CN114010102B - Cleaning robot - Google Patents

Abstract

An embodiment of the present application provides a cleaning robot, includes: the microphone array unit comprises a driving unit, a cleaning unit, a traveling wheel and a microphone array unit; the driving unit includes a driving motor and a sweeping motor, the sweeping motor is configured to operate the cleaning unit, the driving motor is configured to drive the traveling wheels; the microphone array unit determines a sound source direction based on a first voice instruction input through the input device; the driving motor drives the cleaning robot to turn to the sound source direction of the first voice instruction, and the cleaning robot stops working after turning is finished; the cleaning motor operates the cleaning unit to continuously work in the process that the driving motor drives the cleaning robot to turn to the direction of the sound source of the first voice instruction, and stops working after the turning is finished. The embodiment of the application can improve the voice recognition effect under the noise state, improve the recognition rate of the voice instruction input by the user, accurately work according to the voice instruction of the user, and increase the interestingness of man-machine interaction.

Description

a cleaning robot

This application is a divisional application with application number 201910266361.3, the original application date is April 3, 2019, and the title of the invention is: robot voice control method, device, robot and medium.

technical field

The present application relates to the technical field of control, in particular to a cleaning robot.

Background technique

With the development of technology, various robots with voice recognition systems have emerged, such as sweeping robots, mopping robots, vacuum cleaners, and weeding machines. These robots can receive voice commands input by users through a voice recognition system to perform operations indicated by the voice commands, which not only liberates labor, but also saves labor costs.

In the related art, the above-mentioned robot can receive the voice command input by the user, and then recognize the input voice command through its own voice recognition system, so as to control the robot to perform the operation indicated by the voice command. However, when users control the robot, they still hope to be able to control its movements as flexibly and freely as controlling a human being. For example, using a more humane language to communicate, the robot can also respond to the corresponding language control commands in real time, but the current robot is still not With such a voice control method, there is still a technical problem that the control is relatively mechanical and voice control cannot be performed smoothly.

Contents of the invention

In view of this, an embodiment of the present application provides a robot cleaning robot, which is used to enable the robot to flexibly accept voice control instructions.

In the first aspect, the embodiment of the present application provides a cleaning robot, including: a driving unit, a cleaning unit, a walking wheel, and a microphone array unit;

The drive unit includes a drive motor configured to operate the cleaning unit and a sweep motor configured to drive the road wheels;

The microphone array unit determines the sound source direction based on the first voice command input through the input device;

The drive motor drives the cleaning robot to turn to the direction of the sound source of the first voice command, and stops working after the turn is completed;

The cleaning motor operates the cleaning unit to continue to work when the driving motor drives the cleaning robot to turn to the sound source of the first voice command, and stops working after the turning is completed.

In some possible implementation manners, the number of the input devices is more than two.

In some possible implementation manners, the microphone array unit determines the direction of the sound source based on the first voice instruction input through the input device, specifically including:

The microphone array unit determines the direction of the sound source based on the time difference or level of the first voice instruction input through the two or more input devices.

In some possible implementation manners, it further includes: a control unit, after turning to the sound source of the first voice command, the control unit controls the The cleaning robot executes the operation indicated by the second voice instruction.

In some possible implementation manners, if the control unit determines that the input device has not received the second voice instruction, it controls the cleaning robot to turn back to the original direction and continue to perform the original operation.

In some possible implementation manners, the control unit determining that the input device has not received the second voice instruction includes:

The control unit determines that the input device has not received the second voice instruction within a preset time period.

In some possible implementation manners, the first voice command input through the input device is a wake-up voice command, and the second voice command is a manipulation voice command.

Some possible implementations also include:

The storage unit is used for pre-storing the wake-up voice instruction and the manipulation voice instruction.

In the second aspect, the embodiment of the present application also provides a cleaning robot, including: a driving unit, a cleaning unit, a traveling wheel, and a microphone array unit;

The driving unit is used to drive the cleaning unit and the running wheels;

The microphone array unit determines the sound source direction based on the first voice instruction input through two or more input devices;

The driving unit drives the cleaning robot to turn to the direction of the sound source of the first voice instruction, and stops working after the turning is completed.

In some possible implementation manners, the microphone array unit determines the direction of the sound source based on the first voice instruction input through the input device, specifically including:

The microphone array unit determines the direction of the sound source based on the time difference or level of the first voice command input through two or more input devices.

Compared with the prior art, the present invention has at least the following technical effects:

In the embodiment of the present application, when the first voice instruction is received, the voice recognition system of the robot is activated first, and the robot is controlled to turn to the direction of the sound source of the voice, so that it is in the standby state. Then receive the control command to control the execution operation within a certain period of time, and perform the expected action according to the control command. It can accurately operate according to the instructions, improves the voice recognition control effect in the noise state, improves the recognition rate of the voice commands input by the user, can work according to the user's voice commands more accurately, and also increases the fun of human-computer interaction.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application;

Fig. 2 is a top view of the robot structure provided by the embodiment of the present application;

Fig. 3 is the bottom view of the robot structure provided by the embodiment of the present application;

Fig. 4 is the front view of the robot structure provided by the embodiment of the present application;

5 is a three-dimensional view of the robot structure provided by the embodiment of the present application;

Fig. 6 is the structural block diagram of the robot that the embodiment of the present application provides;

FIG. 7 is a schematic flowchart of a robot voice control method provided by an embodiment of the present application;

FIG. 8 is a schematic flowchart of a robot voice control method provided in another embodiment of the present application;

FIG. 9 is a schematic flow chart of a robot voice control method provided in yet another embodiment of the present application;

FIG. 10 is a schematic structural diagram of a robot voice control device provided by an embodiment of the present application;

FIG. 11 is a schematic structural diagram of a robot voice control device provided by another embodiment of the present application;

Fig. 12 is a schematic diagram of the electronic structure of the robot provided by the embodiment of the present application.

detailed description

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

It should be understood that although the terms first, second, third, etc. may be used to describe ... in the embodiments of the present application, these ... should not be limited to these terms. These terms are only used to distinguish ... from each other. For example, without departing from the scope of the embodiments of the present application, first... may also be referred to as second..., and similarly, second... may also be referred to as first....

In order to describe the behavior of the robot more clearly, the following directions are defined:

As shown in FIG. 5 , the robot 100 can travel on the ground by various combinations of movements relative to three mutually perpendicular axes defined by the main body 110 : the front-to-rear axis X, the lateral axis Y, and the central vertical axis Z. The forward driving direction along the front-rear axis X is designated "forward" and the rearward driving direction along the front-rear axis X is designated "rearward". The transverse axis Y extends substantially along the axis defined by the center point of the drive wheel module 141 between the right and left wheels of the robot.

The robot 100 can rotate around the Y axis. A "pitch" is when the forward part of the robot 100 is tilted up and the rearward part is tilted down, and "pitch" is when the forward part of the robot 100 is tilted down and the rearward part is tilted up. In addition, the robot 100 can rotate around the Z axis. In the forward direction of the robot, when the robot 100 is tilted to the right of the X-axis, it is a "right turn", and when the robot 100 is tilted to the left of the X-axis, it is a "left turn".

Please refer to FIG. 1 , which is a possible application scenario provided by the embodiment of the present application. The application scenario includes a robot, such as a sweeping robot, a mopping robot, a vacuum cleaner, a weeding machine, and the like. In some embodiments, the robot may be a robot, specifically a sweeping robot or a mopping robot. In implementation, the robot may be provided with a voice recognition system to receive voice commands from the user, and rotate in the direction of the arrow according to the voice commands to respond to the user's voice commands. The robot can also be provided with a voice output device to output prompt voice. In other embodiments, the robot may be provided with a touch-sensitive display to receive operation instructions input by the user. The robot can also be provided with wireless communication modules such as a WIFI module, a Bluetooth module, etc., to connect with the smart terminal, and receive the user's operation instructions transmitted by the smart terminal through the wireless communication module.

The structure of the relevant robot is described as follows, as shown in Figure 2-5:

The robot 100 includes a machine body 110 , a perception system 120 , a control system, a drive system 140 , a cleaning system, an energy system, and a human-computer interaction system 170 . as shown in picture 2.

The main body 110 of the machine includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximately D-shape with a front and rear circle.

As shown in FIG. 4 , the perception system 120 includes a position determination device 121 located above the machine body 110, a buffer 122 located at the forward portion 111 of the machine body 110, a cliff sensor 123 and an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer , gyroscope, odometer and other sensing devices provide various position information and motion state information of the machine to the control system 130 . The position determining device 121 includes but not limited to a camera and a laser distance measuring device (LDS). The following takes the laser distance measuring device of the triangulation distance measuring method as an example to illustrate how to determine the position. The basic principle of the triangular ranging method is based on the proportional relationship of similar triangles, and will not be described in detail here.

The laser distance measuring device includes a light-emitting unit and a light-receiving unit. The light emitting unit may include a light source emitting light, and the light source may include a light emitting element such as an infrared or visible light emitting diode (LED) emitting infrared light or visible light. Preferably, the light source may be a light emitting element emitting a laser beam. In this embodiment, a laser diode (LD) is taken as an example of a light source. In particular, light sources using laser beams can allow for more accurate measurements compared to other lights due to the monochromatic, directional, and collimated properties of laser beams. For example, infrared light or visible light emitted by a light-emitting diode (LED) is affected by surrounding environmental factors (such as the color or texture of an object) and may be less accurate in measurement compared to a laser beam. The laser diode (LD) can be a point laser, which measures the two-dimensional position information of the obstacle, or a line laser, which measures the three-dimensional position information of the obstacle within a certain range.

The light receiving unit may include an image sensor on which a light spot reflected or scattered by an obstacle is formed. An image sensor may be a collection of multiple unit pixels in a single row or in multiple rows. These light-receiving elements can convert light signals into electrical signals. The image sensor may be a complementary metal-oxide-semiconductor (CMOS) sensor or a charge-coupled device (CCD) sensor, and a complementary metal-oxide-semiconductor (CMOS) sensor is preferred due to cost advantages. Also, the light receiving unit may include a light receiving lens assembly. Light reflected or scattered by obstacles may travel through the light receiving lens assembly to form an image on the image sensor. The receiving lens assembly can include single or multiple lenses.

The base may support a light emitting unit and a light receiving unit which are arranged on the base and are spaced apart from each other by a certain distance. In order to measure obstacles in the 360-degree direction around the robot, the base can be rotatably arranged on the main body 110 , or the base itself can be rotated by setting a rotating element to rotate the emitted light and received light without rotating. The rotational angular velocity of the rotating element can be obtained by setting the optocoupler element and the code disc. The optocoupler element senses the tooth gap on the code disc, and the instantaneous angular velocity can be obtained by dividing the slippage time of the tooth gap and the distance between the tooth gaps. The greater the density of tooth gaps on the code disc, the higher the accuracy and precision of measurement, but the more precise the structure, the higher the amount of calculation; on the contrary, the smaller the density of tooth gaps, the higher the accuracy and accuracy of measurement. The accuracy is correspondingly lower, but the structure can be relatively simple, and the amount of calculation can be reduced, which can reduce some costs.

The data processing device connected with the light receiving unit, such as DSP, records and transmits the obstacle distance values at all angles in the direction of 0 degrees relative to the robot to the data processing unit in the control system 130, such as an application processor including a CPU (AP), the CPU runs a particle filter-based positioning algorithm to obtain the current position of the robot, and draws a map based on this position for navigation. The positioning algorithm preferably uses Simultaneous Localization and Mapping (SLAM).

Although the laser distance measuring device based on the triangulation method can measure the distance value at an infinite distance beyond a certain distance in principle, it is very difficult to realize long-distance measurement, such as more than 6 meters, mainly because It is limited by the size of the pixel unit on the sensor of the light unit, and is also affected by the photoelectric conversion speed of the sensor, the data transmission speed between the sensor and the connected DSP, and the calculation speed of the DSP. The measurement value of the laser distance measuring device affected by the temperature will also change intolerable to the system, mainly because the thermal expansion and deformation of the structure between the light-emitting unit and the light-receiving unit causes the angle between the incident light and the outgoing light to change, and the light-emitting unit And the light receiving unit itself will also have temperature drift problems. After the laser distance measuring device is used for a long time, the deformation caused by the accumulation of various factors such as temperature changes and vibrations will also seriously affect the measurement results. The accuracy of the measurement results directly determines the accuracy of the map drawing, which is the basis for the robot to further implement the strategy, and is especially important.

As shown in FIG. 3 , the forward part 111 of the machine body 110 can carry a buffer 122. When the driving wheel module 141 propels the robot to walk on the ground during the cleaning process, the buffer 122 detects the movement of the robot 100 via a sensor system, such as an infrared sensor. One or more events in the driving path, the robot can pass the events detected by the buffer 122, such as obstacles, walls, and control the driving wheel module 141 to make the robot respond to the events, such as moving away from the obstacles.

The control system 130 is arranged on the circuit board in the main body 110 of the machine, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. Based on the obstacle information fed back by the laser ranging device, the robot uses positioning algorithms, such as SLAM, to draw an instant map of the environment in which the robot is located. And combined with the distance information and speed information fed back by the buffer 122, the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices, it is comprehensively judged which working state the sweeper is currently in, such as Over the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next-step action strategies for different situations, so that the robot's work is more in line with the owner's requirements , with a better user experience. Furthermore, the control system 130 can plan the most efficient and reasonable cleaning path and cleaning method based on the map information drawn by SLAM, greatly improving the cleaning efficiency of the robot.

Drive system 140 may steer robot 100 across the ground based on drive commands having distance and angular information, such as x, y, and theta components. The driving system 140 includes a driving wheel module 141, which can simultaneously control the left wheel and the right wheel. In order to control the motion of the machine more accurately, preferably the driving wheel module 141 includes a left driving wheel module and a right driving wheel module respectively. The left and right drive wheel modules are opposed along a transverse axis defined by the main body 110 . In order for the robot to move more stably on the ground or to have a stronger movement capability, the robot may include one or more driven wheels 142, and the driven wheels include but not limited to universal wheels. The driving wheel module includes road wheels, a driving motor and a control circuit for controlling the driving motor. The driving wheel module can also be connected with a circuit for measuring driving current and an odometer. The driving wheel module 141 can be detachably connected to the main body 110, which is convenient for disassembly and maintenance. The drive wheels may have a biased drop suspension, movably secured, eg rotatably attached, to the robot body 110 and receive a spring bias biased downward and away from the robot body 110 . The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the robot 100 also contact the ground 10 with a certain pressure.

The cleaning system can be a dry cleaning system and/or a wet cleaning system. As a dry cleaning system, the main cleaning function comes from the cleaning system 151 composed of the roller brush, the dust box, the fan, the air outlet and the connecting parts between the four. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box. The dust removal ability of the sweeper can be characterized by the garbage cleaning efficiency DPU (Dust pick up efficiency). The cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the connection between the four. The wind utilization rate of the air duct formed by the components is affected by the type and power of the fan and is a responsible system design issue. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning robots with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 100 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also increase. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean. The dry cleaning system may also include a side brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the area of the roller brush of the cleaning system.

The energy system includes rechargeable batteries such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage. If there is dust on the exposed charging electrodes, due to the cumulative effect of charges during the charging process, the plastic body around the electrodes will be melted and deformed, and even the electrodes themselves will be deformed, making it impossible to continue charging normally.

The human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs. For path-guided cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.

Fig. 6 is a block diagram of a cleaning robot according to the present invention.

The sweeping robot according to the current embodiment may include: a microphone array unit for recognizing a user's voice, a communication unit for communicating with a remote control device or other devices, a moving unit for driving a main body, a cleaning unit, and a storage unit for Information storage unit. The input unit (the button of the sweeping robot, etc.), the object detection sensor, the charging unit, the microphone array unit, the direction detection unit, the position detection unit, the communication unit, the drive unit and the memory unit can be connected to the control unit to transmit predetermined information to the control unit. unit or receive predetermined information from the control unit.

The microphone array unit may compare the voice input through the receiving unit with information stored in the memory unit to determine whether the input voice corresponds to a specific command. If it is determined that the input voice corresponds to a specific command, the corresponding command is transmitted to the control unit. If the detected voice cannot be compared with information stored in the memory unit, the detected voice may be regarded as noise to ignore the detected voice.

For example, the detected voice corresponds to the words "come here, come here, come here, come here", and there is a text control command (come here) corresponding to the words in the information stored in the memory unit. In this case, corresponding commands can be transmitted into the control unit.

The direction detecting unit may detect the direction of the voice by using a time difference or a level of the voice input to the plurality of receiving units. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit may determine the moving path by using the voice direction detected by the direction detection unit.

The position detection unit may detect coordinates of the subject within predetermined map information. In one embodiment, information detected by the camera and map information stored in the memory unit may be compared with each other to detect the current location of the subject. In addition to the camera, the location detection unit may also use the Global Positioning System (GPS).

In a broad sense, the position detection unit can detect whether a subject is arranged at a specific position. For example, the position detection unit may include a unit for detecting whether the main body is arranged on the charging post.

For example, in the method for detecting whether the main body is arranged on the charging post, whether the main body is arranged at the charging position may be detected according to whether electric power is input into the charging unit. For another example, whether the main body is arranged at the charging position may be detected by a charging position detection unit arranged on the main body or the charging post.

The communication unit may transmit/receive predetermined information to/from a remote control device or other devices. The communication unit can update the map information of the cleaning robot.

The driving unit can operate the moving unit and the cleaning unit. The drive unit can move the mobile unit along a movement path determined by the control unit.

Predetermined information related to the operation of the cleaning robot is stored in the memory unit. For example, the map information of the area where the sweeping robot is arranged, the control command information corresponding to the voice recognized by the microphone array unit, the direction angle information detected by the direction detection unit, the position information detected by the position detection unit, and the information generated by the object. Obstacle information detected by the detection sensor may be stored in the memory unit.

The control unit may receive information detected by the receiving unit, the camera, and the object detection sensor. The control unit may recognize a user's voice based on the transmitted information, detect a direction in which the voice occurs, and detect a position of the cleaning robot. Furthermore, the control unit can also operate the mobile unit and the cleaning unit.

As shown in FIG. 7, applied to the robot in the application scenario of FIG. 1, the embodiment of the present application provides a robot voice control method, and the method includes the following steps:

Step S702: receiving a first voice command;

Typically, a robot's speech recognition system can have a dormant state and an active state. For example, when the robot is in a working state or not in use, the voice recognition system is in a dormant state at this time. In the dormant state, the voice recognition system will hardly occupy too many resources of the robot, and it will not recognize the first voice. other voice commands than commands.

If the voice recognition system in the dormant state receives the first voice instruction, the voice recognition system will be switched from the dormant state to the active state. In an activated state, the voice recognition system can recognize voice commands configured in the voice recognition system, such as a first voice command, a second voice command, and the like.

Specifically, the first voice command: is used to wake up the voice recognition system, that is, indicates to control the voice recognition system to be in an activated state. In implementation, if the voice recognition system is in a dormant state, when the robot receives the first voice command, it will switch the voice recognition system from the dormant state to the active state. If the voice recognition system is in the activated state, it is sufficient to control the voice recognition system to continue to be in the activated state, or no operation is required. In a specific embodiment, the first voice command can be customized or set by default. For example, the first voice command can be user-defined "turn on voice", "start up", "come here", "come here", "To here", "to here" etc. For the convenience of description, the following takes the first voice command as "come" as an example for illustration.

Step S704: Identify the sound source direction of the first voice command and make the robot turn to the sound source direction.

After the robot has received the first activation instruction such as "come here", the robot detects the direction of the voice through the direction detection unit, for example, by using the time difference or level of the voice input to a plurality of receiving units to detect the direction of the voice. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit can control the drive system by using the voice direction detected by the direction detection unit, so that the robot can perform actions such as turning in situ, so that the forward direction of the robot turns to the direction of the user's sound source. This kind of human-computer interaction is similar to that when a person who is working is called, he stops his work and turns to a dialogue state, making the human-computer interaction more humane.

In some possible implementations, as shown in FIG. 8 , the identifying the sound source direction of the first voice instruction and making the robot turn to the sound source direction specifically includes the following steps:

Step S7042: Identify the sound source direction of the first voice command;

Step S7044: make the robot turn to the direction of the sound source without stopping the driving motor;

After the robot has received the first activation instruction such as "come here", the robot detects the direction of the voice through the direction detection unit, for example, by using the time difference or level of the voice input to a plurality of receiving units to detect the direction of the voice. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit can control the drive system by using the voice direction detected by the direction detection unit, so that the robot can perform actions such as turning in situ, so that the forward direction of the robot turns to the direction of the user's sound source. During this process, the robot does not stop its working state, and the cleaning motor is still on.

Step S7046: Stop the operation of the drive motor.

After waiting for the robot to turn to the direction of the sound source, the robot only retains the active voice recognition system for all driving systems. At this time, the robot is in a complete standby state, and detects in real time whether there is a control command issued.

In the embodiment of the present application, when the first voice instruction is received, the voice recognition system of the robot is activated first, and the robot is controlled to turn to the direction of the sound source of the voice, so that it is in the standby state. Then receive the control command to control the execution operation within a certain period of time, and perform the expected action according to the control command. It can accurately operate according to the instructions, improves the voice recognition control effect in the noise state, improves the recognition rate of the voice commands input by the user, can work according to the user's voice commands more accurately, and also increases the fun of human-computer interaction.

In another embodiment, as shown in FIG. 9, the robot voice control method proposed by the present invention includes the following steps:

Step S902: Receive a first voice instruction.

Typically, a robot's speech recognition system can have a dormant state and an active state. For example, when the robot is in a working state or not in use, the voice recognition system is in a dormant state at this time. In the dormant state, the voice recognition system will hardly occupy too many resources of the robot, and it will not recognize the first voice. other voice commands than commands.

If the voice recognition system in the dormant state receives the first voice instruction, the voice recognition system will be switched from the dormant state to the active state. In an activated state, the voice recognition system can recognize voice commands configured in the voice recognition system, such as a first voice command, a second voice command, and the like.

Specifically, the first voice command: is used to wake up the voice recognition system, that is, indicates to control the voice recognition system to be in an activated state. In implementation, if the voice recognition system is in a dormant state, when the robot receives the first voice command, it will switch the voice recognition system from the dormant state to the active state. If the voice recognition system is in the activated state, it is sufficient to control the voice recognition system to continue to be in the activated state, or no operation is required. In a specific embodiment, the first voice command can be customized or set by default. For example, the first voice command can be user-defined "turn on voice", "start up", "come here", "come here", "To here", "to here" etc. The first voice command (wake-up voice command) is pre-stored in the robot or a cloud connected to the robot. For the convenience of description, the following takes the first voice command as "come" as an example for illustration.

Step S904: Identify the sound source direction of the first voice command and make the robot turn to the sound source direction.

After the robot has received the first activation instruction such as "come here", the robot detects the direction of the voice through the direction detection unit, for example, by using the time difference or level of the voice input to a plurality of receiving units to detect the direction of the voice. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit can control the drive system by using the voice direction detected by the direction detection unit, so that the robot can perform actions such as turning in situ, so that the forward direction of the robot turns to the direction of the user's sound source. This kind of human-computer interaction is similar to that when a person who is working is called, he stops his work and turns to a dialogue state, which makes the human-computer interaction more humane.

Step S906: Determine whether a second voice instruction for instructing an operation is received.

The second voice command: used to instruct the operation, that is, to instruct the control robot to perform an operation. The operation may be a custom setting operation, or a system default setting, for example: cleaning operation, mopping operation, weeding operation, etc. In a specific embodiment, the second voice command can be customized or set by default. For example, the second voice command can be user-defined "sweeping", "mopping the floor" or "cleaning". The second voice command (control voice command) is pre-stored in the robot or a cloud connected to the robot. For the convenience of description, the following takes the second voice command as "cleaning" as an example for illustration.

The judging whether the second voice instruction for instructing the operation is received may be judged within a preset time period, such as 1 minute, 2 minutes, etc., and the time period can be preset through the touch device. According to the monitoring situation in the preset time range, the following two situations are respectively implemented.

In the first case, step S908 is executed: if it is determined that the second voice instruction is received, the robot executes the operation indicated by the second voice instruction.

For example, if a control command of "cleaning" is detected within 1 minute, the robot will clean in a predetermined direction or position according to the user's command until another first voice control command is received.

In the second case, step S910 is executed: if it is determined that the second voice instruction is not received, the robot turns back to the original direction and continues to perform the original operation.

For example, if the control command "cleaning" is not detected within 1 minute, the robot will clean according to the original cleaning direction or position until it receives another first voice control command.

In the embodiment of the present application, when the first voice instruction is received, the voice recognition system of the robot is activated first, and the robot is controlled to turn to the direction of the sound source of the voice, so that it is in the standby state. Then receive the control command to control the execution operation within a certain period of time, and perform the expected action according to the control command. It can accurately operate according to the instructions, improves the voice recognition control effect in the noise state, improves the recognition rate of the voice commands input by the user, can work according to the user's voice commands more accurately, and also increases the fun of human-computer interaction.

In another embodiment, as shown in FIG. 10 , combined with the robot applied in the application scenario of FIG. 1 , this embodiment of the present application provides a robot voice control device, including a receiving unit 1002 and a recognition unit 1004. The description of each unit is as follows . The device shown in FIG. 10 can execute the method of the embodiment shown in FIG. 7 . For parts not described in detail in this embodiment, refer to the relevant description of the embodiment shown in FIG. 7 . For the execution process and technical effect of this technical solution, refer to the description in the embodiment shown in FIG. 7 , and details are not repeated here.

a receiving unit 1002, configured to receive a first voice instruction;

Recognition unit 1004: used to recognize the direction of the sound source of the first voice command and make the robot turn to the direction of the sound source.

After the robot has received the first activation instruction such as "come here", the robot detects the direction of the voice through the direction detection unit, for example, by using the time difference or level of the voice input to a plurality of receiving units to detect the direction of the voice. The direction detection unit transmits the detected direction of the voice to the control unit. The control unit can control the drive system by using the voice direction detected by the direction detection unit, so that the robot can perform actions such as turning in situ, so that the forward direction of the robot turns to the direction of the user's sound source. This kind of human-computer interaction is similar to that when a person who is working is called, he stops his work and turns to a dialogue state, which makes the human-computer interaction more humane.

In some possible implementation manners, the identification unit 1004 is also configured to perform the following operations:

identifying a sound source direction of the first voice instruction;

turning the robot to the direction of the sound source without stopping the operation of the drive motor;

Stop the operation of the driving motor.

After waiting for the robot to turn to the direction of the sound source, the robot only retains the active voice recognition system for all driving systems. At this time, the robot is in a complete standby state, and detects in real time whether there is a control command issued.

In another embodiment, as shown in FIG. 11 , combined with the robot used in the application scenario in FIG. Unit 1008. A description of each unit follows. The device shown in FIG. 11 can execute the method of the embodiment shown in FIG. 9 . For parts not described in detail in this embodiment, reference can be made to relevant descriptions of the embodiment shown in FIG. 9 . For the execution process and technical effect of this technical solution, refer to the description in the embodiment shown in FIG. 9 , and details are not repeated here.

The receiving unit 1002 is configured to receive a first voice instruction.

The recognition unit 1004 is configured to recognize the sound source direction of the first voice instruction and make the robot turn to the sound source direction.

A judging unit 1006, configured to judge whether a second voice instruction for instructing an operation is received.

The judging whether the second voice instruction for instructing the operation is received may be judged within a preset time period, such as 1 minute, 2 minutes, etc., and the time period can be preset through the touch device. According to the monitoring situation in the preset time range, the execution unit 1008 executes the following two situations respectively.

In the first case, if it is determined that the second voice instruction is received, the robot executes the operation indicated by the second voice instruction.

For example, if a control command of "cleaning" is detected within 1 minute, the robot will clean in a predetermined direction or position according to the user's command until another first voice control command is received.

In the second case, if it is determined that the second voice instruction is not received, the robot turns back to the original direction and continues to perform the original operation.

For example, if the control command "cleaning" is not detected within 1 minute, the robot will clean according to the original cleaning direction or position until it receives another first voice control command.

An embodiment of the present application provides a robot, including the robot voice control device described in any one of FIGS. 10-11 .

An embodiment of the present application provides a robot, including a processor and a memory, the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, any of the foregoing embodiments can be realized method steps.

An embodiment of the present application provides a non-transitory computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are called and executed by a processor, the method steps of any of the preceding embodiments are implemented.

As shown in FIG. 12 , a robot 1200 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 1201 that may be loaded into a random access memory according to a program stored in a read-only memory (ROM) 1202 or from a storage device 1208. (RAM) 1203 to execute various appropriate actions and processing. In the RAM 1203, various programs and data necessary for the operation of the electronic robot 1200 are also stored. The processing device 1201 , ROM 1202 , and RAM 1203 are connected to each other through a bus 1204 . An input/output (I/O) interface 1205 is also connected to the bus 1204 .

Typically, the following devices can be connected to the I/O interface 1205: input devices 1206 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 1207 such as a computer; a storage device 1208 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1209. The communication device 1209 may allow the electronic robot 1200 to communicate wirelessly or wiredly with other robots to exchange data. While FIG. 7 shows the cyborg 1200 with various devices, it should be understood that implementing or possessing all of the devices shown is not a requirement. More or fewer means may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, where the computer program includes program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 1209 , or from storage means 1208 , or from ROM 1202 . When the computer program is executed by the processing device 1201, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.

It should be noted that the above-mentioned computer-readable medium in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present disclosure, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device . Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

The above-mentioned computer-readable medium may be included in the above-mentioned robot, or may exist independently without being incorporated into the robot.

The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the robot, the robot: acquires at least two Internet protocol addresses; sends a node evaluation robot including the at least two Internet A node evaluation request for a protocol address, wherein the node evaluation robot selects an IP address from the at least two IP addresses and returns it; receives the IP address returned by the node evaluation robot; wherein, the obtained Internet Protocol address The protocol address indicates an edge node in the content distribution network.

Alternatively, the above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the robot, the robot: receives a node evaluation request including at least two Internet protocol addresses; Among the IP addresses, select the IP address; return the selected IP address; wherein, the received IP address indicates the edge node in the content distribution network.

Computer program code for carrying out the operations of the present disclosure can be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language - such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (such as through an Internet Service Provider). Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.

The units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of the unit does not constitute a limitation of the unit itself under certain circumstances, for example, the first obtaining unit may also be described as "a unit for obtaining at least two Internet Protocol addresses".

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (7)

1. A cleaning robot, comprising: a drive unit, a cleaning unit, walking wheels and a microphone array unit; The drive unit includes a drive motor configured to operate the cleaning unit and a sweep motor configured to drive the road wheels; The microphone array unit determines the sound source direction based on the first voice command input through the input device; the number of the input devices is more than 2, and the microphone array unit determines the sound source direction based on the first voice command input through the input device , including: The microphone array unit determines the direction of the sound source based on the time difference or level of the first voice command input through the two or more input devices; the driving motor drives the cleaning robot to turn to the first voice command The direction of the sound source of the command, and stop working after the steering is completed; The cleaning motor operates the cleaning unit to continue to work when the driving motor drives the cleaning robot to turn to the sound source of the first voice command, and stops working after the turning is completed. 2. The cleaning robot according to claim 1, further comprising: a control unit, After turning to the sound source of the first voice command, the control unit controls the cleaning robot to perform the operation indicated by the second voice command based on the second voice command input through the input device. 3. The cleaning robot according to claim 2, characterized in that: If the control unit determines that the input device has not received the second voice command, it controls the cleaning robot to turn back to the original direction and continue to perform the original operation. 4. The cleaning robot according to claim 3, wherein the control unit determines that the input device has not received the second voice instruction, comprising: The control unit determines that the input device has not received the second voice instruction within a preset time period. 5. The cleaning robot according to claim 2, characterized in that: The first voice command input through the input device is a wake-up voice command, and the second voice command is a manipulation voice command. 6. The cleaning robot according to claim 5, further comprising: The storage unit is used for pre-storing the wake-up voice instruction and the manipulation voice instruction. 7. A cleaning robot, comprising: a drive unit, a cleaning unit, walking wheels and a microphone array unit; The driving unit is used to drive the cleaning unit and the running wheels; The microphone array unit determines the direction of the sound source based on the first voice command input through more than two input devices; the microphone array unit determines the direction of the sound source based on the first voice command input through the input device, specifically comprising: The microphone array unit determines the direction of the sound source based on the time difference or level of the first voice command input through two or more input devices; The driving unit drives the cleaning robot to turn to the direction of the sound source of the first voice instruction, and stops working after the turning is completed.

Images