio data collected by the second voice communication module.
The inspection robot provided by the embodiment adopts different communication links through two sets of voice call modules of the robot respectively, so that complete isolation and mutual noninterference of two paths of signals are realized, voice calls are realized through the audio receiving units and the audio playing units of the two sets of voice call modules, namely, the inspection robot can actively establish call connection with the control terminal, and can accept call connection initiated by the control terminal through the inspection robot, so that bidirectional voice call of the inspection robot is realized, and the problem that the conventional inspection robot cannot perform bidirectional voice communication is effectively solved.
The second embodiment:
as shown in fig. 4, the present embodiment provides a voice communication method, which is implemented based on the inspection robot in the first embodiment, and specifically includes:
step S101: whether a first call connection request of a control terminal is received or not is detected.
In a specific application, when the control terminal sends a first call connection request to the inspection robot through the first communication link, after the inspection robot receives the first call connection request, the inspection robot establishes a voice call with the control terminal according to the first call connection request.
Step S102: if a first call connection request of the control terminal is received, the inspection robot is controlled to establish a voice call with the control terminal through a first voice call module through a first communication link, audio data sent by the control terminal is played through a first audio playing unit, the audio data are collected through a first audio receiving unit, and the audio data are sent to the control terminal.
In specific application, after a first call connection request of the control terminal is received, the inspection robot is controlled to establish a voice call with the control terminal, specifically, the voice call is established with the control terminal through a first communication link through a first voice call module.
In a specific application, the first call link is a data flow channel, and when the inspection robot detects a first call connection request initiated by the control terminal, a voice call is performed with the control terminal through the data flow channel. The first voice call module establishes a communication link of a data flow channel with a network base station of an operator, and finally forms a communication link with the control terminal through the Internet and the server, so that voice call is realized.
In specific application, after the first voice call module is connected with the control terminal in a voice call mode, the audio data sent by the control terminal are received and played through the first audio playing unit, meanwhile, the audio data of users around the inspection robot are collected through the first audio receiving unit, and the collected audio data are sent to the control terminal through the data flow channel.
Step S103: and detecting whether a second call connection request is sent to the control terminal.
In a specific application, if the inspection robot actively sends the second communication connection request to the control terminal, the inspection robot is controlled to establish voice communication connection with the control terminal after detecting that the inspection robot actively sends the second communication connection request.
Step S104: and if the second communication connection request is sent to the control terminal, the inspection robot is controlled to establish a voice communication with the control terminal through a second voice communication module and a second communication link, audio data sent by the control terminal is played through a second audio playing unit, the audio data is collected through a second audio receiving unit, and the audio data is sent to the control terminal.
In specific application, when the second communication connection request is detected, the inspection robot and the control terminal are controlled to establish the voice call, specifically, the voice call is established with the control terminal through the second communication link through the second voice call module.
In a specific application, the second communication link is a voice telephone channel, and when the inspection robot actively sends a second communication connection request to the control terminal and establishes communication connection with the control terminal, voice communication is carried out with the control terminal through the voice telephone channel. The second voice call module establishes a communication link of a voice telephone channel with a network base station of an operator, and finally forms a communication link with the control terminal through a voice telephone network and the server, so that voice call is realized.
In specific application, after the second voice call module establishes voice call connection with the control terminal, the audio data sent by the control terminal is received and played through the second audio playing unit, meanwhile, the audio data of users around the inspection robot are collected through the second audio receiving unit, and the collected audio data are sent to the control terminal through the data flow channel.
It should be noted that, when the first voice call module works, the second voice call module does not work; when the second voice communication module works, the first voice communication module does not work.
It should be noted that, because the voice call method provided in the embodiment of the present invention is based on the same concept as the apparatus embodiment shown in fig. 1 of the present invention, the technical effect brought by the voice call method is the same as the embodiment shown in fig. 1 of the present invention, and specific contents may refer to the description in the embodiment shown in fig. 1 of the present invention, and are not described herein again.
Therefore, according to the voice call method provided by this embodiment, two sets of voice call modules of the robot can also respectively adopt different communication links to realize complete isolation and mutual noninterference of two paths of signals, and voice calls are realized through the audio receiving unit and the audio playing unit of the two sets of voice call modules, so that call connection with the control terminal can be actively established by the inspection robot, and call connection initiated by the control terminal can be accepted by the inspection robot, so that bidirectional voice call of the inspection robot is realized, and the problem that the conventional inspection robot cannot perform bidirectional voice communication is effectively solved.
Example three:
As shown in fig. 5, in the present embodiment, the step S102 in the first embodiment specifically includes:
step S201: and after the audio data collected by the first audio receiving unit is subjected to equalization processing, automatic gain processing and self-adaptive noise reduction processing, the audio data are sent to the main control unit.
In specific application, the first audio acquisition unit performs equalization processing, automatic gain processing and adaptive noise reduction processing on the acquired audio data, and then sends the processed audio data to the main control unit. Specifically, the sound pickup with the equalization function, the automatic gain processing function and the adaptive noise reduction function realizes audio acquisition, equalization processing, automatic gain processing and adaptive noise reduction processing.
Step S202: and performing analog-to-digital conversion on the audio data through the main control unit, performing noise reduction processing on the audio data subjected to the analog-to-digital conversion through a preset noise reduction algorithm, and sending the audio data subjected to the noise reduction processing to the control terminal.
In a specific application, the audio data which is subjected to the equalization processing, the west-east gain processing and the adaptive noise reduction processing is subjected to analog-to-digital conversion through the main control unit, and further noise reduction processing is performed through a preset noise reduction algorithm. And then the digital audio data after noise reduction is sent to a control terminal through a first communication link, and the control terminal performs voice recognition and response.
Example four:
as shown in fig. 6, in the present embodiment, the step S104 in the first embodiment specifically includes:
step S301: and after carrying out equalization processing, automatic gain processing and self-adaptive noise reduction processing on the audio data acquired by the second audio receiving unit, sending the audio data to the main control unit.
In specific application, the second audio acquisition unit performs equalization processing, automatic gain processing and adaptive noise reduction processing on the acquired audio data, and then sends the processed audio data to the main control unit. Specifically, the sound pickup with the equalization function, the automatic gain processing function and the adaptive noise reduction function realizes audio acquisition, equalization processing, automatic gain processing and adaptive noise reduction processing.
Step S302: and performing analog-to-digital conversion on the audio data through the main control unit, performing noise reduction processing on the audio data subjected to the analog-to-digital conversion through a preset noise reduction algorithm, and sending the audio data subjected to the noise reduction processing to the control terminal.
In a specific application, the audio data which is subjected to the equalization processing, the west-east gain processing and the adaptive noise reduction processing is subjected to analog-to-digital conversion through the main control unit, and further noise reduction processing is performed through a preset noise reduction algorithm. And then the digital audio data after noise reduction is sent to a control terminal through a second communication link, and the control terminal performs voice recognition and response.
Example five:
fig. 7 is a schematic diagram of a terminal device according to a fifth embodiment of the present invention. In a specific application, the terminal device is an inspection robot, and as shown in fig. 7, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, e.g. a program, stored in said memory 51 and executable on said processor 50. The processor 50 implements the steps in the above-mentioned embodiments of the picture processing method, such as steps S101 to S104 shown in fig. 3, when executing the computer program 52.
Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the terminal device 5. For example, the computer program 52 may be divided into a first detection module, a first communication module, a second detection module and a second communication module, and the specific functions of the modules are as follows:
The first detection module is used for detecting whether a first call connection request of the control terminal is received or not;
the first call module is used for controlling the inspection robot to establish a voice call with the control terminal through a first communication link through the first voice call module if a first call connection request of the control terminal is received, playing audio data sent by the control terminal through the first audio playing unit, collecting the audio data through the first audio receiving unit and sending the audio data to the control terminal;
the second detection module is used for detecting whether a second communication connection request is sent to the control terminal or not;
and the second communication module is used for controlling the inspection robot to establish voice communication with the control terminal through a second voice communication link through the second voice communication module if a second communication connection request is sent to the control terminal, playing audio data sent by the control terminal through the second audio playing unit, collecting the audio data through the second audio receiving unit and sending the audio data to the control terminal.
The terminal device may be a robot.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program and other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the system is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the wireless terminal may refer to the corresponding process in the foregoing method embodiments, and details are not repeated here.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system/terminal device and method can be implemented in other ways. For example, the above-described system/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and configured for individual product sale or use, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or system capable of carrying said computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (9)
1. The inspection robot is in communication connection with a control terminal and is characterized by comprising a first voice call module and a second voice call module;
the first voice call module is in communication connection with the control terminal through a first communication link, and the second voice call module is in communication connection with the control terminal through a second communication link;
the first voice call module comprises a first audio receiving unit and a first audio playing unit; the first audio receiving unit and the first audio playing unit are respectively arranged on two sides of the inspection robot;
The second voice call module comprises a second audio receiving unit and a second audio playing unit; the second audio receiving unit and the second audio receiving unit are respectively arranged on two sides of the inspection robot;
a raised holder is arranged on the body of the inspection robot, and the holder is used for carrying out audio attenuation on the audio data of the first audio playing unit and the second audio playing unit;
the first audio receiving unit and the first audio playing unit are respectively arranged at two sides of the holder, so that the first audio receiving unit and the first audio playing unit are distributed in a diagonal manner;
the second audio receiving unit and the second audio playing unit are respectively arranged at two sides of the holder, so that the second audio receiving unit and the second audio playing unit are distributed in a diagonal manner;
when the inspection robot carries out voice communication with the control terminal through the first voice communication module, the second voice communication module stops working; when the inspection robot passes through the second voice communication module and the controlled terminal, the first voice communication module stops working.
2. The inspection robot according to claim 1, wherein the first audio receiving unit includes a first microphone and the first audio playing unit includes a first speaker.
3. The inspection robot according to claim 1, wherein the second audio receiving unit includes a second microphone and the second audio playing unit includes a second speaker.
4. The inspection robot according to claim 2, wherein the first sound pick-up is configured to collect audio data during operation of the first voice communication module, and perform equalization, automatic gain, and adaptive noise reduction on the collected audio data.
5. The inspection robot according to claim 3, wherein the second sound pick-up is configured to collect audio data during operation of the second voice communication module, and perform equalization, automatic gain, and adaptive noise reduction on the collected audio data.
6. The inspection robot according to claim 1, further comprising a master control module;
the main control module is respectively in communication connection with the first voice communication module and the second voice communication module;
the main control module is used for carrying out analog-to-digital conversion and noise reduction on the audio data collected by the first voice communication module and the audio data collected by the second voice communication module.
7. The inspection robot according to claim 1, wherein the first communication link is a data traffic channel, and when the inspection robot detects a first call connection request initiated by the control terminal, a voice call is performed with the control terminal through the data traffic channel;
the second communication link is a voice telephone channel, and when the inspection robot actively sends a second communication connection request to the control terminal and establishes communication connection with the control terminal, voice communication is carried out between the inspection robot and the control terminal through the voice telephone channel.
8. The voice call method for the inspection robot based on the claim 1 is characterized by comprising the following steps:
detecting whether a first call connection request of a control terminal is received;
if a first call connection request of the control terminal is received, controlling the inspection robot to establish a voice call with the control terminal through a first voice call module and a first communication link, playing audio data sent by the control terminal through a first audio playing unit, collecting the audio data through a first audio receiving unit, and sending the audio data to the control terminal;
Detecting whether a second communication connection request is sent to the control terminal or not;
and if the second communication connection request is sent to the control terminal, the inspection robot is controlled to establish a voice communication with the control terminal through a second voice communication module and a second communication link, audio data sent by the control terminal is played through a second audio playing unit, the audio data is collected through a second audio receiving unit, and the audio data is sent to the control terminal.
9. The voice call method according to claim 8, wherein the collecting of the audio data by the first audio receiving unit and the sending of the audio data to the control terminal comprises:
the audio data acquired by the first audio receiving unit are subjected to equalization processing, automatic gain processing and adaptive noise reduction processing and then are sent to the main control unit;
performing analog-to-digital conversion on the audio data through the main control unit, performing noise reduction processing on the audio data subjected to the analog-to-digital conversion through a preset noise reduction algorithm, and sending the audio data subjected to the noise reduction processing to a control terminal;
gather audio data through second audio frequency receiving element to audio data sends control terminal, includes:
The audio data collected by the second audio receiving unit are subjected to equalization processing, automatic gain processing and adaptive noise reduction processing and then are sent to the main control unit;
and performing analog-to-digital conversion on the audio data through the main control unit, performing noise reduction processing on the audio data subjected to the analog-to-digital conversion through a preset noise reduction algorithm, and sending the audio data subjected to the noise reduction processing to the control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811609744.8A CN111385911B (en) | 2018-12-27 | 2018-12-27 | Inspection robot and voice communication method thereof |
Applications Claiming Priority (1)
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