CN113100668A - Floor sweeping robot - Google Patents
Floor sweeping robot Download PDFInfo
- Publication number
- CN113100668A CN113100668A CN202110368846.0A CN202110368846A CN113100668A CN 113100668 A CN113100668 A CN 113100668A CN 202110368846 A CN202110368846 A CN 202110368846A CN 113100668 A CN113100668 A CN 113100668A
- Authority
- CN
- China
- Prior art keywords
- noise
- signal
- sweeping robot
- microphone
- sweeping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 124
- 230000009467 reduction Effects 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000006870 function Effects 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 239000000284 extract Substances 0.000 abstract description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 230000000875 corresponding effect Effects 0.000 description 22
- 239000000428 dust Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003058 natural language processing Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
Landscapes
- Engineering & Computer Science (AREA)
- Computational Linguistics (AREA)
- Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The application provides a robot of sweeping floor. This application sets up the pickup microphone on the casing of robot of sweeping the floor, sets up corresponding noise processing unit in the robot of sweeping the floor, carries out noise reduction processing according to the real-time work noise signal of robot of sweeping the floor to the signal that pickup microphone gathered through noise processing unit from this, extracts clear user speech signal. Therefore, the sweeping robot can accurately and efficiently determine the control instruction matched with the sweeping robot through the clearer user voice signal, and accordingly the sweeping robot is driven to accurately execute the corresponding instruction operation. The problem of current robot voice command discernment difficulty, the degree of accuracy poor of sweeping the floor can be overcome in this application, influences interactive experience and work efficiency.
Description
Technical Field
The application relates to the field of intelligent household appliances, in particular to a floor sweeping robot.
Background
The floor sweeping robot can automatically clean the ground, and brings convenience for household cleaning. With the development of natural language processing technology, floor sweeping robots with voice control functions are gradually emerging. The sweeping robot with the voice control function can automatically recognize a voice command spoken by a user and then respond to the recognition result of the voice command to execute corresponding operation.
However, the sweeping robot generates significant noise in the air duct, the motor and the mechanical structure during operation. The user voice is buried in the working noise, the accuracy of voice recognition is seriously influenced by the extremely low signal-to-noise ratio, and even the situation that the voice instruction cannot be recognized frequently occurs. When the existing sweeping robot executes a voice instruction, the interaction experience is poor and the working efficiency of the sweeping robot is poor.
Disclosure of Invention
The utility model provides a robot of sweeping floor to prior art's not enough, this application weakens the noise signal by synchronous collection in the speech signal collection process through the technique of making an uproar of falling to resume user speech signal in order to improve follow-up speech recognition's the degree of accuracy. The technical scheme is specifically adopted in the application.
First, in order to achieve the above object, a sweeping robot is provided, which includes: the sound pickup microphone is arranged on a shell of the sweeping robot; the noise processing unit is used for determining a working noise signal of the sweeping robot at the position of the pickup microphone and carrying out noise reduction processing on a collected signal of the pickup microphone according to the working noise signal so as to extract a user voice signal; and the voice recognition unit is connected with the noise processing unit and used for determining a control instruction matched with the user voice signal based on the user voice signal so as to enable the sweeping robot to execute the control instruction.
Optionally, the sweeping robot is provided with a sound collecting microphone, wherein the sound collecting microphone is arranged on an upper surface or a side surface of the housing; the pickup microphone is an omnidirectional microphone or a directional microphone, wherein the pickup direction of the directional microphone faces the upper side or the lateral side of the shell.
Optionally, the sweeping robot as described in any of the above, wherein the noise processing unit includes: the working condition signal interface is used for acquiring a working condition signal of the sweeping robot; the noise analysis module is used for determining the working noise signal according to the working condition signal; and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals to extract the user voice signals.
Optionally, the sweeping robot as described in any of the above, wherein the operating condition signal includes any one or a combination of the following: the sweeping robot comprises a rotating speed signal of a motor inside the sweeping robot, a gear signal of the sweeping robot, a power signal of the sweeping robot and a current signal of the sweeping robot.
Optionally, the sweeping robot as described in any of the above, wherein the noise processing unit includes: the noise-picking microphone is arranged in a preset noise-picking area inside the shell; the noise analysis module is used for determining the working noise signal according to the collected signal of the noise pickup microphone; and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals to extract the user voice signals.
Optionally, the sweeping robot as described in any of the above, wherein the preset noise picking area includes any one or a combination of the following: the sweeping robot comprises a central area on a chassis of the sweeping robot, a peripheral area of a motor inside the sweeping robot and an air channel structure of the sweeping robot.
Optionally, the sweeping robot as described in any of the above, wherein the air duct structure includes an active noise reduction system, and the noise pickup microphone is a reference microphone in the active noise reduction system; the noise analysis module is used for determining the working noise signal according to the collected signal of the noise-picking microphone and a predetermined sound field transfer function; the sound field transfer function is a transfer function corresponding to a sound field transmission path between the position of the reference microphone and the position of the pickup microphone.
Optionally, the sweeping robot is configured to move the reference microphone to a position corresponding to the suction cavity of the air duct structure; the active noise reduction system further comprises: the signal processing unit is used for determining a noise reduction signal according to the collected signal of the noise pickup microphone; a speaker disposed in the outflow cavity of the air duct structure for outputting noise reduction sound waves in response to the noise reduction signal.
Optionally, the sweeping robot as described in any of the above, wherein the voice recognition unit includes: a language module for determining prior text sequence information based on the user speech signal; and the acoustic module is used for determining the control instruction based on the prior voice signal corresponding to the prior character sequence information and the user voice signal.
Optionally, the sweeping robot as described in any of the above, wherein the acoustic module includes: the characteristic comparison submodule is used for comparing the prior voice signal corresponding to the prior character sequence information with the characteristics of the user voice signal to obtain a comparison result; and the instruction determining submodule is used for determining the control instruction based on the comparison result and the prior character sequence information.
Advantageous effects
This application sets up the pickup microphone on the casing of robot of sweeping the floor, sets up corresponding noise processing unit in the robot of sweeping the floor, carries out noise reduction processing according to the real-time work noise signal of robot of sweeping the floor to the signal that pickup microphone gathered through noise processing unit from this, extracts clear user speech signal. Therefore, the sweeping robot can accurately and efficiently determine the control instruction matched with the sweeping robot through the clearer user voice signal, and accordingly the sweeping robot is driven to accurately execute the corresponding instruction operation. The problem of current robot voice command discernment difficulty, the degree of accuracy poor of sweeping the floor can be overcome in this application, influences interactive experience and work efficiency.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
fig. 1 is a schematic side view of a sweeping robot according to the present application in an operating state;
fig. 2 is a bottom view of the sweeping robot of the present application;
fig. 3 is a perspective view of a bottom structure of the sweeping robot in the present application;
FIG. 4 is a schematic view of the air duct structure of FIG. 2 in phantom;
fig. 5 is a schematic view of another air duct structure adopted by the sweeping robot of the present application;
fig. 6 is a block diagram of an apparatus of a sweeping robot according to an embodiment of the present application.
In the drawings, 11 denotes a housing; 12 denotes an air duct structure; 121 denotes a dust suction port; 122 denotes an air outlet; and 20 denotes a sound pickup microphone.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The meaning of "inside and outside" in the application means that the direction from the surface of the shell to the internal air duct structure is inside, and vice versa, relative to the sweeping robot per se; and not as a specific limitation on the mechanism of the device of the present application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up and down" in this application means that when the user is facing the forward direction of the sweeping robot, the direction from the dust suction port to the top of the housing is up, otherwise, the direction is down, and the device mechanism is not specifically limited.
Fig. 1 is a sweeping robot according to the present application, which drives a fan to rotate at a high speed through an internal motor, generates an air flow in the air duct structure 12 in fig. 2 or 3, sucks dust and impurities near the dust suction port 121 of the air duct structure 12 into the air duct, filters the dust and impurities through a filter screen, and collects solid particles through a dust box, so as to discharge clean air from the air outlet 122 of the air duct structure 12.
When the robot of sweeping the floor moves, the motor operation, fan drive structure and wind channel structure receive the air current effect and produce the tremble, and the fuselage removes the in-process and also can be because of the corresponding structural vibration that produces of ground fluctuation, and the pickup microphone of speech recognition system front end can inevitably gather strong work noise signal when gathering user speech signal, and the signal-to-noise ratio that pickup microphone gathered the signal is low excessively, will influence the accurate discernment to user's pronunciation.
As shown in fig. 6, the present application further provides a noise processing unit and a voice recognition unit connected to each other in the robot sweeping control system. Therefore, the sweeping robot can determine the working noise signal corresponding to the position of the pickup microphone through the noise processing unit, and perform noise reduction processing on the collected signal of the pickup microphone according to the working noise signal to extract the user voice signal, so that the local voice recognition unit is used for accurately determining the control instruction matched with the user voice signal according to the user voice signal, and the sweeping robot can accurately recognize the user instruction to execute the corresponding control instruction. The following describes in detail the voice noise reduction process and the voice control process that occur in the sweeping robot of the present application.
Referring specifically to fig. 1, the sound pickup microphone 20 may be disposed on an upper surface or a side surface of the housing 11, and may be, for example, an omni-directional type microphone having a maximum sound pickup distance of several meters or tens of meters.
In order to reduce the collection of the working noise of the sweeping robot in the housing as much as possible, the sound pickup microphone 20 on the upper surface or the side surface of the housing 11 may preferably be a directional microphone, and the sound pickup direction of the directional microphone is set to be toward the upper side of the housing 11 or the outer side of the housing 11. Compared with an omnidirectional microphone which collects sound signals in all directions with the same sensitivity, the directional microphone can obviously inhibit the receiving of working noise signals inside the shell 11 through the setting of the sound collecting direction, and directly improves the signal-to-noise ratio of the signals collected by the sound collecting microphone 20. The pickup range of the directional microphone can be selected to be heart-shaped, half heart-shaped and the like, and the signal to noise ratio of picked voice is improved in advance from the aspect of hardware layout.
Looking down along the direction a in fig. 1, the internal mechanical structure of the chassis of the sweeping robot is shown in fig. 2 and 3. The robot of sweeping the floor includes inside: in the curved air duct structure 12 shown in fig. 4 or the linear air duct structure 12 shown in fig. 5, each of the air duct structures 12 includes a dust suction port 121 and an air outlet 122, and the motor drives the fan to rotate at a high speed to generate an air flow so as to suck dirt near the dust suction port 121 on the floor, and the dirt is processed by a corresponding filter screen and a corresponding dust box. The difference between the two duct structures 12 shown in fig. 4 or 5 is that a section of the outflow chamber is arranged in the form of an elbow or a straight tube, respectively.
An air duct for circulating air flow inside the sweeping robot is formed inside the air duct structure 12, and an active noise reduction system can be further arranged, so that the sweeping robot with an active noise reduction function is formed. The speaker disposed at the end of the air duct structure 12 (at the end of the air outlet 122) and flowing out of the cavity is used for outputting noise reduction sound waves, so as to reduce the noise level radiated from the sweeping robot to the indoor through the open air duct structure 12 in an active noise reduction manner, thereby making the indoor space quiet and comfortable for people to listen to.
Even if the pickup microphone selects a directional microphone, certain working noise of the sweeping robot cannot be avoided in collected signals. Therefore, the working noise signals picked up simultaneously in the picking-up process are eliminated from the signals collected by the picking-up microphone, and the signal-to-noise ratio of the picked-up voice is further improved from the software processing level.
Since the working noise generated by the sweeping robot and radiated to the environment is highly correlated with the stable operation condition thereof, the working noise of the sweeping robot based on which the noise of the user voice is reduced can be determined specifically by the working condition signal of the sweeping robot in some implementation manners. Therefore, after the working noise signal corresponding to the real-time working state of the sweeping robot is determined through the working condition signal, the collected signal of the pickup microphone can be subjected to noise cancellation processing correspondingly, and the user voice signal is extracted.
For realizing above-mentioned pronunciation and falling the process of making an uproar, fall and fall the user's pronunciation that has mixed robot work noise of sweeping the floor, resume comparatively pure user speech signal in order to improve speech signal SNR to improve robot speech recognition's the degree of accuracy of sweeping the floor, promote robot work efficiency of sweeping the floor, this application can specifically set up noise processing unit to include:
the working condition signal interface is used for acquiring working condition signals of the sweeping robot, such as a rotating speed signal of a motor inside the sweeping robot, a gear signal of the sweeping robot, a power signal of the sweeping robot and a current signal of the sweeping robot; in this embodiment, for example, the working condition signal from the sweeping robot control bus may be acquired in real time through the working condition signal interface;
the noise analysis module is used for determining a working noise signal matched with the position of the pickup microphone according to the working condition signal; under different working conditions, working noise signals corresponding to the pickup microphone positions can be calibrated in advance in the product design stage. For a sweeping robot with limited working conditions, such as limited wind power gears, working noise signals corresponding to the position of the pickup microphone under each working condition can be predetermined before leaving a factory, and are associated with the working condition signals of the sweeping robot, and the matched working noise signals are directly determined when the sweeping robot operates in a certain working condition;
and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals and extracting user voice signals.
In other implementation manners, the working noise at the sound pickup microphone based on which the noise reduction is performed on the voice of the user can also be determined by the noise pickup microphone arranged in the sweeping robot. In this implementation, the noise processing unit may be specifically configured to include:
the noise-picking microphone is arranged in a preset noise-picking area inside the shell 11, and for example, the noise-picking microphone can be arranged in a central area on a chassis of the sweeping robot, a peripheral area of a motor inside the sweeping robot, and an air duct structure 12 of the sweeping robot;
the noise analysis module is used for determining a working noise signal which is matched with the collected signal of the noise pickup microphone and corresponds to the position of the noise pickup microphone according to the collected signal of the noise pickup microphone;
and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals and extracting user voice signals.
In order to save hardware cost of devices, for the sweeping robot with the active noise reduction function, the noise pickup microphone required by voice noise reduction can be realized by sharing the reference microphone in the active noise reduction system of the sweeping robot. The reference microphone may be disposed in the suction cavity (one end of the dust suction port 121) of the air duct structure 12, and is used for collecting a working noise signal (i.e., a noise source signal) close to the original sweeping robot; and a signal processing unit in the active noise reduction system determines a corresponding noise reduction signal according to the signal and drives a loudspeaker to output noise reduction sound waves. At this time, the preset noise picking-up area is the suction cavity, is overlapped with the optimal noise picking-up area of the active noise reduction system, and is close to the working noise source.
Therefore, the noise analysis module can determine the working noise signal at the pickup microphone 20 according to the signal collected by the reference microphone in the active noise reduction system of the sweeping robot and the predetermined sound field transfer function. The sound field transfer function is a transfer function corresponding to a sound field transmission path from the position of the reference microphone to the position of the sound pickup microphone 20, which is measured in advance in the product design stage. Therefore, the noise analysis module can deduce a working noise signal corresponding to the position of the pickup microphone through a sound field transfer function between the microphones according to the signal collected by the reference microphone in the active noise reduction system of the sweeping robot, so that the working noise signal is further removed from the signal collected by the pickup microphone by using the noise reduction module, and a purer user voice signal is extracted to improve the voice recognition effect.
The relatively pure user voice signals obtained after the noise reduction of the front-end voice can be used for controlling the sweeping robot through the voice recognition unit at the local rear end. The speech recognition unit includes:
the language module is used for determining prior character sequence information based on the user voice signal after noise reduction;
and the acoustic module determines a control instruction matched with the user voice signal based on the prior voice signal corresponding to the prior character sequence information and the user voice signal subjected to noise reduction through the characteristic comparison sub-module and the instruction determination sub-module.
The characteristic comparison submodule is used for comparing the prior voice signal corresponding to the prior character sequence information with the characteristic of the user voice signal subjected to noise reduction to obtain a comparison result;
and the instruction determining submodule is used for determining a control instruction based on the comparison result and the prior character sequence information.
The process of performing speech recognition at the back end specifically includes:
inputting the user voice signal after noise reduction into a voice recognition unit, and searching a plurality of prior character sequences W through a language moduleiAnd constitutes the probability P (W) of the sentence by itselfi) Sorting; simultaneously in a given text sequence W by an acoustic moduleiOn the premise of (2), a probability P (X | W) corresponding to a feature X of the input speech signal is determinedi) Search results in P (W)i) And P (X | W)i) And taking the character sequence with the maximum product as a voice recognition result, namely a control instruction for the sweeping robot.
Because the instruction words for controlling the sweeping robot are usually limited and fixed, such as "turn left", "45 °", "advance", "increase power", "pause", and the like, the sweeping robot integrates the voice recognition unit, executes the voice control process locally, responds in real time and interacts easily, and can fully meet the daily use requirement of the sweeping robot and generate high deployment cost of a natural language processing system.
In conclusion, the sweeping robot provided by the application can recover to obtain a relatively pure voice signal by accurately picking up the voice of a user and effectively reducing noise, and can accurately analyze a user instruction in real time through the local voice recognition unit of the sweeping robot, so that the sweeping robot can efficiently execute corresponding operation.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (10)
1. A sweeping robot is characterized by comprising:
the sound pickup microphone is arranged on a shell of the sweeping robot;
the noise processing unit is used for determining a working noise signal of the sweeping robot at the position of the pickup microphone and carrying out noise reduction processing on a collected signal of the pickup microphone according to the working noise signal so as to extract a user voice signal;
and the voice recognition unit is connected with the noise processing unit and used for determining a control instruction matched with the user voice signal based on the user voice signal so as to enable the sweeping robot to execute the control instruction.
2. The sweeping robot of claim 1, wherein the pickup microphone is disposed on an upper surface or a side surface of the housing;
the pickup microphone is an omnidirectional microphone or a directional microphone, wherein the pickup direction of the directional microphone faces the upper side or the lateral side of the shell.
3. The sweeping robot of claim 1, wherein the noise processing unit comprises:
the working condition signal interface is used for acquiring a working condition signal of the sweeping robot;
the noise analysis module is used for determining the working noise signal according to the working condition signal;
and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals to extract the user voice signals.
4. A sweeping robot according to claim 3, wherein the working condition signals include any one or combination of the following: the sweeping robot comprises a rotating speed signal of a motor inside the sweeping robot, a gear signal of the sweeping robot, a power signal of the sweeping robot and a current signal of the sweeping robot.
5. The sweeping robot of claim 1, wherein the noise processing unit comprises:
the noise-picking microphone is arranged in a preset noise-picking area inside the shell;
the noise analysis module is used for determining the working noise signal according to the collected signal of the noise pickup microphone;
and the noise reduction module is used for carrying out noise cancellation processing on the collected signals of the pickup microphone according to the working noise signals to extract the user voice signals.
6. The sweeping robot of claim 5, wherein the preset noise picking area comprises any one or a combination of the following:
the sweeping robot comprises a central area on a chassis of the sweeping robot, a peripheral area of a motor inside the sweeping robot and an air channel structure of the sweeping robot.
7. The sweeping robot of claim 6, wherein the air duct structure includes an active noise reduction system, and the noise pickup microphone is a reference microphone in the active noise reduction system;
the noise analysis module is used for determining the working noise signal according to the collected signal of the noise-picking microphone and a predetermined sound field transfer function; the sound field transfer function is a transfer function corresponding to a sound field transmission path between the position of the reference microphone and the position of the pickup microphone.
8. A sweeping robot according to claim 7, wherein the reference microphone is disposed in a suction cavity of the air duct structure;
the active noise reduction system further comprises:
the signal processing unit is used for determining a noise reduction signal according to the collected signal of the noise pickup microphone;
a speaker disposed in the outflow cavity of the air duct structure for outputting noise reduction sound waves in response to the noise reduction signal.
9. The sweeping robot of claim 1, wherein the voice recognition unit comprises:
a language module for determining prior text sequence information based on the user speech signal;
and the acoustic module is used for determining the control instruction based on the prior voice signal corresponding to the prior character sequence information and the user voice signal.
10. The sweeping robot of claim 9, wherein the acoustic module comprises:
the characteristic comparison submodule is used for comparing the prior voice signal corresponding to the prior character sequence information with the characteristics of the user voice signal to obtain a comparison result;
and the instruction determining submodule is used for determining the control instruction based on the comparison result and the prior character sequence information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110368846.0A CN113100668A (en) | 2021-04-06 | 2021-04-06 | Floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110368846.0A CN113100668A (en) | 2021-04-06 | 2021-04-06 | Floor sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113100668A true CN113100668A (en) | 2021-07-13 |
Family
ID=76714181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110368846.0A Pending CN113100668A (en) | 2021-04-06 | 2021-04-06 | Floor sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113100668A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106388700A (en) * | 2016-06-06 | 2017-02-15 | 北京小米移动软件有限公司 | Active noise reduction device for automatic cleaning equipment and automatic cleaning equipment |
| CN108682428A (en) * | 2018-08-27 | 2018-10-19 | 珠海市微半导体有限公司 | The processing method of robot voice control system and robot to voice signal |
| CN111035323A (en) * | 2019-12-17 | 2020-04-21 | 上海岚豹智能科技有限公司 | Method, equipment and system for actively reducing noise of sweeping robot |
| KR20200046262A (en) * | 2018-10-24 | 2020-05-07 | 주식회사 케이티 | Speech recognition processing method for noise generating working device and system thereof |
| CN112435648A (en) * | 2020-11-12 | 2021-03-02 | 北京安声浩朗科技有限公司 | Floor sweeping robot |
-
2021
- 2021-04-06 CN CN202110368846.0A patent/CN113100668A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106388700A (en) * | 2016-06-06 | 2017-02-15 | 北京小米移动软件有限公司 | Active noise reduction device for automatic cleaning equipment and automatic cleaning equipment |
| CN108682428A (en) * | 2018-08-27 | 2018-10-19 | 珠海市微半导体有限公司 | The processing method of robot voice control system and robot to voice signal |
| KR20200046262A (en) * | 2018-10-24 | 2020-05-07 | 주식회사 케이티 | Speech recognition processing method for noise generating working device and system thereof |
| CN111035323A (en) * | 2019-12-17 | 2020-04-21 | 上海岚豹智能科技有限公司 | Method, equipment and system for actively reducing noise of sweeping robot |
| CN112435648A (en) * | 2020-11-12 | 2021-03-02 | 北京安声浩朗科技有限公司 | Floor sweeping robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107464564B (en) | Voice interaction method, device and equipment | |
| US11830479B2 (en) | Voice recognition method and apparatus, and air conditioner | |
| CN109318243B (en) | Sound source tracking system and method of vision robot and cleaning robot | |
| WO2020062900A1 (en) | Sound processing method, apparatus and device | |
| CN106708041A (en) | Intelligent sound box and intelligent sound box directional movement method and device | |
| WO2017190552A1 (en) | Robot and determination method and device for sound source position | |
| CN104517607A (en) | Speed-controlled appliance and method of filtering noise therein | |
| CN103017303A (en) | Intelligent air conditioning control system | |
| CN102967026A (en) | Intelligent air conditioner and control method thereof | |
| CN109545238B (en) | Voice denoising device based on cleaning robot | |
| CN103529726A (en) | Intelligent switch with voice recognition function | |
| CN106251878A (en) | Meeting affairs voice recording device | |
| CN106952654A (en) | Robot noise-reduction method, device and robot | |
| CN106356050A (en) | Automatic noise elimination method in teaching scene | |
| CN113100668A (en) | Floor sweeping robot | |
| CN113040660B (en) | Floor sweeping robot | |
| CN110517702A (en) | The method of signal generation, audio recognition method and device based on artificial intelligence | |
| CN105721645A (en) | Voice peripheral of mobile phone | |
| CN204578759U (en) | The beam positioning system of large-screen mobile terminal | |
| CN209579577U (en) | A kind of the audio source tracking system and clean robot of vision robot | |
| CN208538474U (en) | Speech recognition system | |
| CN106162431A (en) | The beam positioning system of giant-screen mobile terminal | |
| CN105852903A (en) | Double-microphone Bluetooth heart sound enhancing system of stethoscope | |
| CN113793605A (en) | Autonomous mobile device voice control method, device, equipment and readable storage medium | |
| CN112420046A (en) | Multi-person conference method, system and device suitable for hearing-impaired people to participate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |