Voice control method and device for indoor mobile cleaning equipment and electronic equipment

Abstract

The invention relates to the technical field of smart home, and provides a voice control method and device for indoor mobile cleaning equipment and electronic equipment, and the voice control method for the indoor mobile cleaning equipment comprises the steps: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning equipment; a first human voice signal in the first sound signal is extracted based on human voice features stored in a preset storage unit, the human voice features are extracted based on a second sound signal collected by a second microphone, and the second microphone is installed on a base station of the indoor mobile cleaning equipment or a terminal associated with the indoor mobile cleaning equipment; determining a voice control instruction based on the first human voice signal; and indoor mobile cleaning equipment is controlled according to the voice control instruction. According to the method, the voice control of the indoor mobile cleaning equipment in the noise environment is realized, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a voice control method, device and electronic equipment for indoor mobile cleaning equipment. Background Art

[0002] With the rapid development of smart home technology, there are more and more automated and intelligent devices in the home environment. Among the many smart home devices, indoor mobile cleaning devices, such as sweeping robots, are widely used due to their automated cleaning functions.

[0003] At present, indoor mobile cleaning equipment has also added a voice control function. A microphone and a voice module are installed on the body of the indoor mobile cleaning equipment to receive the user's voice control instructions and convert them into corresponding machine instructions, and make corresponding actions according to the voice instructions, which provides a lot of convenience for users. However, since the various motors on the body of the indoor mobile cleaning equipment will generate a lot of noise when working, the user is easily disturbed by these noises when issuing voice instructions to the indoor mobile cleaning equipment, resulting in the indoor mobile cleaning equipment not being able to receive the instructions well and respond to the instructions accordingly. Summary of the invention

[0004] The present invention provides a voice control method, device and electronic device for indoor mobile cleaning equipment, which are used to solve the problem in the prior art that the motor on the body of the indoor mobile cleaning equipment generates large noise when working, which affects the indoor mobile cleaning equipment from receiving voice commands. Even in the noisy environment generated when the equipment is running, the user can effectively interact with the indoor mobile cleaning equipment through voice commands, thereby improving the efficiency of voice control and enhancing the user experience.

[0005] The present invention provides a voice control method for an indoor mobile cleaning device, comprising: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracting a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determining a voice control instruction based on the first human voice signal; and controlling the indoor mobile cleaning device according to the voice control instruction.

[0006] According to a voice control method for an indoor mobile cleaning device provided by the present invention, determining the user position according to the voice response includes: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracting a first human voice signal in the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determining a voice control instruction based on the first human voice signal; and controlling the indoor mobile cleaning device according to the voice control instruction.

[0007] According to a voice control method for indoor mobile cleaning equipment provided by the present invention, the voice control instruction is determined based on the first human voice signal, including: obtaining a third sound signal collected simultaneously with the first sound signal, the third sound signal being collected by the second microphone; extracting a third human voice signal from the third sound signal; determining a human voice signal to be identified based on the signal strengths of the first human voice signal and the third human voice signal; performing voice recognition on the human voice signal to be identified to obtain a voice recognition result; and determining the voice control instruction according to the voice recognition result.

[0008] According to a voice control method for an indoor mobile cleaning device provided by the present invention, the method further includes: performing sound source positioning according to the first sound signal and the third sound signal to obtain the sound source position; and controlling the indoor mobile cleaning device to move toward the sound source position.

[0009] According to a voice control method for an indoor mobile cleaning device provided by the present invention, the step of extracting human voice features includes: inputting the first sound signal into a pre-trained human voice extraction model to obtain the first human voice signal, wherein the human voice extraction model is trained by a sample sound signal of annotated human voice signals.

[0010] According to a voice control method for indoor mobile cleaning equipment provided by the present invention, the step of storing human voice features in the storage unit includes: obtaining a second sound signal collected by the second microphone; inputting the second sound signal into a pre-trained human voice feature extraction model to obtain the human voice features in the second sound signal, wherein the human voice feature extraction model is trained based on an unsupervised learning algorithm; determining whether the human voice features are stored in a preset storage unit; if not, storing the human voice features in the storage unit.

[0011] The present invention also provides a voice control device for an indoor mobile cleaning device, comprising: an acquisition module, configured to acquire a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; an extraction module, configured to extract a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; a determination module, configured to determine a voice control instruction based on the first human voice signal; and a control module, configured to control the indoor mobile cleaning device according to the voice control instruction.

[0012] According to a voice control device for indoor mobile cleaning equipment provided by the present invention, the determination module is further configured to: obtain a third sound signal collected simultaneously with the first sound signal, and the third sound signal is collected by the second microphone; extract a third human voice signal from the third sound signal; determine a human voice signal to be identified based on the signal strength of the first human voice signal and the third human voice signal; perform voice recognition on the human voice signal to be identified to obtain a voice recognition result; and determine a voice control instruction according to the voice recognition result.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a voice control method for an indoor mobile cleaning device as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the voice control method for an indoor mobile cleaning device as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the voice control method for an indoor mobile cleaning device as described above is implemented.

[0016] The voice control method, device and electronic device for indoor mobile cleaning equipment provided by the present invention extract the first human voice signal in the first sound signal based on the human voice features stored in a preset storage unit, then determine the voice control instruction based on the first human voice signal, and finally control the indoor mobile cleaning equipment according to the voice control instruction, thereby realizing voice control of the indoor mobile cleaning equipment in a noisy environment and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flow chart of the voice control method for indoor mobile cleaning equipment provided by the present invention.

[0019] Figure 2 It is a schematic diagram of a system consisting of an indoor mobile cleaning device and a base station provided by the present invention.

[0020] Figure 3 It is a structural schematic diagram of the voice control device of the indoor mobile cleaning equipment provided by the present invention.

[0021] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one", "one" or "the" do not indicate a quantitative limitation, but indicate the existence of at least one. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0024] The following is a brief explanation of the terms involved in the present invention.

[0025] Combine the following Figure 1-Figure 4 The invention describes a voice control method, device and electronic device for indoor mobile cleaning equipment.

[0026] Figure 1 : is a flow chart of the voice control method for indoor mobile cleaning equipment provided by the present invention, such as Figure 1 As shown, the method includes the following: Step 101: Acquire a first sound signal collected by a first microphone installed on an indoor mobile cleaning device.

[0027] In this embodiment, when someone makes a sound in the room, the first microphone will start to collect these sound signals, which may include human voices, noises generated by the indoor mobile cleaning equipment, and sounds of other objects.

[0028] Step 102: extract a first human voice signal from the first sound signal based on the human voice feature stored in a preset storage unit.

[0029] In this embodiment, the human voice feature is extracted based on the second sound signal collected by the second microphone, and the second microphone is installed in the base station of the indoor mobile cleaning device or the terminal associated with the indoor mobile cleaning device. The first microphone and the second microphone can be separate microphones or microphone arrays.

[0030] Human voice features can include spectral features (such as Mel frequency cepstral coefficients), time domain features (such as short-time energy, short-time zero-crossing rate) and features extracted by deep learning models, etc., which can reflect the uniqueness of human voice and the distinction from other sounds. Since the indoor mobile cleaning device may have multiple users, and the voice features of the same person may also change at any time, a storage module is required to store human voice features to facilitate the extraction and enhancement of human voice in noise. As an example, when the user uses voice to interact with the indoor mobile cleaning device for the first time, the base station will receive pure human voice input, and analyze the sound features therein through the model, and store the sound features in the specified memory after obtaining them. After the human voice features are stored, when the user uses voice to interact with the indoor mobile cleaning device again, the indoor mobile cleaning device will match according to the human voice features stored in the base station, extract and enhance the corresponding human voice signal, so that the indoor mobile cleaning device can obtain clearer human voice control commands.

[0031] Specifically, the first sound signal can be matched with the stored vocal features. As an example, the first sound signal can be converted into the same representation as the vocal features (such as a spectrogram or a feature vector), and a similarity metric (such as Euclidean distance, cosine similarity, etc.) can be used to evaluate the similarity between them. During the matching process, some preprocessing steps such as filtering and denoising can be applied to improve the matching effect. In addition, the first vocal signal in the first sound signal can also be extracted based on the vocal features stored in the preset storage unit by constructing a model.

[0032] Step 103: Determine a voice control instruction based on the first human voice signal.

[0033] In this embodiment, voice recognition can be performed directly on the first human voice signal to determine the voice control instruction, or voice recognition can be performed in combination with the human voice signal collected by the second microphone to determine the voice control instruction. Specifically, it can be performed through various natural language processing algorithms.

[0034] Step 104: Control the indoor mobile cleaning device according to the voice control command.

[0035] In this embodiment, the indoor mobile cleaning device can perform corresponding actions according to the parsed and mapped commands, and then return to its cleaning task or wait for the next user instruction.

[0036] The voice control method for an indoor mobile cleaning device provided by the present invention obtains a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracts a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determines a voice control instruction based on the first human voice signal; and controls the indoor mobile cleaning device according to the voice control instruction, thereby realizing voice control of the indoor mobile cleaning device in a noisy environment and improving user experience.

[0037] In some optional implementations, determining the voice control instruction based on the first human voice signal includes: obtaining a third sound signal collected simultaneously with the first sound signal, the third sound signal being collected by a second microphone; extracting a third human voice signal from the third sound signal; determining the human voice signal to be identified based on the signal strengths of the first human voice signal and the third human voice signal; performing voice recognition on the human voice signal to be identified to obtain a voice recognition result; and determining the voice control instruction based on the voice recognition result. The base station equipped with a microphone and a voice module is far away from the robot body, so the noise generated by the robot affects the base station in receiving the user's voice instruction, effectively avoiding the interference of the robot's own noise on the user's voice command.

[0038] In this implementation, based on the signal strengths of the first human voice signal and the third human voice signal, determining the human voice signal to be identified can be to compare the signal strengths of the first human voice signal and the third human voice signal with a preset strength threshold, and determining the human voice signal greater than the strength threshold as the human voice signal to be identified. If both the first human voice signal and the third human voice signal are less than the strength threshold, the sound source can be located, and the indoor mobile cleaning device can be controlled to move to the sound source position to receive a human voice signal with a stronger signal strength. In addition, the signal strengths of the first human voice signal and the third human voice signal can be compared, and the human voice signal with a stronger signal strength can be determined as the human voice signal to be identified.

[0039] In some optional implementations, the method further includes: locating the sound source according to the first sound signal and the third sound signal to obtain the sound source position; controlling the indoor mobile cleaning device to go to the sound source position. In addition, multi-dimensional positioning can be combined with indoor maps, user habits and other data. Specifically, the sound signals obtained by the indoor mobile cleaning device and the base station can be processed separately, and the processing process can be carried out in the processor of the base station. When only a single sound signal is transmitted, the autocorrelation function is used to locate the sound source; when the indoor mobile cleaning device and the base station both receive voice commands, a coordinate system is established with the indoor mobile cleaning device and the base station as the x-axis. After the sound source is sent to both, the two different sound sources are processed, and the maximum controllable response power beamforming method (SRP-PHAT) is used to calculate which direction the sound source power is the largest, thereby determining the direction of the sound source. The positioning of the sound source distance (the distance from the robot to the sound source) can be determined according to the time of sound propagation. The sound source is located together with the information returned by the microphone located on the base station and the indoor mobile cleaning device, and the direction of the sound source positioning will be more accurate.

[0040] In some optional implementations, the step of extracting the human voice feature includes: inputting the first sound signal into a pre-trained human voice extraction model to obtain the first human voice signal, wherein the human voice extraction model is trained by a sample sound signal with labeled human voice signals. The sample sound signal can be a human voice signal of the noise of the indoor mobile cleaning equipment itself, and the labeled human voice signal is used as a data set for model training for training, so that the model can achieve the effect of extracting and enhancing the human voice signal in the noise according to the characteristics of the human voice signal. The construction of the human voice extraction model can be based on deep learning technology, such as convolutional neural network (CNN) or recurrent neural network (RNN), and supervised learning of human voice extraction can be performed using machine learning frameworks such as pytorch. PyTorch is an open source machine learning library that is widely used in applications such as computer vision and natural language processing. It provides powerful GPU-accelerated tensor computing capabilities and dynamic computational graphs for building deep learning models.

[0041] In some optional implementations, the step of storing the human voice features in the storage unit includes: obtaining a second sound signal collected by a second microphone; inputting the second sound signal into a pre-trained human voice feature extraction model to obtain the human voice features in the second sound signal, wherein the human voice feature extraction model is trained based on an unsupervised learning algorithm; determining whether the human voice features are stored in a preset storage unit; if not, storing the human voice features in the storage unit. The sound signal is collected using a second microphone installed on the base station of the indoor mobile cleaning equipment, and the signal is relatively pure because the base station is far away from the noise source when the equipment is running. Using an unsupervised learning algorithm for training can reduce the workload of labeling.

[0042] In this implementation, unsupervised learning algorithms such as generative adversarial networks (GANs) and autoencoders can be used. Taking the generative adversarial network as an example, the generative adversarial network includes a generator and a discriminator. The goal of the generator is to generate features close to real human voices, and the goal of the discriminator is to distinguish the features generated by the generator from the real human voice features. Through adversarial training, the generator and the discriminator compete with each other, the generator is constantly improved to produce more realistic human voice features, and the discriminator continuously improves its recognition ability.

[0043] See also Figure 2 , Figure 2 It is a schematic diagram of a system composed of an indoor mobile cleaning device and a base station provided by the present invention, wherein the system includes an indoor mobile cleaning device 201, a base station 203 and a cloud server 205, wherein a microphone 202 is installed on the indoor mobile cleaning device 201, and a microphone 204 is installed on the base station 203. Wired or wireless communication can be used between the base station 203 and the indoor mobile cleaning device 201. For example, a network cable interface can be added to the base station 203, and the network cable can be used to connect to the home router to ensure that the base station 203 obtains an IP address in the same network segment as the indoor mobile cleaning device 201. When the base station 203 and the indoor mobile cleaning device 201 are in the same network, the two parties can realize the communication function; after the indoor mobile cleaning device 201 obtains the sound signal, the sound signal can be forwarded to the base station 203, and the base station 203 sends these signals to the cloud server 205 for processing and receiving the results, and then the base station 203 can forward the message with the location information and voice command to the indoor mobile cleaning device 201, and the indoor mobile cleaning device 201 responds accordingly according to the received message. The base station 203 communicates with the indoor mobile cleaning device 201 over the network, and also facilitates the base station's own information (such as full clean water tank, full sewage tank, and dust box information) to be sent to the indoor mobile cleaning device 201, and the indoor mobile cleaning device 201 exchanges base station information with the user.

[0044] The voice control device for an indoor mobile cleaning device provided by the present invention is described below. The voice control device for an indoor mobile cleaning device described below and the voice control method for an indoor mobile cleaning device described above can be referred to each other.

[0045] Figure 3 A schematic diagram of the structure of a voice control device for an indoor mobile cleaning device provided in an embodiment of the present application, such as Figure 3 As shown, it specifically includes: an acquisition module 301, configured to acquire a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; an extraction module 302, configured to extract a first human voice signal in the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; a determination module 303, configured to determine a voice control instruction based on the first human voice signal; and a control module 304, configured to control the indoor mobile cleaning device according to the voice control instruction.

[0046] The voice control device for indoor mobile cleaning equipment provided by the present invention realizes voice control of the indoor mobile cleaning equipment in a noisy environment, thereby improving user experience.

[0047] In some optional implementations, the determination module 303 is further configured to: obtain a third sound signal collected simultaneously with the first sound signal, the third sound signal being collected by a second microphone; extract a third human voice signal from the third sound signal; determine the human voice signal to be identified based on the signal strengths of the first human voice signal and the third human voice signal; perform speech recognition on the human voice signal to be identified to obtain a speech recognition result; and determine a voice control instruction based on the speech recognition result.

[0048] In some optional implementations, the device further includes a positioning module configured to: locate the sound source according to the first sound signal and the third sound signal to obtain the sound source position; and control the indoor mobile cleaning device to move to the sound source position.

[0049] In some optional implementations, the device also includes a vocal feature extraction module configured to: input the first sound signal into a pre-trained vocal extraction model to obtain a first vocal signal, wherein the vocal extraction model is trained by labeling sample sound signals of vocal signals.

[0050] In some optional implementations, the device also includes a storage module, which is configured to: obtain a second sound signal collected by a second microphone; input the second sound signal into a pre-trained vocal feature extraction model to obtain vocal features in the second sound signal, where the vocal feature extraction model is trained based on an unsupervised learning algorithm; determine whether the vocal features are stored in a preset storage unit; if not, store the vocal features in the storage unit.

[0051] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the voice control method of the indoor mobile cleaning device, the method comprising: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracting a first human voice signal in the first sound signal based on the human voice feature stored in the preset storage unit, wherein the human voice feature is extracted based on the second sound signal collected by the second microphone, and the second microphone is installed in the base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determining a voice control instruction based on the first human voice signal; and controlling the indoor mobile cleaning device according to the voice control instruction.

[0052] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0053] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the voice control method for an indoor mobile cleaning device provided by the above-mentioned methods, the method including: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracting a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed at a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determining a voice control instruction based on the first human voice signal; and controlling the indoor mobile cleaning device according to the voice control instruction.

[0054] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the voice control method for an indoor mobile cleaning device provided by the above-mentioned methods, the method comprising: obtaining a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; extracting a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed at a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; determining a voice control instruction based on the first human voice signal; and controlling the indoor mobile cleaning device according to the voice control instruction.

[0055] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0056] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A voice control method for indoor mobile cleaning equipment, characterized in that: The method comprises: Acquire a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; Extracting a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; Determining a voice control instruction based on the first human voice signal; The indoor mobile cleaning device is controlled according to the voice control instruction.

2. The voice control method for indoor mobile cleaning equipment according to claim 1, characterized in that: The determining the voice control instruction based on the first human voice signal includes: Acquire a third sound signal collected simultaneously with the first sound signal, wherein the third sound signal is collected by the second microphone; Extracting a third human voice signal from the third sound signal; Determining a human voice signal to be identified based on signal strengths of the first human voice signal and the third human voice signal; Performing speech recognition on the human voice signal to be recognized to obtain a speech recognition result; A voice control instruction is determined according to the voice recognition result.

3. The voice control method for indoor mobile cleaning equipment according to claim 2, characterized in that: The method further comprises: Performing sound source localization according to the first sound signal and the third sound signal to obtain a sound source position; The indoor mobile cleaning device is controlled to move toward the sound source location.

4. The voice control method for indoor mobile cleaning equipment according to claim 1, characterized in that: The step of extracting the vocal features comprises: The first sound signal is input into a pre-trained vocal extraction model to obtain the first vocal signal, wherein the vocal extraction model is trained by a sample sound signal of annotated vocal signals.

5. The voice control method for indoor mobile cleaning equipment according to claim 1, characterized in that: The step of storing the vocal features in the storage unit comprises: Acquire a second sound signal collected by the second microphone; Inputting the second sound signal into a pre-trained vocal feature extraction model to obtain vocal features in the second sound signal, wherein the vocal feature extraction model is trained based on an unsupervised learning algorithm; Determining whether the human voice feature has been stored in a preset storage unit; If not, the vocal feature is stored in the storage unit.

6. A voice control device for indoor mobile cleaning equipment, characterized in that: include: An acquisition module is configured to acquire a first sound signal collected by a first microphone installed on the indoor mobile cleaning device; an extraction module, configured to extract a first human voice signal from the first sound signal based on a human voice feature stored in a preset storage unit, wherein the human voice feature is extracted based on a second sound signal collected by a second microphone, and the second microphone is installed in a base station of the indoor mobile cleaning device or a terminal associated with the indoor mobile cleaning device; a determination module, configured to determine a voice control instruction based on the first human voice signal; The control module is configured to control the indoor mobile cleaning device according to the voice control instruction.

7. The voice control device for indoor mobile cleaning equipment according to claim 6, characterized in that: The determination module is further configured to: Acquire a third sound signal collected simultaneously with the first sound signal, wherein the third sound signal is collected by the second microphone; Extracting a third human voice signal from the third sound signal; Determining a human voice signal to be identified based on signal strengths of the first human voice signal and the third human voice signal; Performing speech recognition on the human voice signal to be recognized to obtain a speech recognition result; A voice control instruction is determined according to the voice recognition result.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the voice control method for the indoor mobile cleaning device according to any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the voice control method for an indoor mobile cleaning device according to any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the voice control method for an indoor mobile cleaning device according to any one of claims 1 to 5 is implemented.

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