CN111986671A - Service robot and voice startup and shutdown method and device thereof - Google Patents
Service robot and voice startup and shutdown method and device thereof Download PDFInfo
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; 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 OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; 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 OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/28—Constructional details of speech recognition systems
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; 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
Abstract
The disclosure relates to a service robot and a voice startup and shutdown method and device thereof. This service robot pronunciation switching on and shutting down device includes: the voice recognition core module is used for recognizing a voice signal input by a user under the condition that the service robot is in a starting state; under the condition that a user shutdown instruction is identified, controlling a voice recognition core module to enter a shutdown state; the single chip microcomputer is used for keeping the working state under the condition that the service robot is in a shutdown state; recognizing a starting-up instruction input by a user; and under the condition of identifying a starting instruction input by a user, indicating the service robot to enter a starting state and indicating the voice recognition core module to enter a working state. According to the robot power-on instruction recognition method and device, the voice processing module is closed when the robot power-on instruction recognition function is achieved, the voice signals collected by the microphone are switched to the single chip microcomputer with low power consumption and only specific keywords can be recognized, and the robot power-on instruction recognition function is achieved after the robot power-on instruction recognition function is achieved.
Description
Technical Field
The disclosure relates to the field of robots, in particular to a service robot and a voice startup and shutdown method and device thereof.
Background
With the development of artificial intelligence, the service robot gradually appears in crowded places such as shopping malls, bank halls, hospital halls and the like, and provides services such as guidance, question answering, service introduction and the like. The voice interaction is one of the core functions of the service robot, and the service robot can usually perform normal voice chat and make corresponding answer or action according to the voice instruction of the user.
The service robot of the related art realizes the startup and shutdown through voice generally in two ways: in the first mode, after a user sends a shutdown keyword, the robot calls a shutdown program, and the robot shuts down all equipment to supply power; in the second mode, after the user sends the key word of shutdown, the robot keeps the power supply of the voice recognition module and the power management system, and shuts down the power supply of other equipment, so that the function of low power consumption is achieved.
Disclosure of Invention
The inventor finds out through research that: the service type robot in the related art realizes the startup and shutdown through voice and has corresponding technical problems.
In the related technology of the first mode, after a user sends a shutdown keyword, the robot calls a shutdown program, and the robot shuts off power supply of all equipment. Of course, the related technology has obvious defects that the robot can not recognize the voice command after being shut down and can not be started up through the voice command
In the related technology of the second mode, after the user sends the key word of shutdown, the robot keeps the power supply of the voice recognition module and the power management system, and shuts down the power supply of other equipment, so as to play a role in low power consumption. The main advantage of this mode is that after the robot enters the power-off state, the purpose of starting up the robot through the voice command can still be realized because the voice module is in the working state. The main disadvantages of this approach: the voice recognition module is usually operated on a processor with strong computing capability such as RK3399 due to large computation, and the power consumption is high during operation, so that the standby time of the robot after shutdown can be shortened.
In view of at least one of the above technical problems, the present disclosure provides a service robot and a method and an apparatus for turning on and off a service robot through voice, in which a voice processing module is turned off when the service robot is turned off, and a voice signal collected by a microphone is switched to a low-power consumption single chip microcomputer having only specific keywords, so that the robot has a function of recognizing a turn-on instruction after being turned off.
According to an aspect of the present disclosure, there is provided a service robot voice switching apparatus including:
the voice recognition core module is used for recognizing a voice signal input by a user under the condition that the service robot is in a starting state; under the condition that a user shutdown instruction is identified, controlling a voice recognition core module to enter a shutdown state;
the single chip microcomputer is used for keeping the working state under the condition that the service robot is in a shutdown state; recognizing a starting-up instruction input by a user; and under the condition of identifying a starting instruction input by a user, indicating the service robot to enter a starting state and indicating the voice recognition core module to enter a working state.
In some embodiments of the disclosure, the voice recognition core module is further configured to control the service robot to enter a shutdown state, control the single chip microcomputer to enter a working state, and control the voice recognition core module to enter a shutdown state when recognizing a shutdown instruction of the user.
In some embodiments of the present disclosure, the single chip microcomputer is configured to instruct the service robot to enter a power-on state, instruct the voice recognition core module to enter a working state, and control the single chip microcomputer to enter a power-off state when a power-on instruction input by a user is recognized.
In some embodiments of the present disclosure, the service robot voice switch apparatus further comprises:
the voice pre-processing unit is used for acquiring and processing a voice signal input by a user and sending the processed voice signal to the voice recognition core module or the singlechip;
the voice switching circuit is used for conducting the voice preprocessing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice preprocessing unit sends a processed voice signal to the voice recognition core module; and under the condition that the service robot is in a power-off state, the voice pre-processing unit is communicated with the voice recognition core module, so that the voice pre-processing unit sends the processed voice signal to the voice recognition core module.
In some embodiments of the present disclosure, the service robot voice switch apparatus further comprises:
the power management module is used for supplying power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor under the condition that the service robot is in a starting state; and under the condition that the service robot is in a shutdown state, the power is supplied to the voice preprocessing unit and the singlechip.
In some embodiments of the present disclosure, the voice switching circuit comprises a first switch and a second switch, wherein:
the first switch is closed and arranged between the voice preprocessing unit and the voice recognition core module, and the voice preprocessing unit is conducted with the voice recognition core module under the condition that the first switch is closed;
the second switch is closed and arranged between the voice preprocessing unit and the single chip microcomputer, and the voice preprocessing unit is conducted with the single chip microcomputer under the condition that the second switch is closed.
In some embodiments of the present disclosure, the service robot voice switch apparatus further comprises a voice switching control line, wherein:
the singlechip is connected with the voice switching circuit through the voice switching control circuit and is used for controlling the on-off of the second switch.
In some embodiments of the present disclosure, the service robot voice switch apparatus further includes a first power supply line, a second power supply line, a third power supply line, a first communication line, and a second communication line, wherein:
the power management module supplies power to the voice preprocessing unit, the singlechip and the voice recognition core module through a first power supply circuit, a second power supply circuit and a third power supply circuit respectively;
the first communication line is arranged between the single chip microcomputer and the power management module, and the second communication line is arranged between the voice recognition core module and the power management module;
the voice recognition core module is used for issuing a shutdown instruction to the power management module through the second communication line under the condition that the shutdown instruction of the user is recognized, instructing the power management module to cut off power supply to the voice recognition core module, the power module and the sensor, and reserving power supply to the voice preprocessing unit and the single chip microcomputer;
and the singlechip is used for issuing a starting-up instruction to the power management module through the second communication line under the condition of identifying the starting-up instruction of the user, indicating the power management module to supply power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor, and cutting off the power supply to the singlechip.
In some embodiments of the present disclosure, the service robot voice switching apparatus further comprises a first power supply control switch and a second power supply control switch, wherein:
the first power supply control switch is connected in series in the third power supply line, and the second power supply control switch is connected in series in the second power supply line;
the singlechip is connected with the control end of the first power supply control switch and is used for controlling the on-off of the first power supply control switch;
the voice recognition core module is connected with the control end of the second power supply control switch and used for controlling the on-off of the second power supply control switch.
In some embodiments of the present disclosure, the single chip microcomputer is configured to recognize a keyword related to the power-on instruction in the voice signal.
In some embodiments of the present disclosure, the power consumption of the single chip is less than the power consumption of the speech recognition core module.
According to another aspect of the present disclosure, there is provided a service robot including the service robot voice switching device according to any one of the above embodiments.
According to another aspect of the present disclosure, a method for voice powering on and powering off a service robot is provided, wherein the service robot is the service robot according to any one of the above embodiments; the service robot voice on-off method comprises the following steps:
the voice recognition core module recognizes a voice signal input by a user under the condition that the service robot is in a starting state;
and the voice recognition core module controls the singlechip to enter a working state and controls the voice recognition core module to enter a closing state under the condition of recognizing a user shutdown instruction.
In some embodiments of the present disclosure, the service robot voice power on/off method further includes:
the singlechip keeps a working state under the condition that the service robot is in a shutdown state;
the single chip microcomputer identifies a starting-up instruction input by a user;
and under the condition that the singlechip recognizes a starting instruction input by a user, the singlechip instructs the service robot to enter a starting state, instructs the voice recognition core module to enter a working state, and controls the singlechip to enter a closing state.
In some embodiments of the present disclosure, the service robot voice power on/off method further includes:
the voice pre-processing unit collects and processes voice signals input by a user;
the voice switching circuit conducts the voice pre-processing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice pre-processing unit sends a processed voice signal to the voice recognition core module;
and the voice switching circuit conducts the voice preprocessing unit and the voice recognition core module under the condition that the service robot is in a power-off state, so that the voice preprocessing unit sends the processed voice signal to the voice recognition core module.
In some embodiments of the present disclosure, the service robot voice power on/off method further includes:
the power management module supplies power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor under the condition that the service robot is in a starting state;
and the power management module supplies power to the voice preprocessing unit and the singlechip under the condition that the service robot is in a shutdown state.
In some embodiments of the present disclosure, in a case that the voice recognition core module recognizes a user power-off instruction, the service robot voice power-on/power-off method further includes:
the voice recognition core module controls a second power supply control switch of a second power supply circuit to be closed, so that the single chip microcomputer enters a working state;
the singlechip controls a second switch of the voice switching circuit to be closed, so that the voice signal processed by the voice preprocessing unit is sent to the singlechip;
the voice recognition core module sends a shutdown instruction to the power management module through the second communication line, the power management module is instructed to cut off power supply to the voice recognition core module, the power module and the sensor, and power supply to the voice preprocessing unit and the single chip microcomputer is reserved.
In some embodiments of the present disclosure, in a case that the single chip microcomputer recognizes a power-on instruction input by a user, the service robot voice power on/off method further includes:
the single chip microcomputer sends a starting-up instruction to the power management module through the first communication line and instructs the power management module to supply power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor;
the singlechip controls the first power supply control switch to be switched on, and the voice recognition core module enters a working state;
after the voice recognition core module enters a working state, the power supply of the single chip microcomputer is cut off through the second power supply control switch, and the single chip microcomputer enters a closed state;
after the voice switching circuit detects that the single chip microcomputer is powered off, the first switch can be closed, and the service robot enters a working state.
According to the robot power-on instruction recognition method and device, the voice processing module is closed when the robot power-on instruction recognition function is achieved, the voice signals collected by the microphone are switched to the single chip microcomputer with low power consumption and only specific keywords can be recognized, and the robot power-on instruction recognition function is achieved after the robot power-on instruction recognition function is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of some embodiments of a voice switch apparatus of a service robot according to the present disclosure.
FIG. 2 is a schematic diagram of some embodiments of a service robot of the present disclosure.
Fig. 3 is a schematic diagram of some embodiments of a service robot voice power on/off method according to the present disclosure.
Fig. 4 is a schematic diagram of another embodiment of a service robot voice power on/off method according to the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic diagram of some embodiments of a voice switch apparatus of a service robot according to the present disclosure. As shown in fig. 1, the voice switching device of the service robot of the present disclosure may include a voice recognition core module 100 and a single chip microcomputer 200, wherein:
the voice recognition core module 100 is configured to recognize a voice signal input by a user when the service robot is in a power-on state; and controlling the voice recognition core module 100 to enter a closed state when a user shutdown instruction is recognized.
The single chip microcomputer 200 is used for keeping a working state under the condition that the service robot is in a shutdown state; recognizing a starting-up instruction input by a user; and under the condition that a power-on instruction input by a user is recognized, indicating the service robot to enter a power-on state, and indicating the voice recognition core module 100 to enter a working state.
In some embodiments of the present disclosure, the single chip microcomputer 200 may be used to recognize a specific keyword (e.g., "power off" or the like) related to the power-on instruction in the voice signal.
In some embodiments of the present disclosure, the power consumption of the single chip microcomputer 200 is much smaller than that of the voice recognition core module 100.
In some embodiments of the present disclosure, the speech recognition core module 100 may be further configured to, when recognizing a user shutdown instruction, control the service robot to enter a shutdown state, control the single chip microcomputer 200 to enter a working state, and control the speech recognition core module 100 to enter a shutdown state.
In some embodiments of the present disclosure, the single chip microcomputer 200 may be further configured to instruct the service robot to enter a power-on state, instruct the voice recognition core module 100 to enter a working state, and control the single chip microcomputer 200 to enter a power-off state when a power-on instruction input by a user is recognized.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice on/off device may further include a voice pre-processing unit 300 and a voice switching circuit 400, wherein:
the voice pre-processing unit 300 is configured to collect and process a voice signal input by a user, and send the processed voice signal to the voice recognition core module 100 or the single chip microcomputer 200.
The voice switching circuit 400 is configured to connect the voice pre-processing unit 300 and the voice recognition core module 100 when the service robot is in a power-on state, so that the voice pre-processing unit 300 sends a processed voice signal to the voice recognition core module 100; when the service robot is in the power-off state, the voice pre-processing unit 300 is connected to the voice recognition core module 100, so that the voice pre-processing unit 300 sends the processed voice signal to the voice recognition core module 100.
In some embodiments of the present disclosure, as shown in fig. 1, the voice pre-Processing unit 300 may include a ring microphone voice collecting array 310, a low noise operational amplifier 320, an AD analog-to-Digital converter 330, a DSP (Digital Signal Processing) noise reduction and voice enhancement unit 340, a Flash memory 350, and an SDRAM (synchronous dynamic random access memory) 360, wherein:
the voice sent by the user can be collected by the annular microphone collecting array 310, mechanical vibration of the voice is converted into analog voltage (because time difference exists when the voice is collected by different annular microphones in the directions of the user, the voice recognition core module can judge the directions of the user according to the time difference), the analog voltage is output to the AD analog-to-digital converter 330 after being processed by the preposed low-noise operational amplifier 320, the analog voltage signal is converted into a digital voltage signal and output to the DSP noise reduction and voice enhancement unit 340, the DSP reads a voice noise reduction and enhancement program of the Flash350 and calculates in the SDRAM360, and noise reduction and enhancement of the collected voice are completed.
FIG. 2 is a schematic diagram of some embodiments of a service robot of the present disclosure. As shown in fig. 2, a circular microphone collection array 310 of the present disclosure is disposed at the head of the service robot of the present disclosure. When the service robot works normally, a user can perform voice interaction with the service robot, the service robot can position the user direction according to the annular microphone array arranged on the head, and the voice of the direction is enhanced.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switch apparatus may further include a power management module 500, wherein:
the power management module 500 is used for supplying power to the voice preprocessing unit 300, the voice recognition core module 100, the power module, the display, the sensor and other modules under the condition that the service robot is in a starting state; and under the condition that the service robot is in a shutdown state, only the voice preprocessing unit 300 and the singlechip 200 are powered.
In some embodiments of the present disclosure, as shown in fig. 1, the voice switching circuit 400 includes a first switch S1 and a second switch S2, wherein:
the first switch S1 is closed and disposed between the voice pre-processing unit 300 and the voice recognition core module 100, and in case that the first switch S1 is closed, the voice pre-processing unit 300 is conducted with the voice recognition core module 100.
The second switch S2 is closed and disposed between the voice pre-processing unit 300 and the single chip microcomputer 200, and when the second switch S2 is closed, the voice pre-processing unit 300 is conducted with the single chip microcomputer 200.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switch apparatus may further include a voice switching control circuit 600, wherein:
the single chip microcomputer 200 is connected to the voice switching circuit 400 through a voice switching control circuit 600, and is configured to control on/off of the second switch S2.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switch device may further include a cloud voice recognition engine 700, wherein:
the speech recognition core module 100 is configured to access the cloud speech recognition engine 700 through a wireless network for performing speech recognition.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switch apparatus further includes a first power supply line P1, a second power supply line P2, a third power supply line P3, a first communication line CAN1, and a second communication line CAN2, wherein:
the power management module 500 supplies power to the voice pre-processing unit 300, the single chip microcomputer 200 and the voice recognition core module 100 through a first power supply line P1, a second power supply line P2 and a third power supply line P3, respectively.
The first communication line CAN1 is provided between the single chip microcomputer 200 and the power management module 500, and the second communication line CAN2 is provided between the voice recognition core module 100 and the power management module 500.
The voice recognition core module 100 is configured to issue a shutdown instruction to the power management module 500 through the second communication line CAN2 when the shutdown instruction of the user is recognized, instruct the power management module 500 to cut off power supply to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface, and the like, and reserve power supply to the voice preprocessing unit 300 and the single chip microcomputer 200.
And the single chip microcomputer 200 is used for issuing a power-on instruction to the power management module 500 through the second communication line CAN2 under the condition that the power-on instruction of the user is recognized, instructing the power management module 500 to supply power to the voice preprocessing unit 300, the voice recognition core module 100, the display, the sensor and other modules, and cutting off the power supply to the single chip microcomputer 200.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching apparatus may further include a first power supply control switch SW1 and a second power supply control switch SW2, wherein:
the first power supply control switch SW1 is connected in series in the third power supply line P3, and the second power supply control switch SW2 is connected in series in the second power supply line P2.
The single chip microcomputer 200 is connected with a control end of the first power supply control switch SW1 and is used for controlling on and off of the first power supply control switch SW 1.
The voice recognition core module 100 is connected to a control terminal of the second power supply control switch SW2, and is configured to control on/off of the second power supply control switch SW 2.
Based on the service robot voice on-off device provided by the embodiment of the disclosure, the purpose that the service robot is turned on and off through the voice command can be achieved, the voice processing module can be turned off during the turning-off, and the voice signal collected by the microphone is switched to the single chip microcomputer with low power consumption and only used for recognizing the specific keyword, so that the robot has the function of recognizing the turning-on command after the turning-off. Meanwhile, in the embodiment of the disclosure, the power consumption of the single chip microcomputer is far less than that of the voice recognition core module (such as RK3399), so that the power consumption of the service robot during shutdown is reduced, and the standby time of the service robot after shutdown is prolonged.
According to another aspect of the present disclosure, as shown in fig. 2, a service robot is provided, which may include a service robot voice switch device as described in any one of the embodiments (e.g., the embodiment of fig. 1) above.
In some embodiments of the present disclosure, as shown in fig. 2, the service robot of the present disclosure may further include various sensors, various display devices, various indicator lights, a power module, an input-output interface, and the like.
In some embodiments of the present disclosure, as shown in fig. 2, the display device may include an emoticon 211 and a display screen 212; the sensors may include sensors such as a ring microphone acquisition array 310, a lidar 221, an ultrasound module 222, a front camera 223, a depth camera 224, and the like; the indicator lights may include a chassis indicator light 231 and a top indicator light 232; the input and output interfaces may include interfaces of an external device interface 241, a charging electrode 242, a card swiping region 243, and the like; the power module includes a pitch degree of freedom joint 251 and the like.
Based on the service robot that this discloses above-mentioned embodiment provided, can realize the purpose that service robot passes through the pronunciation instruction switch on and off through service robot pronunciation on-off device to can close the speech processing module during the shutdown, and switch the speech signal that the microphone was gathered to only have the low-power consumption singlechip of discerning specific keyword, make the robot possess the function of discerning the start instruction after shutting down. Meanwhile, in the embodiment of the disclosure, the power consumption of the single chip microcomputer is far less than that of the voice recognition core module (such as RK3399), so that the power consumption of the service robot during shutdown is reduced, and the standby time of the service robot after shutdown is prolonged.
Fig. 3 is a schematic diagram of some embodiments of a service robot voice power on/off method according to the present disclosure. Preferably, this embodiment can be implemented by any of the above-mentioned embodiments (for example, the embodiment of fig. 1) of the service robot voice switching apparatus of the present disclosure. The service robot of this embodiment may be the service robot described in any of the above embodiments (e.g., the embodiment of fig. 2).
As shown in fig. 3, the voice power on/off method for a service robot of the present disclosure may include steps 31 and 32, where:
in step 31, the speech recognition core module 100 recognizes the speech signal input by the user when the service robot is in the power-on state.
In some embodiments of the present disclosure, the service robot voice power on/off method may further include: the single chip microcomputer 200 keeps working state under the condition that the service robot is in shutdown state; the single chip microcomputer 200 recognizes a starting instruction input by a user; when recognizing the power-on instruction input by the user, the single chip microcomputer 200 instructs the service robot to enter a power-on state, instructs the voice recognition core module 100 to enter a working state, and controls the single chip microcomputer 200 to enter a power-off state.
In some embodiments of the present disclosure, the service robot voice power on/off method may further include: the voice pre-processing unit 300 collects and processes a voice signal input by a user; when the service robot is in the on state, the voice switching circuit 400 connects the voice pre-processing unit 300 with the voice recognition core module 100, so that the voice pre-processing unit 300 sends the processed voice signal to the voice recognition core module 100; when the service robot is in the power-off state, the voice switching circuit 400 connects the voice pre-processing unit 300 to the voice recognition core module 100, so that the voice pre-processing unit 300 sends the processed voice signal to the voice recognition core module 100.
In some embodiments of the present disclosure, the service robot voice power on/off method may further include: the power management module 500 supplies power to the voice preprocessing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules when the service robot is in the on state; the power management module 500 supplies power to the voice preprocessing unit 300 and the single chip microcomputer 200 when the service robot is in the shutdown state.
In some embodiments of the present disclosure, the service robot voice power on/off method may further include: under the condition that the voice recognition core module 100 recognizes a user shutdown instruction, the voice recognition core module 100 controls a second power supply control switch SW2 of a second power supply line P2 to be closed, so that the single chip microcomputer 200 enters a working state; the singlechip 200 controls the second switch S2 of the voice switching circuit 400 to be closed, so that the voice signal processed by the voice preprocessing unit 300 is sent to the singlechip 200; the voice recognition core module 100 sends a shutdown instruction to the power management module 500 through the second communication line CAN2, and instructs the power management module 500 to cut off power supply to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules, and to reserve power supply to the voice preprocessing unit 300 and the single chip microcomputer 200.
In some embodiments of the present disclosure, the service robot voice power on/off method may further include: under the condition that the single chip microcomputer 200 recognizes a starting-up instruction input by a user, the single chip microcomputer 200 sends the starting-up instruction to the power management module 500 through the first communication line CAN1, and instructs the power management module 500 to supply power to the voice preprocessing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules; the singlechip 200 controls the first power supply control switch SW1 to be closed, and the voice recognition core module 100 enters a working state; after the voice recognition core module 100 enters a working state, the power supply of the single chip microcomputer 200 is cut off through the second power supply control switch SW2, and the single chip microcomputer 200 enters an off state; after the voice switching circuit 400 detects that the single chip microcomputer 200 is powered off, the first switch S1 is closed, so that the service robot enters a working state.
Fig. 4 is a schematic diagram of another embodiment of a service robot voice power on/off method according to the present disclosure. Preferably, this embodiment can be implemented by any of the above-mentioned embodiments (for example, the embodiment of fig. 1) of the service robot voice switching apparatus of the present disclosure. The service robot of this embodiment may be the service robot described in any of the above embodiments (e.g., the embodiment of fig. 2).
As shown in fig. 4, the voice power on/off method for a service robot of the present disclosure may include steps 41 to 47, where:
and step 41, microphone voice collection.
In some embodiments of the present disclosure, step 41 may comprise: the annular microphone collecting array collects voice signals sent by a user and converts mechanical vibration of the voice into analog voltage.
In some embodiments of the present disclosure, the voice module determines the orientation of the user by a time difference between the sounds collected by the different ring microphones of the orientation of the user.
In some embodiments of the present disclosure, a user may interact with the robot when the robot is operating normally, and the robot may locate the user's orientation from the head-mounted circular microphone array and enhance the speech at that orientation.
And step 42, pre-processing the voice.
In some embodiments of the present disclosure, step 42 may comprise: analog signals input by the annular microphone collecting array 310 are processed by the preposed low-noise operational amplifier 320, analog voltage is output to the AD analog-to-digital converter 330, the analog voltage signals are converted into digital voltage signals and output to the DSP noise reduction and voice enhancement unit 340, the DSP reads voice noise reduction and enhancement programs in the Flash350 and calculates in the SDRAM360, and noise reduction and enhancement of collected voice are completed.
In step 43, when the first switch S1 of the voice switching circuit is closed, the voice recognition core module 100 performs semantic recognition.
In some embodiments of the present disclosure, step 43 may comprise: when the service robot works normally, the robot power management module 500 supplies power to the voice preprocessing unit 300 through a first power supply line P1, supplies power to the voice recognition core module 100 (such as RK3399) through a third power supply line P3, communicates with the singlechip 200 through a first communication line CAN1, and communicates with the voice recognition core module 100 through a second communication line CAN 2; when the service robot works normally, S1 in the voice switching circuit 400 is closed, the DSP340 sends the processing result to the voice recognition core module 100, and the voice recognition core module 100 accesses the cloud voice recognition engine 700 through the wireless network to perform voice recognition.
Step 44, under the condition that the voice recognition core module 100 recognizes the user shutdown instruction, the voice recognition core module 100 issues a power-down instruction to the power management module 500, and closes the second switch S2 and the second power supply control switch SW2, so that the single chip microcomputer 200 enters a working state; the robot enters a shutdown state.
In some embodiments of the present disclosure, step 44 may comprise: under the condition that the voice recognition core module 100 recognizes a user shutdown instruction of a keyword such as 'shutdown', the voice recognition core module 100 controls a second power supply control switch SW2 of a second power supply circuit P2 to be closed, so that the single chip microcomputer 200 enters a working state; the singlechip 200 controls the second switch S2 of the voice switching circuit 400 to be closed, so that the voice signal processing result processed by the voice preprocessing unit 300 is sent to the singlechip 200; meanwhile, the voice recognition core module 100 sends a shutdown instruction to the power management module 500 through the second communication line CAN2 to issue a shutdown instruction (power-down instruction), and instructs the power management module 500 to sequentially cut off power supply to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules according to a power-down time sequence, and to reserve power supply to the voice preprocessing unit 300 and the single chip microcomputer 200.
In some embodiments of the present disclosure, step 44 may further comprise: after sending a shutdown instruction to the power management module 500 through the second communication line CAN2, the voice recognition core module 100 sends a first power supply switch closing instruction to the single chip microcomputer 200; the single chip microcomputer 200 controls the first power supply switch SW1 to be switched off, and the voice recognition core module 100 is powered off.
Step 45, under the condition that the second switch S2 of the voice switching circuit is closed, the single chip microcomputer 200 enters a working state, and the robot is in a low-power-consumption shutdown state, and because the single chip microcomputer 200 has very limited arithmetic capability, only limited 'startup' keywords can be processed.
Step 46, when the single chip microcomputer 200 recognizes the power-on instruction input by the user, the power-on instruction is sent to the power management module 500, the first power supply control switch SW1 and the first switch S1 are closed, and the single chip microcomputer enters the power-off state.
In some embodiments of the present disclosure, step 46 may comprise: under the condition that the single chip microcomputer 200 recognizes a starting-up instruction input by a user, the single chip microcomputer 200 sends the starting-up instruction to the power management module 500 through the first communication line CAN1, and instructs the power management module 500 to supply power to the voice preprocessing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules; meanwhile, the singlechip 200 controls the first power supply control switch SW1 to be closed, and the voice recognition core module 100 enters a working state; after the voice recognition core module 100 enters a working state, the power supply of the single chip microcomputer 200 is cut off through the second power supply control switch SW2, and the single chip microcomputer 200 enters an off state; after the voice switching circuit 400 detects that the single chip microcomputer 200 is powered off, the first switch S1 is closed, so that the service robot enters a working state. Thereafter, step 61 is performed.
Based on the service robot voice on-off method provided by the embodiment of the disclosure, the purpose of the service robot on-off through the voice command can be achieved, the voice processing module can be closed during the off process, and the voice signal acquired by the microphone is switched to the low-power-consumption single chip microcomputer only having the function of recognizing the power-on command, so that the robot has the function of recognizing the power-on command after the off process. Meanwhile, the power consumption of the single chip microcomputer in the embodiment of the disclosure is far less than that of the voice recognition core module, so that the power consumption of the service robot in shutdown is reduced, and the standby time of the service robot after shutdown is prolonged.
The speech recognition core modules described above may be implemented as a general purpose processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof, for performing the functions described herein.
Thus far, the present disclosure has been described in detail. Some details that are well known in the art have not been described in order to avoid obscuring the concepts of the present disclosure. It will be fully apparent to those skilled in the art from the foregoing description how to practice the presently disclosed embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement the above embodiments, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk, an optical disk, or the like.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (16)
1. A service robot voice switch apparatus, comprising:
the voice recognition core module is used for recognizing a voice signal input by a user under the condition that the service robot is in a starting state; under the condition that a user shutdown instruction is identified, controlling a voice recognition core module to enter a shutdown state;
the single chip microcomputer is used for keeping the working state under the condition that the service robot is in a shutdown state; recognizing a starting-up instruction input by a user; and under the condition of identifying a starting instruction input by a user, indicating the service robot to enter a starting state and indicating the voice recognition core module to enter a working state.
2. The service robot voice switch apparatus of claim 1,
the voice recognition core module is also used for controlling the service robot to enter a shutdown state, controlling the singlechip to enter a working state and controlling the voice recognition core module to enter a shutdown state under the condition that a user shutdown instruction is recognized;
and the singlechip is used for indicating the service robot to enter a startup state, indicating the voice recognition core module to enter a working state and controlling the singlechip to enter a shutdown state under the condition of recognizing a startup instruction input by a user.
3. The service robot voice on/off device according to claim 1 or 2, characterized by further comprising:
the voice pre-processing unit is used for acquiring and processing a voice signal input by a user and sending the processed voice signal to the voice recognition core module or the singlechip;
the voice switching circuit is used for conducting the voice preprocessing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice preprocessing unit sends a processed voice signal to the voice recognition core module; and under the condition that the service robot is in a power-off state, the voice pre-processing unit is communicated with the voice recognition core module, so that the voice pre-processing unit sends the processed voice signal to the voice recognition core module.
4. The service robot voice switch apparatus of claim 3, further comprising:
the power management module is used for supplying power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor under the condition that the service robot is in a starting state; and under the condition that the service robot is in a shutdown state, the power is supplied to the voice preprocessing unit and the singlechip.
5. The service robot voice switch apparatus of claim 3, wherein the voice switching circuit comprises a first switch and a second switch, wherein:
the first switch is closed and arranged between the voice preprocessing unit and the voice recognition core module, and the voice preprocessing unit is conducted with the voice recognition core module under the condition that the first switch is closed;
the second switch is closed and arranged between the voice preprocessing unit and the single chip microcomputer, and the voice preprocessing unit is conducted with the single chip microcomputer under the condition that the second switch is closed.
6. The service robot voice switch apparatus of claim 5, further comprising a voice switching control line, wherein:
the singlechip is connected with the voice switching circuit through the voice switching control circuit and is used for controlling the on-off of the second switch.
7. The service robot voice switch apparatus according to claim 4, further comprising a first power supply line, a second power supply line, a third power supply line, a first communication line, and a second communication line, wherein:
the power management module supplies power to the voice preprocessing unit, the singlechip and the voice recognition core module through a first power supply circuit, a second power supply circuit and a third power supply circuit respectively;
the first communication line is arranged between the single chip microcomputer and the power management module, and the second communication line is arranged between the voice recognition core module and the power management module;
the voice recognition core module is used for issuing a shutdown instruction to the power management module through the second communication line under the condition that the shutdown instruction of the user is recognized, instructing the power management module to cut off power supply to the voice recognition core module, the power module and the sensor, and reserving power supply to the voice preprocessing unit and the single chip microcomputer;
and the singlechip is used for issuing a starting-up instruction to the power management module through the second communication line under the condition of identifying the starting-up instruction of the user, indicating the power management module to supply power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor, and cutting off the power supply to the singlechip.
8. The service robot voice on/off device of claim 7, further comprising a first power supply control switch and a second power supply control switch, wherein:
the first power supply control switch is connected in series in the third power supply line, and the second power supply control switch is connected in series in the second power supply line;
the singlechip is connected with the control end of the first power supply control switch and is used for controlling the on-off of the first power supply control switch;
the voice recognition core module is connected with the control end of the second power supply control switch and used for controlling the on-off of the second power supply control switch.
9. The service robot voice switch apparatus according to claim 1 or 2,
the singlechip is used for identifying key words related to the starting instruction in the voice signal;
the power consumption of the singlechip is less than that of the voice recognition core module.
10. A service robot characterized by comprising a service robot voice switch apparatus according to any one of claims 1 to 9.
11. A service robot voice on-off method, characterized in that the service robot is the service robot according to claim 10; the service robot voice on-off method comprises the following steps:
the voice recognition core module recognizes a voice signal input by a user under the condition that the service robot is in a starting state;
and the voice recognition core module controls the singlechip to enter a working state and controls the voice recognition core module to enter a closing state under the condition of recognizing a user shutdown instruction.
12. The service robot voice on/off method according to claim 11, further comprising:
the singlechip keeps a working state under the condition that the service robot is in a shutdown state;
the single chip microcomputer identifies a starting-up instruction input by a user;
and under the condition that the singlechip recognizes a starting instruction input by a user, the singlechip instructs the service robot to enter a starting state, instructs the voice recognition core module to enter a working state, and controls the singlechip to enter a closing state.
13. The service robot voice on/off method according to claim 11 or 12, characterized by further comprising:
the voice pre-processing unit collects and processes voice signals input by a user;
the voice switching circuit conducts the voice pre-processing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice pre-processing unit sends a processed voice signal to the voice recognition core module;
and the voice switching circuit conducts the voice preprocessing unit and the voice recognition core module under the condition that the service robot is in a power-off state, so that the voice preprocessing unit sends the processed voice signal to the voice recognition core module.
14. The service robot voice on/off method according to claim 11 or 12, characterized by further comprising:
the power management module supplies power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor under the condition that the service robot is in a starting state;
and the power management module supplies power to the voice preprocessing unit and the singlechip under the condition that the service robot is in a shutdown state.
15. The service robot voice on/off method according to claim 11 or 12, wherein in case that the voice recognition core module recognizes a user power-off instruction, the service robot voice on/off method further comprises:
the voice recognition core module controls a second power supply control switch of a second power supply circuit to be closed, so that the single chip microcomputer enters a working state;
the singlechip controls a second switch of the voice switching circuit to be closed, so that the voice signal processed by the voice preprocessing unit is sent to the singlechip;
the voice recognition core module sends a shutdown instruction to the power management module through the second communication line, the power management module is instructed to cut off power supply to the voice recognition core module, the power module and the sensor, and power supply to the voice preprocessing unit and the single chip microcomputer is reserved.
16. The service robot voice on/off method according to claim 11 or 12, wherein in case that the one-chip microcomputer recognizes a power-on instruction input by a user, the service robot voice on/off method further comprises:
the single chip microcomputer sends a starting-up instruction to the power management module through the first communication line and instructs the power management module to supply power to the voice preprocessing unit, the voice recognition core module, the power module and the sensor;
the singlechip controls the first power supply control switch to be switched on, and the voice recognition core module enters a working state;
after the voice recognition core module enters a working state, the power supply of the single chip microcomputer is cut off through the second power supply control switch, and the single chip microcomputer enters a closed state;
after the voice switching circuit detects that the single chip microcomputer is powered off, the first switch can be closed, and the service robot enters a working state.
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