CN113516998A - Robot tone automatic switching method and device, electronic equipment and storage medium - Google Patents
Robot tone automatic switching method and device, electronic equipment and storage medium Download PDFInfo
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- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
- G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
- G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
- G10L21/0316—Speech enhancement, e.g. noise reduction or echo cancellation by changing the amplitude
- G10L21/0324—Details of processing therefor
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Abstract
The application relates to the technical field of intelligent control, and discloses a robot tone automatic switching method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: responding to an instruction that a first robot enters a working state, and identifying whether a second robot in the working state exists within a preset distance around the first robot; if it is determined that a second robot in a working state exists within a preset distance around the first robot, acquiring a second tone currently used by the second robot; will the tone quality switching of first robot into with the tone quality that the second tone quality is different avoids using the same tone quality to carry out voice broadcast with near robot for the sound of different robots of differentiation that the user can be fine improves the interference killing feature of robot pronunciation.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a robot tone automatic switching method and device, electronic equipment and a storage medium.
Background
With the development of artificial intelligence technology, the intelligent robot has more and more extensive applications in the life of people, for example, a service place such as a shopping mall, a bank, a hotel, an airport, a government office and the like can be provided with a service robot, and the robot assists in providing services such as inquiry or guidance and the like for users. In practical application, robots in the same field generally come from the same manufacturer, so the robots generally output voices by using the same sound, and when a plurality of robots provided for different users are close to each other, voices output by the plurality of robots are easily influenced with each other, so that the users cannot normally hear voice contents of the robots.
Disclosure of Invention
The embodiment of the application provides a method and a device for automatically switching the sound colors of robots, electronic equipment and a storage medium, and avoids the situation that adjacent robots use the same sound color to perform voice broadcast, so that users can well distinguish the sounds of different robots, and the anti-interference capability of the robot voices is improved.
In one aspect, an embodiment of the present application provides a robot tone automatic switching method, including:
responding to an instruction that a first robot enters a working state, and identifying whether a second robot in the working state exists within a preset distance around the first robot;
if it is determined that a second robot in a working state exists within a preset distance around the first robot, acquiring a second tone currently used by the second robot;
and switching the tone of the first robot to a tone different from the second tone.
Optionally, switching the tone of the first robot to a tone different from the second tone specifically includes:
selecting a candidate timbre with a tone matching an interference factor from a plurality of candidate timbres other than the second timbre as the timbre of the first robot;
wherein, an initial tone is configured for each candidate timbre in advance, the interference factor comprises at least one of the environmental volume, the number of people and the number of interference sources around the first robot, and the selected tone is positively correlated with the environmental volume, the number of people and the number of interference sources.
Optionally, the method further comprises:
acquiring the volume of the environment around the first robot;
adjusting the tone and/or volume of the first robot according to the ambient volume.
Optionally, the adjusting the tone and/or the volume of the first robot according to the environmental volume specifically includes:
if the ambient volume tone is greater than a noise threshold, increasing the tone and/or volume of the first robot, wherein the ambient volume is positively correlated with the increased tone and the ambient volume is positively correlated with the increased volume.
Optionally, the method further comprises:
identifying a number of people around the first robot;
and if the number of people around the first robot is larger than a preset number of people, increasing the tone and/or the volume of the first robot.
Optionally, the method further comprises:
determining a target area where the first robot is located currently according to the position information of the first robot; according to the distribution condition of the interference sources, the activity area of the first robot is divided into an interference area containing the interference sources and a quiet area not containing the interference sources;
and if the target area is determined to be the interference area, increasing the tone and/or the volume of the first robot.
Optionally, if it is determined that the target area is an interference area, increasing the tone and/or the volume of the first robot includes:
if the target area is determined to be an interference area, acquiring the target number of interference sources in an interference state in the target area;
and determining the tone value and/or the volume value of the first robot needing to be increased according to the target number.
In one aspect, an embodiment of the present application provides a robot tone automatic switching apparatus, including:
the identification module is used for responding to an instruction that the first robot enters a working state and identifying whether a second robot in the working state exists within a preset distance around the first robot or not;
the acquisition module is used for acquiring a second tone currently used by a second robot if the second robot in a working state is determined to exist within a preset distance around the first robot;
and the switching module is used for switching the tone of the first robot into a tone different from the second tone.
In one aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.
In one aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of any of the above-described methods.
In one aspect, an embodiment of the present application provides a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in any of the various alternative implementations of control of TCP transmission performance described above.
According to the automatic robot tone switching method and device, the electronic equipment and the storage medium, the robots in the working states nearby are immediately searched after the first robot enters the working states, the tone used by the robots is obtained, the robots are prevented from using the same tone to perform voice broadcast, the voice output by the robots is prevented from being influenced mutually, the user can well distinguish the sounds of different robots, and user experience is improved. In addition, parameters such as the volume, the tone and the like of the robot can be adjusted according to the volume, the number of people and the number of interference sources of the environment around the robot, and the anti-interference capability of the voice of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a robot tone automatic switching method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a robot tone automatic switching method according to an embodiment of the present disclosure;
fig. 3 is a schematic plan view of a robot activity space dividing region provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of a robot tone automatic switching device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, all other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort fall within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
Reference is made to fig. 1, which is a schematic view of an application scenario of a robot tone automatic switching method according to an embodiment of the present application. The robot 101 can move autonomously in a designated area and provide services for a user 102 needing help, after the robot 101 recognizes the user 102, the robot 101 can actively approach and send a query to the user 102 to know whether the user needs help, and specifically, relevant information of the user 102 can be acquired through a camera, a microphone and other acquisition devices built in the robot 101, user intentions are analyzed, and corresponding services are provided through voice, a display screen, navigation and other modes.
Of course, the method provided in the embodiment of the present application is not limited to be used in the application scenario shown in fig. 1, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described in the following method embodiments, and will not be described in detail herein.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operation steps as shown in the following embodiments or figures, more or less operation steps may be included in the method based on the conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.
The following describes the technical solution provided in the embodiment of the present application with reference to the application scenario shown in fig. 1. Any robot tone automatic switching method provided by the embodiment of the application can be executed by a controller inside the robot or a background server controlling the robot, and is not limited.
Referring to fig. 2, an embodiment of the present application provides a robot tone automatic switching method, including the following steps:
s201, responding to an instruction of the first robot entering the working state, and identifying whether a second robot in the working state exists in a preset distance around the first robot.
In specific implementation, when the robot identifies a user or service requirements, the robot enters a working state; when the robot does not provide service for any user, the robot is in an idle state, and the robot does not emit voice at this time. If the robot in the working state does not execute a specific task and does not receive the operation and instruction of the user and the like after the preset time length is exceeded, the robot can enter an idle state. It should be noted that, in the present application, both the first robot and the second robot may refer to any robot in a scene.
In specific implementation, after the first robot enters a working state, the position information of the first robot and other robots is obtained, the distance between the first robot and other robots is calculated, candidate robots with the distance smaller than a preset distance are screened out, the states of the candidate robots are obtained, and the candidate robots in the working state are used as second robots. Or after the first robot enters the working state, finding out the robots in the working state, acquiring the position information of the robots and the first robot, calculating the distance between the first robot and the robots, and screening out the robots with the distance smaller than the preset distance to serve as second robots.
S202, if it is determined that the second robot in the working state exists in the preset distance around the first robot, a second tone currently used by the second robot is obtained.
And S203, switching the tone of the first robot to a tone different from the second tone.
In specific implementation, a plurality of candidate timbres are configured in advance for selection by the robot.
In practical applications, one or more second robots may be identified through step S201, and it is necessary to acquire all currently used timbres of the second robots, exclude the currently used timbres of the second robots from preset candidate timbres, and select an appropriate timbre from the remaining candidate timbres as the timbre of the first robot. When no second robot satisfying the condition is identified, the first robot may select an appropriate tone color from the preset candidate tone colors.
It should be noted that, the steps shown in fig. 2 generally need to be completed before the first robot provides the voice service for the current user, and in order to ensure the user experience, except for special cases (if the user requires to change the tone), the first robot does not change the tone after selecting the tone to be used until the service of the current user is finished. The first robot may enter an idle state after finishing providing services for the current user, wait to be awakened again by other users, and enter a working state again after being awakened again, at this time, the tone used needs to be determined again according to the steps shown in fig. 2.
According to the automatic robot tone switching method, the robots in the working states nearby are immediately searched after the first robot enters the working states, the tone used by the robots is obtained, the robots are prevented from using the same tone to conduct voice broadcasting, the voice output by the robots is prevented from being influenced mutually, the user can well distinguish the sounds of different robots, and user experience is improved.
Further, step S203 specifically includes: from a plurality of candidate timbres other than the second timbre, a candidate timbre whose pitch matches the disturbing factor is selected as the timbre of the first robot.
Wherein, an initial tone is configured for each candidate tone in advance, for example, candidate tone a1 is male bass, and its initial tone is 90 Hz; candidate timbre A2 is the male mediant, with an initial pitch of 120 Hz; candidate timbre a3 is a female treble with an initial pitch of 220 Hz.
The interference factors comprise at least one of the volume of the environment around the first robot, the number of people and the number of interference sources, and the selected tones are positively correlated with the volume of the environment, the number of people and the number of interference sources. With the same noise interference, it is easier for the user to hear the speech with the higher pitch.
In specific implementation, the ambient volume around the robot can be detected through equipment such as a microphone and a decibel meter. If the environment volume is higher, selecting candidate timbres with higher tone from the selectable candidate timbres as the timbres used by the first robot; if the ambient volume is low, the candidate timbre with lower pitch is selected from the selectable candidate timbres as the timbre used by the first robot. The matching relationship between the environmental volume and the tone can be set according to application requirements, and is not limited.
In specific implementation, the number of people around the robot can be identified through equipment such as a camera and an infrared sensor. If the number of people around the robot is large, selecting candidate timbres with higher tones from the selectable candidate timbres as the timbres used by the first robot; if the number of people around the robot is small, a candidate timbre with a lower pitch is selected from the selectable candidate timbres as the timbre used by the first robot. The matching relationship between the number of people around the robot and the tone can be set according to the application requirements, and is not limited.
In specific implementation, referring to fig. 3, the activity space of the robot includes various sound interference sources 103, such as a number-calling device, a printer, a fountain landscape, an air conditioner, etc., and noise in the external space may interfere with the indoor space through doors and windows, etc. The position information of the interference sources can be marked in advance and added into indoor map data of the robot, the robot 101 can acquire the real-time position of the robot in the activity space through indoor positioning technology, inertial navigation technology, laser radar and other technologies, and the number of the surrounding interference sources can be determined according to the indoor map data and the real-time position. If the number of interference sources around the robot is large, selecting candidate timbres with higher tones from the selectable candidate timbres as the timbres used by the first robot; if the number of interference sources around the robot is small, a candidate timbre with a lower pitch is selected from the selectable candidate timbres as the timbre used by the first robot. The matching relationship between the number of interference sources around the robot and the tones may be set according to application requirements, and is not limited.
In practical application, a possible interference source in the activity space can be determined in advance according to decibel values sent by all equipment in the activity space of the robot when working, if the decibel value sent by the equipment when working exceeds a noise decibel value, the equipment is used as the interference source, otherwise, the equipment is not used as the interference source.
It should be noted that some interference sources may make sounds at irregular time, that is, it is impossible to predict in advance when the interference sources will make sounds, which belongs to sudden noise interference, and the number of interference sources around the robot is known in advance, so that the noise interference that may be encountered in the future is predicted, and then the tone of the matching tone is selected, and it is ensured that the user can hear the voice of the robot clearly under the noise interference.
On the basis of any embodiment, after the tone used by the first robot is determined, the first robot may further acquire the ambient volume around the first robot during the operation process, and adjust the tone and/or volume of the first robot according to the ambient volume.
Specifically, taking the adjustment of the tone as an example, if the volume of the environment around the first robot is adjusted to be greater than the noise threshold, the tone of the first robot is increased, wherein the volume of the environment is positively correlated to the increased tone. That is, based on the initial tone corresponding to the tone color selected by the first robot, the tone of the robot is appropriately increased according to the volume of the environment. When the volume of the environment around the robot is detected to be reduced, the tone of the robot can be reduced. The value of the noise threshold can be set according to actual requirements, and is not limited.
For example, the initial tone of the timbre selected by the first robot is 100Hz, and the tone of the first robot may be increased when the volume of the environment around the first robot is greater than the noise threshold by 70 db. Specifically, detecting that the decibel number of the ambient volume around the first robot is V (the unit is decibel), and when V is more than or equal to 70 and less than 75, increasing the tone of the first robot to 200 Hz; when V is more than or equal to 75 and less than 80, the tone of the first robot is increased to 300 Hz; when V is more than or equal to 80 and less than 85, the tone of the first robot is increased to 400 Hz; when V is more than or equal to 85 and less than 90, the tone of the first robot is increased to 500 Hz; when V is larger than or equal to 90, the tone of the first robot is increased to 600 Hz.
When a decrease in the volume of the environment surrounding the first robot is detected, the pitch value of the first robot is correspondingly decreased.
Specifically, taking volume adjustment as an example, if the volume adjustment of the environment around the first robot is greater than the noise threshold, the volume of the first robot is increased, where the volume of the environment is positively correlated to the increased volume. When the volume of the environment around the robot is detected to be reduced, the volume of the robot can be reduced.
For example, the decibel number of the detected environment volume is V (the unit is decibel), and when V is more than or equal to 70 and less than 75, the output volume is automatically increased by 10 percent of the maximum volume; when V is more than or equal to 75 and less than 80, the output volume is automatically increased by 20 percent of the maximum volume; when V is more than or equal to 80 and less than 85, the output volume is automatically increased by 30 percent of the maximum volume; when V is more than or equal to 85 and less than 90, the output volume is automatically increased by 40 percent of the maximum volume; when V is more than or equal to 90, the noise affects the normal hearing of human, so that the adjusting volume of the robot can only stay at 40% of the maximum. The maximum volume may be an upper limit of the volume set for the robot, such as 100 db.
When a decrease in the volume of the environment surrounding the first robot is detected, the volume value of the first robot is correspondingly decreased.
In practical application, the tone and the volume of the first robot can be simultaneously increased according to the environmental volume, and the identifiability of the robot voice is improved from two dimensions.
On the basis of any one of the above embodiments, after the tone used by the first robot is determined, the first robot may further identify the number of people around the first robot during the operation, and if the number of people around the first robot is greater than a preset number of people, the tone and/or volume of the first robot is increased.
Specifically, the output tone of the robot can be increased according to the number of people around the robot, that is, the more people around the robot, the higher the output tone of the robot, and the relationship between the number of recognized people and the output volume can be set according to the actual application requirements. For example, the initial tone of the timbre selected by the first robot is 100Hz, the number of people around the first robot is identified as H, and when H is more than or equal to 8 and less than 13, the tone of the first robot is increased to 300 Hz; when H is more than or equal to 13, the tone of the first robot is increased to 500 Hz.
Specifically, the output volume of the robot can be increased according to the number of people around the robot, that is, the output volume of the robot is higher as the number of people around the robot is larger, and the relationship between the number of recognized people and the output volume can be set according to the actual application requirements. For example, the number of people around the robot is identified as H, and when H is more than or equal to 8 and less than 13, the output volume is automatically increased by 15 percent of the maximum volume; when H is more than or equal to 13, the output volume is automatically increased by 30 percent of the maximum volume.
Before the robot is ready to play voice, if the robot recognizes that the environment volume at the site does not meet the requirement of volume adjustment, but the situation that the number of people at the site is large, the current state is quite quiet and noise is generated at the next moment can occur, the robot just starts to output voice due to the time difference of the noise generation, the voice and the noise are mixed, so that a user cannot hear the voice content, when the number of people around the robot is large, the output volume of the robot is properly increased, and the possible noise can be judged in advance.
When a decrease in the number of people around the first robot is detected, the volume and/or volume of the first robot may be decreased accordingly.
Referring to fig. 3, the activity space of the robot can be divided into interference areas 104 and quiet areas 105 according to the distribution of the interference sources, wherein the quiet areas 105 do not include the interference sources, and each interference area 104 includes at least one interference source 103. Specifically, a circle can be drawn by taking the interference source 103 as a circle center and a preset value as a radius, an area inside the circle is taken as an interference area, and an area outside the circle is taken as a quiet area. Further, the radius of the circle may be determined according to the decibel value of the noise generated by each of the interferers 103, and the higher the decibel value of the noise, the longer the radius. The radius of the circle can be selected according to experience and in combination with practical application scenes, and is not limited. In specific implementation, the area division data of the motion space of the robot can be added into the indoor map data of the robot, the robot 101 can acquire the real-time position of the robot in the motion space through indoor positioning technology, inertial navigation technology, laser radar and other technologies, and the current area is determined according to the area division data and the real-time position in the indoor map data.
In practical applications, the interference source includes at least one of the following: the noise space is communicated with the moving space of the robot, and equipment capable of emitting interference noise can be arranged in the moving space. When the isolation device between the active area of the robot and the noise space is opened, the noise space is in an interference state, and when the isolation device between the active area and the noise space is closed, the noise space is in a non-interference state. The noise space is relative to the activity space, which may be an outdoor road, or may be a room containing a noise source and communicating with the activity space of the robot, for example, the activity space of the robot includes a hall, a walkway, etc., the region of the projection room, etc., is a noise space, and the isolation device is openable and closable, including but not limited to a door, a window, etc.
Therefore, after the tone used by the first robot is determined, the first robot can also determine a target area where the first robot is located currently according to the position information of the first robot in the running process; and if the target area is determined to be the interference area, increasing the tone and/or volume of the first robot.
According to the distribution situation of interference sources in the activity space, the activity space is divided into an interference area containing the interference sources and a quiet area not containing the interference sources, the area where the robot is located is determined by detecting real-time position information of the robot, the tone and/or volume of the robot playing voice can be properly improved after the robot enters the interference area from the quiet area, the tone and/or volume of the robot playing voice are reduced after the robot enters the quiet area from the interference area, the fact that a user can hear the voice played by the robot clearly is guaranteed, and the comfort of the user in listening to the voice is improved. Therefore, the method for automatically switching the sound colors of the robot can predict the noise interference which may occur in advance according to the area where the robot is located, so that the volume of the robot is adjusted to a proper value in advance, and even if the interference source suddenly emits the noise interference, a user can be ensured to clearly hear the voice played by the robot.
Further, if the target area is determined to be the interference area, the target number of the interference sources in the interference state in the target area is obtained, and the tone value and/or the volume value which needs to be increased by the first robot is determined according to the target number.
The increased tone value of the first robot is positively correlated with the target number, and the tone value that the first robot needs to increase is also positively correlated with the target number, that is, the more the number of the interference sources in the interference state in the target interference area is, the larger the increased tone value and the increased tone value of the robot are. Taking the tone as an example, when the target number is 0, the tone is increased by 50 Hz; when the target number is 1, the tone is increased by 100 Hz; when the target number is 2, the pitch is increased by 150 Hz. Therefore, the tone and the volume of the robot can be improved in a grading way according to the number of the interference sources in the interference state, and the comfort of a user for listening to the voice is improved.
When a decrease in the target number of interferers in an interfering state within the target area is detected, the tone value and/or volume value of the first robot is correspondingly decreased to provide the most comfortable and clear voice service to the user.
When the interference source in the target interference area is a noise space, the image acquisition device of the robot can be controlled to shoot the image of the isolation device in the target interference area, whether the isolation device in the target interference area is opened or not is identified based on the shot image, and whether the isolation device is opened or not can be specifically determined through an existing image identification algorithm. Or, the distance from the robot to the isolation device can be measured based on the distance measuring device of the robot, that is, a signal is transmitted to the isolation device in the target interference area; if the signal reflected by the isolation device is not received or the distance from the robot to the isolation device is calculated according to the reflected signal and does not accord with the actual distance, the isolation device is determined to be opened, and then the noise space is determined to be in an interference state; and if the distance from the robot to the isolating device is calculated according to the reflected signals and is in accordance with the actual distance, determining that the isolating device is in a closed state, and further determining that the noise space is in a non-interference state. Wherein the actual distance between the robot and the interference source may be determined based on the position information of the robot and the position information of the interference source.
When the interference source in the target interference area is equipment capable of emitting interference noise, the ambient volume around the robot can be detected, and when the decibel of the ambient volume exceeds the noise decibel value, the interference source is determined to be in an interference state. If the indicating lamp for indicating whether the equipment works exists on the equipment, the robot can judge the working state of the equipment by identifying the state of the indicating lamp. If the equipment is intelligent equipment controlled by the background server, the working state of the equipment can be obtained through the background server.
In practical application, the relevant detection in the above embodiment can be performed before the robot plays the voice every time, the tone and/or the volume of the robot are adjusted to a proper value, and then the robot is controlled to play the voice with the proper volume and the proper tone until the robot completes the voice broadcast, so that the situation that the volume of the robot is suddenly increased in the process of playing the voice can be avoided, and better listening experience is brought to a user.
To avoid the superposition of volume and pitch increments caused by multiple detection factors, the priority of each detection mode can be set. For example, the environmental volume around the robot is detected first, if the environmental volume is greater than the noise threshold, the volume and/or tone of the robot are directly increased according to the environmental volume, and other factors are not detected, if the environmental volume does not exceed the noise threshold, the number of people around the robot is continuously detected; if the number of people is larger than the preset number of people, the tone and/or the volume of the first robot are/is increased, other factors are not detected, if the number of people does not exceed the preset number of people, the number of the interference sources in the area where the first robot is located and the number of the interference sources in the area are continuously detected, and the tone and/or the volume of the first robot is adjusted. The method combines the priority ranking of various factors such as environment volume, the number of people on site, the area where the robot is located and the like, gives a reasonable judgment flow, avoids the operation of volume superposition under various conditions, adjusts the volume of the robot more reasonably, and improves the flexibility of the voice function of the robot.
In practical application, the volume and the upper limit value of the tone can be set, if the volume increased by the robot exceeds the volume upper limit value, the volume of the robot can be forcibly modified to the volume upper limit value, and overhigh output volume is avoided, and similarly, if the volume increased by the robot exceeds the tone upper limit value, the tone of the robot can be forcibly modified to the tone upper limit value, and overhigh output tone is avoided.
As shown in fig. 4, based on the same inventive concept as the above-mentioned robot tone color automatic switching method, the embodiment of the present application further provides a robot tone color automatic switching apparatus 40, including:
the identification module 401 is configured to respond to an instruction that a first robot enters a working state, and identify whether a second robot in the working state exists within a preset distance around the first robot;
an obtaining module 402, configured to obtain a second tone currently used by a second robot if it is determined that the second robot in a working state exists within a preset distance around the first robot;
a switching module 403, configured to switch the tone of the first robot to a tone different from the second tone.
Optionally, the switching module 403 is specifically configured to:
selecting a candidate timbre with a tone matching an interference factor from a plurality of candidate timbres other than the second timbre as the timbre of the first robot;
wherein, an initial tone is configured for each candidate timbre in advance, the interference factor comprises at least one of the environmental volume, the number of people and the number of interference sources around the first robot, and the selected tone is positively correlated with the environmental volume, the number of people and the number of interference sources.
Optionally, the robot tone automatic switching apparatus in an embodiment of the present application further includes an adjusting module, configured to:
acquiring the volume of the environment around the first robot;
adjusting the tone and/or volume of the first robot according to the ambient volume.
Optionally, the adjusting module is specifically configured to:
if the ambient volume tone is greater than a noise threshold, increasing the tone and/or volume of the first robot, wherein the ambient volume is positively correlated with the increased tone and the ambient volume is positively correlated with the increased volume.
Optionally, the robot tone automatic switching apparatus in an embodiment of the present application further includes an adjusting module, configured to:
identifying a number of people around the first robot;
and if the number of people around the first robot is larger than a preset number of people, increasing the tone and/or the volume of the first robot.
Optionally, the robot tone automatic switching apparatus in an embodiment of the present application further includes an adjusting module, configured to:
determining a target area where the first robot is located currently according to the position information of the first robot; according to the distribution condition of the interference sources, the activity area of the first robot is divided into an interference area containing the interference sources and a quiet area not containing the interference sources;
and if the target area is determined to be the interference area, increasing the tone and/or the volume of the first robot.
Optionally, the adjusting module is specifically configured to:
if the target area is determined to be an interference area, acquiring the target number of interference sources in an interference state in the target area;
and determining the tone value and/or the volume value of the first robot needing to be increased according to the target number.
The robot tone automatic switching device and the robot tone automatic switching method provided by the embodiment of the application adopt the same inventive concept, can obtain the same beneficial effects, and are not repeated herein.
Based on the same inventive concept as the robot tone automatic switching method, an embodiment of the present application further provides an electronic device, which may be a control device or a control system inside the robot, or an external device communicating with an intelligent device, such as a desktop computer, a portable computer, a smart phone, a tablet computer, a Personal Digital Assistant (PDA), a server, and the like. As shown in fig. 5, the electronic device 50 may include a processor 501 and a memory 502.
The Processor 501 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component, which may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; the computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
Alternatively, the integrated units described above in the present application may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media that can store program codes include a removable Memory device, a Random Access Memory (RAM), a magnetic Memory (e.g., a flexible disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical Memory (e.g., a CD, a DVD, a BD, an HVD, etc.), and a semiconductor Memory (e.g., a ROM, an EPROM, an EEPROM, a nonvolatile Memory (NAND FLASH), a Solid State Disk (SSD)).
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A robot tone automatic switching method is characterized by comprising the following steps:
responding to an instruction that a first robot enters a working state, and identifying whether a second robot in the working state exists within a preset distance around the first robot;
if it is determined that a second robot in a working state exists within a preset distance around the first robot, acquiring a second tone currently used by the second robot;
and switching the tone of the first robot to a tone different from the second tone.
2. The method according to claim 1, wherein switching the tone of the first robot to a different tone than the second tone comprises:
selecting a candidate timbre with a tone matching an interference factor from a plurality of candidate timbres other than the second timbre as the timbre of the first robot;
wherein, an initial tone is configured for each candidate timbre in advance, the interference factor comprises at least one of the environmental volume, the number of people and the number of interference sources around the first robot, and the selected tone is positively correlated with the environmental volume, the number of people and the number of interference sources.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
acquiring the volume of the environment around the first robot;
adjusting the tone and/or volume of the first robot according to the ambient volume.
4. The method of claim 3, wherein the adjusting the tone and/or volume of the first robot according to the ambient volume comprises:
if the ambient volume tone is greater than a noise threshold, increasing the tone and/or volume of the first robot, wherein the ambient volume is positively correlated with the increased tone and the ambient volume is positively correlated with the increased volume.
5. The method according to claim 1 or 2, characterized in that the method further comprises:
identifying a number of people around the first robot;
and if the number of people around the first robot is larger than a preset number of people, increasing the tone and/or the volume of the first robot.
6. The method according to claim 1 or 2, characterized in that the method further comprises:
determining a target area where the first robot is located currently according to the position information of the first robot; according to the distribution condition of the interference sources, the activity area of the first robot is divided into an interference area containing the interference sources and a quiet area not containing the interference sources;
and if the target area is determined to be the interference area, increasing the tone and/or the volume of the first robot.
7. The method of claim 6, wherein if the target area is determined to be an interference area, increasing the tone and/or volume of the first robot comprises:
if the target area is determined to be an interference area, acquiring the target number of interference sources in an interference state in the target area;
and determining the tone value and/or the volume value of the first robot needing to be increased according to the target number.
8. A robot tone automatic switching control equipment, characterized by that includes:
the identification module is used for responding to an instruction that the first robot enters a working state and identifying whether a second robot in the working state exists within a preset distance around the first robot or not;
the acquisition module is used for acquiring a second tone currently used by a second robot if the second robot in a working state is determined to exist within a preset distance around the first robot;
and the switching module is used for switching the tone of the first robot into a tone different from the second tone.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 7 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 7.
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