Disclosure of Invention
The inventors found through research that: the related art service type robot has corresponding technical problems in realizing on-off through voice.
In the related technology of the first mode, after a user sends out a key word of shutdown, the robot calls a shutdown program, and the main advantage of the robot to shut down power supply of all equipment is that the robot achieves real shutdown, so that the power consumption of the robot is reduced to the minimum. Of course, the disadvantages of the related art are also obvious, and the robot can not recognize the voice command after the power-off, and can not start up through the voice command
In the related technology of the second mode, after a user sends out a key word of shutdown, the robot keeps the power supply of the voice recognition module and the power management system, and other equipment is powered off, so that the function of low power consumption is achieved. The mode has the main advantages that after the robot enters the shutdown state, the purpose of starting up through a voice instruction can be still achieved because the voice module is in the working state. The main disadvantage of this approach is: the voice recognition module is usually operated on a processor with strong operation capability such as RK3399 and the like due to large operation amount, so that the power consumption is high during operation, and the standby time of the robot after shutdown can be shortened.
In view of at least one of the above technical problems, the present disclosure provides a service robot and a method and apparatus for turning on/off the service robot by turning off a voice processing module when the service robot is turned off, and switching a voice signal collected by a microphone to a single chip microcomputer with low power consumption only for identifying specific keywords, so that the service robot has a function of identifying a startup instruction after the service robot is turned off.
According to one aspect of the present disclosure, there is provided a service robot voice switching on and off device including:
the voice recognition core module is used for recognizing a voice signal input by a user under the condition that the service robot is in a starting state; under the condition that a user shutdown instruction is identified, controlling the voice recognition core module to enter a shutdown state;
the singlechip is used for keeping a working state under the condition that the service robot is in a shutdown state; identifying a starting instruction input by a user; and under the condition that the starting-up instruction input by the user is identified, the service robot is instructed to enter a starting-up state, and the voice recognition core module is instructed to enter a working state.
In some embodiments of the present disclosure, the voice recognition core module is further configured to control the service robot to enter a shutdown state, control the singlechip to enter a working state, and control the voice recognition core module to enter a shutdown state when a shutdown instruction of a user is recognized.
In some embodiments of the present disclosure, the single-chip microcomputer is configured to instruct the service robot to enter a power-on state, instruct the speech recognition core module to enter a working state, and control the single-chip microcomputer to enter a power-off state when a power-on instruction input by a user is recognized.
In some embodiments of the present disclosure, the service robot voice switching on/off device further includes:
the voice pre-processing unit is used for collecting and processing voice signals input by a user and sending the processed voice signals to the voice recognition core module or the singlechip;
the voice switching circuit is used for conducting the voice pre-processing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice pre-processing unit sends processed voice signals to the voice recognition core module; and under the condition that the service robot is in a shutdown state, the voice pre-processing unit is conducted with the voice recognition core module, so that the voice pre-processing unit sends the processed voice signals to the voice recognition core module.
In some embodiments of the present disclosure, the service robot voice switching on/off device further includes:
the power management module is used for supplying power to the voice pre-processing unit, the voice recognition core module, the power module and the sensor under the condition that the service robot is in a starting state; and under the condition that the service robot is in a shutdown state, supplying power to the voice pre-processing unit and the singlechip.
In some embodiments of the present disclosure, the voice switching circuit includes a first switch and a second switch, wherein:
the first switch is closed and arranged between the voice pre-processing unit and the voice recognition core module, and the voice pre-processing unit is communicated with the voice recognition core module under the condition that the first switch is closed;
the second switch is closed and arranged between the voice pre-processing unit and the singlechip, and the voice pre-processing unit is communicated with the singlechip under the condition that the second switch is closed.
In some embodiments of the present disclosure, the service robot voice switching device further includes a voice switching control circuit, wherein:
the singlechip is connected with the voice switching circuit through a voice switching control circuit and is used for controlling the on-off of the second switch.
In some embodiments of the present disclosure, the service robot voice switching device further includes a first power supply line, a second power supply line, a third power supply line, a first communication line, and a second communication line, wherein:
the power management module supplies power to the voice pre-processing unit, the singlechip and the voice recognition core module through the first power supply circuit, the second power supply circuit and the third power supply circuit respectively;
the first communication line is arranged between the singlechip and the power management module, and the second communication line is arranged between the voice recognition core module and the power management module;
the voice recognition core module is used for sending a shutdown instruction to the power management module through the second communication line under the condition that the shutdown instruction of the user is recognized, and instructing the power management module to cut off the power supply to the voice recognition core module, the power module and the sensor, so that the power supply to the voice pre-processing unit and the singlechip is reserved;
the singlechip is used for issuing a startup instruction to the power management module through the second communication line under the condition that the startup instruction of the user is identified, and indicating the power management module to supply power to the voice pre-processing unit, the voice recognition core module, the power module and the sensor, so as to cut off the power supply to the singlechip.
In some embodiments of the present disclosure, the service robot voice switching device further includes a first power control switch and a second power control switch, wherein:
the first power supply control switch is connected in series in the third power supply circuit, and the second power supply control switch is connected in series in the second power supply circuit;
the singlechip is connected with the control end of the first power supply control switch and used for controlling the on-off of the first power supply control switch;
the voice recognition core module is connected with the control end of the second power supply control switch and used for controlling the on-off of the second power supply control switch.
In some embodiments of the present disclosure, the singlechip is configured to identify keywords related to the power-on instruction in the voice signal.
In some embodiments of the present disclosure, the power consumption of the single-chip microcomputer is less than the power consumption of the speech recognition core module.
According to another aspect of the present disclosure, there is provided a service robot including the service robot voice switching device according to any one of the above embodiments.
According to another aspect of the disclosure, a voice startup and shutdown method of a service robot is provided, wherein the service robot is the service robot according to any one of the embodiments above; the voice switching on/off method of the service robot comprises the following steps:
the voice recognition core module recognizes a voice signal input by a user under the condition that the service robot is in a starting state;
and the voice recognition core module controls the singlechip to enter a working state and controls the voice recognition core module to enter a closing state under the condition that the user closing instruction is recognized.
In some embodiments of the present disclosure, the service robot voice on-off method further includes:
the singlechip is in a working state under the condition that the service robot is in a shutdown state;
the singlechip identifies a starting instruction input by a user;
under the condition that the singlechip identifies a starting instruction input by a user, the singlechip instructs the service robot to enter a starting state, instructs the voice recognition core module to enter a working state, and controls the singlechip to enter a closing state.
In some embodiments of the present disclosure, the service robot voice on-off method further includes:
the voice preprocessing unit collects and processes voice signals input by a user;
the voice switching circuit is used for conducting the voice pre-processing unit and the voice recognition core module under the condition that the service robot is in a starting state, so that the voice pre-processing unit sends processed voice signals to the voice recognition core module;
the voice switching circuit is used for conducting the voice pre-processing unit and the voice recognition core module under the condition that the service robot is in a shutdown state, so that the voice pre-processing unit sends processed voice signals to the voice recognition core module.
In some embodiments of the present disclosure, the service robot voice on-off method further includes:
the power management module supplies power to the voice pre-processing unit, the voice recognition core module, the power module and the sensor when the service robot is in a starting state;
the power management module supplies power to the voice pre-processing unit and the singlechip under the condition that the service robot is in a shutdown state.
In some embodiments of the present disclosure, in a case that the voice recognition core module recognizes a user shutdown instruction, the service robot voice startup and shutdown method further includes:
the voice recognition core module controls a second power supply control switch of a second power supply circuit to be closed, so that the singlechip enters a working state;
the singlechip controls the second switch of the voice switching circuit to be closed, so that the voice signal processed by the voice pre-processing unit is sent to the singlechip;
the voice recognition core module sends a shutdown instruction to the power management module through the second communication line to send the shutdown instruction to instruct the power management module to cut off the power supply to the voice recognition core module, the power module and the sensor, and the power supply to the voice pre-processing unit and the singlechip is reserved.
In some embodiments of the present disclosure, in a case that the singlechip identifies a power-on instruction input by a user, the service robot voice power-on/off method further includes:
the singlechip sends a starting instruction to the power management module through a first communication line, and instructs the power management module to supply power to the voice pre-processing unit, the voice recognition core module, the power module and the sensor;
the singlechip controls the first power supply control switch to be closed, and the voice recognition core module enters a working state;
after the voice recognition core module enters a working state, the power supply of the singlechip is cut off through the second power supply control switch, and the singlechip enters a closing state;
after the voice switching circuit detects that the singlechip is powered down, the first switch is closed, so that the service robot enters a working state.
According to the method, the voice processing module is closed when the robot is powered off, voice signals collected by the microphone are switched to the singlechip with low power consumption only for identifying specific keywords, and the robot has the function of identifying a power-on instruction after the robot is powered off.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Fig. 1 is a schematic diagram of some embodiments of a voice power on/off device of a service robot of the present disclosure. As shown in fig. 1, the voice switching device of the service robot of the present disclosure may include a voice recognition core module 100 and a single chip microcomputer 200, wherein:
the voice recognition core module 100 is used for recognizing a voice signal input by a user when the service robot is in a starting state; in the case where the user's shutdown instruction is recognized, the voice recognition core module 100 is controlled to enter the shutdown state.
The singlechip 200 is used for keeping a working state under the condition that the service robot is in a shutdown state; identifying a starting instruction input by a user; when the startup instruction input by the user is recognized, the service robot is instructed to enter a startup state, and the voice recognition core module 100 is instructed to enter an operating state.
In some embodiments of the present disclosure, the single-chip microcomputer 200 may be used to identify specific keywords (e.g., "off" etc.) associated with the power-on instruction in the speech signal.
In some embodiments of the present disclosure, the power consumption of the single-chip 200 is much less than the power consumption of the speech recognition core module 100.
In some embodiments of the present disclosure, the voice recognition core module 100 may be further configured to control the service robot to enter a shutdown state when a shutdown instruction of a user is recognized, control the singlechip 200 to enter a working state, and control the voice recognition core module 100 to enter the shutdown state.
In some embodiments of the present disclosure, the single-chip microcomputer 200 may be further configured to instruct the service robot to enter a power-on state, instruct the speech recognition core module 100 to enter a working state, and control the single-chip microcomputer 200 to enter a power-off state when recognizing a power-on instruction input by a user.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching device may further include a voice pre-processing unit 300 and a voice switching circuit 400, wherein:
the voice pre-processing unit 300 is configured to collect and process a voice signal input by a user, and send the processed voice signal to the voice recognition core module 100 or the singlechip 200.
The voice switching circuit 400 is configured to conduct the voice pre-processing unit 300 with the voice recognition core module 100 when the service robot is in a power-on state, so that the voice pre-processing unit 300 sends the processed voice signal to the voice recognition core module 100; in the case that the service robot is in the power-off state, the voice pre-processing unit 300 is turned on with the voice recognition core module 100, so that the voice pre-processing unit 300 transmits the processed voice signal to the voice recognition core module 100.
In some embodiments of the present disclosure, as shown in fig. 1, the voice pre-processing unit 300 may include a ring microphone voice acquisition array 310, a low noise operational amplifier 320, an AD analog-to-digital converter 330, a DSP (Digital Signal Processing ) noise reduction and voice enhancement unit 340, a Flash350, an SDRAM (synchronous dynamic random-access memory) 360, wherein:
the voice sent by the user is collected by the annular microphone collection array 310, mechanical vibration of the voice is converted into analog voltage (because the time difference exists between the sounds collected by different annular microphones in the user direction, the voice recognition core module can judge the user direction according to the time difference), the analog voltage is output to the AD analog-to-digital converter 330 after being processed by the front-end low-noise operation amplifier 320, the analog voltage signal is converted into a digital voltage signal and is output to the DSP noise reduction and voice enhancement unit 340, the DSP reads the voice noise reduction and enhancement program of the Flash350 and calculates in the SDRAM360, and noise reduction and enhancement of the collected voice are completed.
Fig. 2 is a schematic diagram of some embodiments of a service robot of the present disclosure. As shown in fig. 2, the annular microphone collection array 310 of the present disclosure is disposed at the head of the service robot of the present disclosure. When the service robot works normally, a user can interact with the service robot in a voice mode, the service robot can position the user according to the annular microphone array installed on the head, and the voice of the position is enhanced.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching device may further include a power management module 500, wherein:
the power management module 500 is configured to supply power to the voice pre-processing unit 300, the voice recognition core module 100, the power module, the display, the sensor, and other modules when the service robot is in a power-on state; in the case that the service robot is in a power-off state, only the voice pre-processing unit 300 and the single chip microcomputer 200 are powered.
In some embodiments of the present disclosure, as shown in fig. 1, the voice switching circuit 400 includes a first switch S1 and a second switch S2, wherein:
the first switch S1 is closed and disposed between the speech pre-processing unit 300 and the speech recognition core module 100, and when the first switch S1 is closed, the speech pre-processing unit 300 is turned on with the speech recognition core module 100.
The second switch S2 is closed and arranged between the voice pre-processing unit 300 and the single chip microcomputer 200, and under the condition that the second switch S2 is closed, the voice pre-processing unit 300 is conducted with the single chip microcomputer 200.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching device may further include a voice switching control circuit 600, wherein:
the single chip microcomputer 200 is connected with the voice switching circuit 400 through a voice switching control circuit 600 and is used for controlling the on-off of the second switch S2.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice power on/off device may further include a cloud voice recognition engine 700, wherein:
the speech recognition core module 100 is configured to access the cloud speech recognition engine 700 via a wireless network for speech recognition.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching device further includes a first power supply line P1, a second power supply line P2, a third power supply line P3, a first communication line CAN1, and a second communication line CAN2, wherein:
the power management module 500 supplies power to the voice pre-processing unit 300, the singlechip 200 and the voice recognition core module 100 through the first power supply line P1, the second power supply line P2 and the third power supply line P3, respectively.
The first communication line CAN1 is disposed between the single chip microcomputer 200 and the power management module 500, and the second communication line CAN2 is disposed between the voice recognition core module 100 and the power management module 500.
The voice recognition core module 100 is configured to issue a shutdown instruction to the power management module 500 through the second communication line CAN2 when recognizing the shutdown instruction of the user, instruct the power management module 500 to cut off power to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface, and other modules, and retain power to the voice pre-processing unit 300 and the singlechip 200.
The singlechip 200 is configured to send a startup instruction to the power management module 500 through the second communication line CAN2 when recognizing the startup instruction of the user, instruct the power management module 500 to supply power to the modules such as the voice pre-processing unit 300, the voice recognition core module 100, the display, the sensor, and the like, and cut off power supply to the singlechip 200.
In some embodiments of the present disclosure, as shown in fig. 1, the service robot voice switching device may further include a first power supply control switch SW1 and a second power supply control switch SW2, wherein:
the first power supply control switch SW1 is connected in series with the third power supply line P3, and the second power supply control switch SW2 is connected in series with the second power supply line P2.
The singlechip 200 is connected with the control end of the first power supply control switch SW1, and is used for controlling the on-off of the first power supply control switch SW 1.
The voice recognition core module 100 is connected to the control end of the second power supply control switch SW2, and is used for controlling the on-off of the second power supply control switch SW 2.
Based on the service robot voice on-off device provided by the embodiment of the disclosure, the purpose that the service robot is turned on and off through voice instructions can be achieved, the voice processing module can be turned off during the shutdown, and voice signals collected by the microphone are switched to a single chip microcomputer with low power consumption only for identifying specific keywords, so that the robot has the function of identifying the on-off instructions after the robot is turned off. Meanwhile, in the embodiment of the disclosure, the power consumption of the singlechip is far smaller than that of a voice recognition core module (such as RK 3399), so that the shutdown power consumption of the service robot is reduced, and the standby time of the service robot after shutdown is prolonged.
According to another aspect of the present disclosure, as shown in fig. 2, a service robot is provided, which may include the service robot voice switching device according to any one of the embodiments (e.g., the embodiment of fig. 1).
In some embodiments of the present disclosure, as shown in fig. 2, the service robot of the present disclosure may further include various sensors, various display devices, various indicator lights, power modules, input-output interfaces, and the like.
In some embodiments of the present disclosure, as shown in fig. 2, a display device may include an expression screen 211 and a display screen 212; the sensors may include annular microphone collection array 310, lidar 221, ultrasound module 222, front camera 223, depth camera 224, etc.; the indicator lights may include a chassis indicator light 231 and a top indicator light 232; the input/output interfaces may include interfaces of an external device interface 241, a charging pole 242, a card swipe area 243, and the like; the power module class includes pitch degrees of freedom joints 251 and the like.
Based on the service robot provided by the embodiment of the disclosure, the purpose that the service robot is started and shut down through a voice command can be achieved through the voice startup and shutdown device of the service robot, the voice processing module can be closed during shutdown, and voice signals collected by the microphone are switched to a single chip microcomputer with low power consumption only for identifying specific keywords, so that the robot has the function of identifying startup commands after shutdown. Meanwhile, in the embodiment of the disclosure, the power consumption of the singlechip is far smaller than that of a voice recognition core module (such as RK 3399), so that the shutdown power consumption of the service robot is reduced, and the standby time of the service robot after shutdown is prolonged.
Fig. 3 is a schematic diagram of some embodiments of a voice power-on/off method of a service robot of the present disclosure. Preferably, this embodiment may be performed by the service robot voice switching device of any of the above embodiments of the present disclosure (e.g., the embodiment of fig. 1). The service robot of the present embodiment may be the service robot described in any of the above embodiments (e.g., the embodiment of fig. 2).
As shown in fig. 3, the voice power-on/off method of the service robot of the present disclosure may include steps 31 and 32, wherein:
in step 31, the speech recognition core module 100 recognizes the speech signal input by the user when the service robot is in the on state.
In step 32, the voice recognition core module 100 controls the single-chip microcomputer 200 to enter the working state and controls the voice recognition core module 100 to enter the off state when recognizing the shutdown instruction of the user.
In some embodiments of the present disclosure, the service robot voice on-off method may further include: the singlechip 200 keeps working state under the condition that the service robot is in a shutdown state; the singlechip 200 recognizes a startup instruction input by a user; under the condition that the singlechip 200 recognizes a startup instruction input by a user, the singlechip 200 instructs the service robot to enter a startup state, instructs the voice recognition core module 100 to enter a working state, and controls the singlechip 200 to enter a shutdown state.
In some embodiments of the present disclosure, the service robot voice on-off method may further include: the voice pre-processing unit 300 collects and processes voice signals input by a user; the voice switching circuit 400 conducts the voice pre-processing unit 300 and the voice recognition core module 100 when the service robot is in a power-on state, so that the voice pre-processing unit 300 sends the processed voice signal to the voice recognition core module 100; the voice switching circuit 400 conducts the voice pre-processing unit 300 with the voice recognition core module 100 in a case that the service robot is in a power-off state, so that the voice pre-processing unit 300 transmits the processed voice signal to the voice recognition core module 100.
In some embodiments of the present disclosure, the service robot voice on-off method may further include: the power management module 500 supplies power to the voice pre-processing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules when the service robot is in a starting state; the power management module 500 supplies power to the voice pre-processing unit 300 and the singlechip 200 in the case that the service robot is in a power-off state.
In some embodiments of the present disclosure, the service robot voice on-off method may further include: when the voice recognition core module 100 recognizes a user shutdown instruction, the voice recognition core module 100 controls the second power supply control switch SW2 of the second power supply line P2 to be closed, so that the singlechip 200 enters a working state; the singlechip 200 controls the second switch S2 of the voice switching circuit 400 to be closed, so that the voice signal processed by the voice pre-processing unit 300 is sent to the singlechip 200; the voice recognition core module 100 sends a shutdown instruction to the power management module 500 through the second communication line CAN2 to instruct the power management module 500 to cut off power supply to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules, and power supply to the voice pre-processing unit 300 and the singlechip 200 is reserved.
In some embodiments of the present disclosure, the service robot voice on-off method may further include: when the singlechip 200 recognizes a startup instruction input by a user, the singlechip 200 sends the startup instruction to the power management module 500 through the first communication line CAN1, and instructs the power management module 500 to supply power to the voice pre-processing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules; the singlechip 200 controls the first power supply control switch SW1 to be closed, and the voice recognition core module 100 enters a working state; after the voice recognition core module 100 enters a working state, the power supply of the singlechip 200 is cut off through the second power supply control switch SW2, and the singlechip 200 enters a closing state; after detecting that the singlechip 200 is powered down, the voice switching circuit 400 closes the first switch S1, so that the service robot enters a working state.
Fig. 4 is a schematic diagram of other embodiments of a voice startup and shutdown method of a service robot according to the present disclosure. Preferably, this embodiment may be performed by the service robot voice switching device of any of the above embodiments of the present disclosure (e.g., the embodiment of fig. 1). The service robot of the present embodiment may be the service robot described in any of the above embodiments (e.g., the embodiment of fig. 2).
As shown in fig. 4, the voice power-on/off method of the service robot of the present disclosure may include steps 41 to 47, wherein:
step 41, microphone voice acquisition.
In some embodiments of the present disclosure, step 41 may include: the annular microphone acquisition array acquires voice signals sent by a user and converts mechanical vibration of the voice into analog voltage.
In some embodiments of the present disclosure, there may be a time difference voice module to determine the user's orientation due to the different annular microphones of the user's orientation capturing the sound.
In some embodiments of the present disclosure, a user may interact with the robot in voice while the robot is operating normally, the robot may locate the user's position based on the head-mounted annular microphone array, and enhance the voice of this position.
Step 42, pre-speech processing.
In some embodiments of the present disclosure, step 42 may include: after the analog signals input by the annular microphone acquisition array 310 are processed by the pre-low noise operational amplifier 320, the analog voltages are output to the AD analog-to-digital converter 330, the analog voltage signals are converted into digital voltage signals and output to the DSP noise reduction and voice enhancement unit 340, the DSP reads the voice noise reduction and enhancement program in the Flash350 and calculates in the SDRAM360, and noise reduction and enhancement of the acquired voice are completed.
In step 43, the speech recognition core module 100 performs semantic recognition when the first switch S1 of the speech switching circuit is closed.
In some embodiments of the present disclosure, step 43 may include: when the service robot is in normal operation, the robot power management module 500 supplies power to the voice pre-processing unit 300 through the first power supply line P1, supplies power to the voice recognition core module 100 (for example, RK 3399) through the third power supply line P3, and communicates with the single chip microcomputer 200 through the first communication line CAN1 and communicates with the voice recognition core module 100 through the second communication line CAN 2; when the service robot works normally, the S1 in the voice switching circuit 400 is closed, the DSP340 sends the processing result to the voice recognition core module 100, and the voice recognition core module 100 accesses the cloud voice recognition engine 700 through the wireless network to perform voice recognition.
Step 44, when the voice recognition core module 100 recognizes the user shutdown instruction, the voice recognition core module 100 issues a power-down instruction to the power management module 500, and closes the second switch S2 and the second power supply control switch SW2 to enable the singlechip 200 to enter a working state; the robot enters a shutdown state.
In some embodiments of the present disclosure, step 44 may include: under the condition that the voice recognition core module 100 recognizes a user shutdown instruction of keywords such as shutdown, the voice recognition core module 100 controls a second power supply control switch SW2 of a second power supply line P2 to be closed, so that the singlechip 200 enters a working state; the singlechip 200 controls the second switch S2 of the voice switching circuit 400 to be closed, so that the voice signal processing result processed by the voice pre-processing unit 300 is sent to the singlechip 200; meanwhile, the voice recognition core module 100 sends a shutdown instruction to the power management module 500 through the second communication line CAN2 to issue a shutdown instruction (power-down instruction), and the power management module 500 is instructed to sequentially cut off power supply to the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules according to a power-down time sequence, so that power supply to the voice pre-processing unit 300 and the singlechip 200 is reserved.
In some embodiments of the present disclosure, step 44 may further include: after sending a shutdown instruction to the power management module 500 through the second communication line CAN2, the voice recognition core module 100 sends a first power supply switch shutdown instruction to the singlechip 200; the singlechip 200 controls the first power supply switch SW1 to be turned off, and the voice recognition core module 100 is powered off.
In step 45, under the condition that the second switch S2 of the voice switching circuit is closed, the single-chip microcomputer 200 enters a working state, and the robot is in a low-power-consumption shutdown state, and only limited 'start-up' keywords can be processed due to the very limited operation capability of the single-chip microcomputer 200.
In step 46, when the singlechip 200 recognizes the startup instruction input by the user, the startup instruction is sent to the power management module 500, the first power supply control switch SW1 and the first switch S1 are closed, and the singlechip enters a shutdown state.
In some embodiments of the present disclosure, step 46 may include: when the singlechip 200 recognizes a startup instruction input by a user, the singlechip 200 sends the startup instruction to the power management module 500 through the first communication line CAN1, and instructs the power management module 500 to supply power to the voice pre-processing unit 300, the voice recognition core module 100, the power module, the sensor, the indicator light, the power module, the input/output interface and other modules; meanwhile, the singlechip 200 controls the first power supply control switch SW1 to be closed, and the voice recognition core module 100 enters a working state; after the voice recognition core module 100 enters a working state, the power supply of the singlechip 200 is cut off through the second power supply control switch SW2, and the singlechip 200 enters a closing state; after detecting that the singlechip 200 is powered down, the voice switching circuit 400 closes the first switch S1, so that the service robot enters a working state. After that, step 61 is performed.
Based on the voice startup and shutdown method of the service robot, which is provided by the embodiment of the disclosure, the purpose that the service robot is started and shut down through voice instructions can be achieved, the voice processing module can be closed during shutdown, and voice signals collected by the microphone are switched to a singlechip with low power consumption only for identifying specific keywords, so that the robot has the function of identifying startup instructions after shutdown. Meanwhile, in the embodiment of the disclosure, the power consumption of the singlechip is far smaller than that of the voice recognition core module, so that the shutdown power consumption of the service robot is reduced, and the standby time of the service robot after shutdown is prolonged.
The speech recognition core modules described above may be implemented as general purpose processors, programmable Logic Controllers (PLCs), digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any suitable combination thereof, for performing the functions described herein.
Thus far, the present disclosure has been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
Those of ordinary skill in the art will appreciate that all or a portion of the steps implementing the above embodiments may be implemented by hardware, or may be implemented by a program indicating that the relevant hardware is implemented, where the program may be stored on a computer readable storage medium, where the storage medium may be a read only memory, a magnetic disk or optical disk, etc.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.