CN114267349A - Equipment control method and device and nonvolatile storage medium - Google Patents

Equipment control method and device and nonvolatile storage medium Download PDF

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Publication number
CN114267349A
CN114267349A CN202111434647.1A CN202111434647A CN114267349A CN 114267349 A CN114267349 A CN 114267349A CN 202111434647 A CN202111434647 A CN 202111434647A CN 114267349 A CN114267349 A CN 114267349A
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China
Prior art keywords
target object
audio data
target
determining
instruction
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CN202111434647.1A
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Chinese (zh)
Inventor
管云馨
宋德超
陈浩广
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Gree Electric Appliances Inc of Zhuhai
Zhuhai Lianyun Technology Co Ltd
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Gree Electric Appliances Inc of Zhuhai
Zhuhai Lianyun Technology Co Ltd
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Priority to CN202111434647.1A priority Critical patent/CN114267349A/en
Publication of CN114267349A publication Critical patent/CN114267349A/en
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Abstract

The invention discloses a device control method, a device control device and a nonvolatile storage medium. Wherein, the method comprises the following steps: acquiring audio data from the target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; and determining the working state of the target equipment based on the audio data corresponding to the priority target object. The invention solves the technical problem of poor user experience caused by the fact that the prior art cannot determine the working state of the target equipment under the condition that control instructions sent by multiple users are inconsistent.

Description

Equipment control method and device and nonvolatile storage medium
Technical Field
The invention relates to the field of smart home, in particular to a device control method and device and a nonvolatile storage medium.
Background
In the personalized smart home security control system based on voiceprint recognition, smart home equipment can be controlled based on voiceprints of different users, so that non-authenticated users can enjoy home modules preset by owners, and the universality and robustness of the control system are greatly improved. Most of existing voice control systems of smart homes are based on a semantic recognition technology, the technology lacks guarantee on home security, and is easily influenced by dialects, tone and language of users, so that the problems of poor universality, large recognition error and the like of the system are caused. Meanwhile, the voice security authentication in the existing intelligent home only brings speaker identification and speaker authentication into a security authentication range, and only an administrator who inputs voice in advance and has a use authority can operate the intelligent home appliance, and the method has the defects that the attributes (age and sex) of the speakers cannot be classified and the capability of providing personalized services is lacked, under the actual situation, the terminal users of the system are generally divided into house owners and guests, often the guests also have the operation authority to some home appliances, and the authority range needs to be classified and subdivided according to the attributes of the guests, but the voice control system has the common problems that: when the smart home devices are controlled according to the voiceprints of different users, situations that control commands conflict or opinions are not uniform among the users may exist, and no reasonable solution exists for the situations.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a device control method, a device and a nonvolatile storage medium, which at least solve the technical problem of poor user experience caused by the fact that the prior art cannot determine the working state of target equipment under the condition that control instructions sent by multiple users are inconsistent.
According to an aspect of an embodiment of the present invention, there is provided an apparatus control method including: acquiring audio data from the target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; and determining the working state of the target equipment based on the audio data corresponding to the priority target object.
Optionally, determining the permission level of the first target object based on the first audio data and determining the permission level of the second target object based on the second audio data comprises: extracting first audio characteristic data of the first audio data and second audio characteristic data of the second audio data from the first audio data; and retrieving first account information of a first target object corresponding to the first audio characteristic data based on the first audio characteristic data, and retrieving second account information of a second target object corresponding to the second audio characteristic data based on the second audio characteristic data, wherein the first account information at least comprises a first authority level of the first target object, and the second account information at least comprises a second authority level of the second target object.
Optionally, retrieving, based on the first audio feature data, first account information of a first target object corresponding to the first audio feature data, and retrieving, based on the second audio feature data, second account information of a second target object corresponding to the second audio feature data comprises: a target device is determined from the plurality of devices based on the first audio data or the second audio data.
Optionally, determining the operating state of the target device based on the audio data corresponding to the priority target object includes: determining a target instruction based on the audio data corresponding to the priority target object, wherein the target instruction at least comprises instruction execution content; and determining the working state of the target equipment based on the instruction execution content in the target instruction.
Optionally, the determining the target instruction based on the audio data corresponding to the priority target object includes: determining text information related to the audio data corresponding to the priority target object; semantic information corresponding to the text information is determined, and a target instruction corresponding to the semantic information is determined based on the semantic information.
Optionally, determining the text information related to the audio data corresponding to the priority target object includes: determining a target database corresponding to the priority target object, wherein the target database comprises a plurality of instruction texts and instruction text audio data corresponding to each instruction text in the plurality of instruction texts; based on the audio data corresponding to the priority target object, target instruction text audio data are retrieved from the instruction text audio data, and a target instruction text corresponding to the target instruction text audio data is determined; based on the target instruction text, text information related to the audio data corresponding to the priority target object is determined.
Optionally, determining semantic information corresponding to the text information, and determining the target instruction corresponding to the semantic information based on the semantic information includes: retrieving a first target keyword from the text information, wherein the first target keyword is used for determining instruction execution object information; and retrieving a second target keyword from the text information, wherein the second target keyword is used for determining the instruction execution content.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus control device, including: the acquisition module is used for acquiring audio data from the target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; a retrieval module for determining a permission level of a first target object based on the first audio data and a permission level of a second target object based on the second audio data; the comparison module is used for comparing the authority levels of the first target object and the second target object and determining a priority target object with a high authority level from the first target object and the second target object; and the processing module is used for determining the working state of the target equipment based on the audio data corresponding to the priority target object.
According to another aspect of the embodiments of the present invention, there is also provided a nonvolatile storage medium including a stored program, where, when the program is executed, a device in which the nonvolatile storage medium is controlled to execute a device control method.
According to another aspect of the embodiments of the present invention, there is also provided a processor configured to execute a program, where the program executes the apparatus control method.
In the embodiment of the invention, audio data are acquired from a target area, wherein the audio data comprise first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; the method for determining the working state of the target equipment based on the audio data corresponding to the priority target object achieves the purpose of selecting the instruction to be executed from a plurality of instructions by determining the priority of the target object and determining the instruction to be executed preferentially based on the priority, thereby achieving the technical effect of determining the working filling of the target equipment when receiving a plurality of contradictory instructions, and further solving the technical problem of poor user experience caused by the fact that the prior art cannot determine the working state of the target equipment under the condition that control instructions sent by a plurality of users are inconsistent.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart diagram of a method of controlling a device according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of an intelligent home control system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present invention, there is provided a method embodiment of a device control method, it being noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.
Fig. 1 is a diagram of an apparatus control method according to an embodiment of the present invention, where the method is applicable to a local control center or a cloud server of an intelligent home system, and is also applicable to an intelligent home apparatus. As shown in fig. 1, the method comprises the steps of:
step S102, acquiring audio data from a target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object;
in some embodiments of the present application, the audio data may be obtained by a plurality of sound pickup devices disposed in the target area, or may be obtained by a microphone array integrated on a smart home in the target area.
In some embodiments of the present application, after the audio data is collected, the audio data may be preprocessed to eliminate environmental noise in the audio data and blank portions in the audio data.
In some embodiments of the present application, a part of the microphone array, or a part of the plurality of sound pickup devices, may periodically collect the ambient noise in the target area, so as to provide a reference for eliminating the ambient noise data in the audio data.
In some embodiments of the present application, the blank portion in the audio data refers to a blank segment in the audio data having neither the first audio data nor the second audio data.
Step S104, determining the authority level of the first target object based on the first audio data, and determining the authority level of the second target object based on the second audio data;
in some embodiments of the present application, the method of determining a permission level of a first target object based on first audio data and determining a permission level of a second target object based on second audio data is as follows: extracting first audio feature data of the first audio data and second audio feature data of the second audio data from the first audio data, wherein the first audio feature data comprise voiceprint features of the first target object, and the second audio feature data comprise voiceprint features of the second target object; and retrieving first account information of a first target object corresponding to the first audio characteristic data based on the first audio characteristic data, and retrieving second account information of a second target object corresponding to the second audio characteristic data based on the second audio characteristic data, wherein the first account information at least comprises a first authority level of the first target object, and the second account information at least comprises a second authority level of the second target object.
In some embodiments of the present application, the voiceprint features of the first target object and the second target object include a Linear Prediction Cepstral Coefficients Linear Prediction Cepstral Coefficient (LPCC) feature and a Mel Frequency Cepstral Coefficient (MFCC) feature based on a vocal tract model.
In some embodiments of the present application, in order to further improve the accuracy of identifying the identity of the target object, the wakeup words corresponding to different target objects may be recorded and stored in advance. And only after the target object is detected to send out the matched awakening word, the identity authentication is carried out, and the subsequent steps are further executed.
In some embodiments of the present application, retrieving, based on the first audio feature data, first account information for a first target object corresponding to the first audio feature data, and retrieving, based on the second audio feature data, second account information for a second target object corresponding to the second audio feature data comprises: a target device is determined from the plurality of devices based on the first audio data or the second audio data.
In some embodiments of the present application, the target device may be determined from a plurality of devices by detecting a device name or a device code included in the first audio data and the second audio data, and may also be determined based on the indication content of the first audio data and the second audio data. For example, when the instruction content is to adjust the temperature in the target area, it may be determined that the target device is an air conditioner.
In some embodiments of the present application, after the target device is determined, it may be further determined whether the first target object and the second target object both have the authority to adjust the working state of the target device, and after it is determined that the first target object and the second target object both have the authority to adjust the working state of the target device, the subsequent steps are continuously performed. And if only one target object in the first target object or the second target object is determined to have the authority for adjusting the working state of the target equipment, directly adjusting the working state of the target equipment according to the audio data of the target object with the corresponding authority. And if the first target object and the second target object do not have the authority of adjusting the working state of the target equipment, the subsequent steps are not executed, and the working state of the target equipment is not adjusted.
Step S106, comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object;
in some embodiments of the present application, the permission level is used to determine, in addition to the control instruction that the device should execute when a plurality of target objects issue conflicting control instructions to the same device, the device operating state adjustment range corresponding to each object.
And step S108, determining the working state of the target equipment based on the audio data corresponding to the priority target object.
In some embodiments of the present application, determining the operating state of the target device based on the audio data corresponding to the priority target object includes: determining a target instruction based on the audio data corresponding to the priority target object, wherein the target instruction at least comprises instruction execution content; and determining the working state of the target equipment based on the instruction execution content in the target instruction.
In some embodiments of the present application, the method for determining the target instruction based on the audio data corresponding to the priority target object is as follows: determining text information related to the audio data corresponding to the priority target object; semantic information corresponding to the text information is determined, and a target instruction corresponding to the semantic information is determined based on the semantic information.
In some embodiments of the present application, a specific method of determining text information related to audio data corresponding to a priority target object is as follows: determining a target database corresponding to the priority target object, wherein the target database comprises a plurality of instruction texts and instruction text audio data corresponding to each instruction text in the plurality of instruction texts; based on the audio data corresponding to the priority target object, target instruction text audio data are retrieved from the instruction text audio data, and a target instruction text corresponding to the target instruction text audio data is determined; based on the target instruction text, text information related to the audio data corresponding to the priority target object is determined.
In some embodiments of the present application, the instruction text audio data may be audio data of a pre-recorded target object when reading out a corresponding instruction text or expressing a voice having the same semantic information as that of the instruction text.
In some embodiments of the present application, one or more instruction texts corresponding to the audio data of the target object may also be determined by a speech recognition model corresponding to the target object, and text information corresponding to the audio data is determined based on the corresponding instruction texts.
In some embodiments of the present application, the speech recognition model may be a speech recognition model obtained by using audio data of a target object as training data.
In some embodiments of the present application, determining semantic information corresponding to the textual information, and determining the target instruction corresponding to the semantic information based on the semantic information includes: retrieving a first target keyword from the text information, wherein the first target keyword is used for determining instruction execution object information; and retrieving a second target keyword from the text information, wherein the second target keyword is used for determining the instruction execution content.
In some embodiments of the present application, the instruction execution object information includes device identification information of the target device.
In some embodiments of the present application, the second target keyword may be an action performed by the target device and a specific condition of the adjusted operating state of the target device.
In some embodiments of the present application, there is also provided a smart home control system based on voiceprint recognition as shown in fig. 2, which includes a voice acquisition module 20, a voice preprocessing module 22, a voiceprint feature extraction module 24 and a rights management module 26. Specifically, the voice collecting module 20 is configured to collect voice information in a home environment, where the voice information includes conversation contents of all users at home; the voice preprocessing module 22 is used for preprocessing the voice information acquired by the voice acquisition module, wherein the preprocessing includes processing the tone, dialect and the like of the speaker; the voiceprint feature extraction module 24 is configured to extract an LPCC feature based on a vocal tract model and an MFCC feature based on an auditory characteristic of a human ear in the preprocessed voice information, and construct a voiceprint model according to the MFCC feature; the authority management module 26 is configured to perform semantic matching with the instruction words in the semantic word library according to the LPCC features and the MFCC features of the user, determine identity information of the speaker and whether the speaker has authority to execute the entry instruction, and set different weights for the speaker according to the identity information of the speaker.
In some embodiments of the application, when the smart home control system determines that there are a plurality of speakers and all the speakers meet the authority of executing the vocabulary entry instruction, the only speaker capable of executing the vocabulary entry instruction is determined according to the weight of the speaker, and the instruction information spoken by the speaker is executed. If the intelligent home equipment identifies that two speakers have the authority of executing the vocabulary entry instruction at the same time, the instruction which the speaker A wants to execute is to adjust the air-conditioning temperature to 25 ℃, the instruction which the speaker B wants to execute is to adjust the air-conditioning temperature to 23 ℃, the only speaker which can execute the vocabulary entry instruction is determined according to the weights of the speakers A and B in the system, if the weight of the speaker A is higher than that of the speaker B, the intelligent home equipment determines the only speaker in the current environment by the speaker A, adjusts the air-conditioning temperature to 25 ℃ according to the instruction of the speaker A, and if the environment is changed, if the instruction conflict between the speaker B and the speaker C is detected, the weight of the speaker is re-determined.
Acquiring audio data from a target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; the working state of the target equipment is determined based on the audio data corresponding to the priority target object, the technical effect of determining the working filling of the target equipment when a plurality of contradictory instructions are received can be achieved, and the technical problem of poor user experience caused by the fact that the working state of the target equipment cannot be determined under the condition that control instructions sent by multiple users are inconsistent in the prior art is solved.
Fig. 3 is a device control apparatus according to an embodiment of the present invention, as shown in fig. 3, the apparatus includes an obtaining module 30 for obtaining audio data from a target area, where the audio data includes first audio data of a first target object and second audio data of a second target object; a retrieval module 32 for determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; a comparison module 34, configured to compare the permission levels of the first target object and the second target object, and determine a priority target object with a high permission level from the first target object and the second target object; and the processing module 36 is configured to determine an operating state of the target device based on the audio data corresponding to the priority target object.
Since the device control apparatus shown in fig. 3 can be used to execute the device control method shown in fig. 1, the explanation about the device control method shown in fig. 1 also applies to the device control apparatus shown in fig. 3, and is not repeated here.
According to an embodiment of the present invention, there is also provided a nonvolatile storage medium, where the nonvolatile storage medium includes a stored program, and the apparatus in which the nonvolatile storage medium is controlled to execute the following apparatus control method when the program is executed: acquiring audio data from the target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; and determining the working state of the target equipment based on the audio data corresponding to the priority target object.
According to an embodiment of the present invention, there is also provided a processor, where the processor is configured to execute a program, and the program executes the following device control method when running: acquiring audio data from the target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object; determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data; comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object; and determining the working state of the target equipment based on the audio data corresponding to the priority target object.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. An apparatus control method characterized by comprising:
acquiring audio data from a target area, wherein the audio data comprises first audio data of a first target object and second audio data of a second target object;
determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data;
comparing the authority levels of the first target object and the second target object, and determining a priority target object with a high authority level from the first target object and the second target object;
and determining the working state of the target equipment based on the audio data corresponding to the priority target object.
2. The device control method according to claim 1, wherein determining the permission level of the first target object based on the first audio data, and determining the permission level of the second target object based on the second audio data comprises:
extracting first audio feature data of the first audio data and second audio feature data of the second audio data from the first audio data, wherein the first audio feature data comprise voiceprint features of the first target object, and the second audio feature data comprise voiceprint features of the second target object;
based on the first audio feature data, retrieving first account information of a first target object corresponding to the first audio feature data, and based on the second audio feature data, retrieving second account information of a second target object corresponding to the second audio feature data, wherein the first account information at least comprises a first permission level of the first target object, and the second account information at least comprises a second permission level of the second target object.
3. The device control method according to claim 2, wherein retrieving first account information of a first target object corresponding to the first audio feature data based on the first audio feature data, and retrieving second account information of a second target object corresponding to the second audio feature data based on the second audio feature data comprises:
determining the target device from a plurality of devices based on the first audio data or the second audio data.
4. The device control method according to claim 1, wherein determining the operating state of the target device based on the audio data corresponding to the priority target object comprises:
determining a target instruction based on the audio data corresponding to the priority target object, wherein the target instruction at least comprises instruction execution content;
and determining the working state of the target equipment based on the instruction execution content in the target instruction.
5. The device control method according to claim 4, wherein determining a target instruction based on the audio data corresponding to the priority target object comprises:
determining text information related to the audio data corresponding to the priority target object;
and determining semantic information corresponding to the text information, and determining a target instruction corresponding to the semantic information based on the semantic information.
6. The apparatus control method according to claim 5, wherein determining text information related to the audio data corresponding to the priority target object includes:
determining a target database corresponding to the priority target object, wherein the target database comprises a plurality of instruction texts and instruction text audio data corresponding to each instruction text in the plurality of instruction texts;
based on the audio data corresponding to the priority target object, target instruction text audio data are retrieved from the instruction text audio data, and a target instruction text corresponding to the target instruction text audio data is determined;
and determining text information related to the audio data corresponding to the priority target object based on the target instruction text.
7. The device control method according to claim 5, wherein determining semantic information corresponding to the text information, and determining a target instruction corresponding to the semantic information based on the semantic information comprises:
retrieving a first target keyword from the text information, wherein the first target keyword is used for determining the instruction execution object information;
and retrieving a second target keyword from the text information, wherein the second target keyword is used for determining the instruction execution content.
8. An apparatus control device, characterized by comprising:
the device comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring audio data from a target area, and the audio data comprises first audio data of a first target object and second audio data of a second target object;
a retrieval module for determining a permission level of the first target object based on the first audio data and a permission level of the second target object based on the second audio data;
the comparison module is used for comparing the authority levels of the first target object and the second target object and determining a priority target object with a high authority level from the first target object and the second target object;
and the processing module is used for determining the working state of the target equipment based on the audio data corresponding to the priority target object.
9. A non-volatile storage medium, comprising a stored program, wherein a device in which the non-volatile storage medium is located is controlled to execute the device control method according to any one of claims 1 to 7 when the program is executed.
10. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the apparatus control method according to any one of claims 1 to 7.
CN202111434647.1A 2021-11-29 2021-11-29 Equipment control method and device and nonvolatile storage medium Pending CN114267349A (en)

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Application Number Priority Date Filing Date Title
CN202111434647.1A CN114267349A (en) 2021-11-29 2021-11-29 Equipment control method and device and nonvolatile storage medium

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CN114267349A true CN114267349A (en) 2022-04-01

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