Method, device and equipment for driving cleaning robot through voice and medium

Abstract

The invention relates to the technical field of intelligent robots, and provides a method, device and equipment for driving a cleaning robot through voice and a medium. Comprises: receiving a cleaning voice instruction; converting the cleaning voice instruction into a text instruction; comparing the text instruction with a preset instruction mode to determine a scheduling demand; and planning a cleaning path according to the scheduling requirement and the current environment so as to clean according to the cleaning path. The method is simple to operate; the device is simple in structure, scientific and reasonable, cleaning efficiency is improved, cleaning is more comprehensive and thorough, and the cleaning effect is good.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent robots, and in particular to a method, device, equipment and medium for a voice-driven cleaning robot. Background Art

[0002] With the development of science and technology and the improvement of people's living standards, cleaning robots have been used in thousands of households. While cleaning robots bring convenience to people, there are also some problems: although existing cleaning robots can autonomously plan the cleaning path and cleaning process, their cleaning effect is not ideal in some vague areas. Moreover, in order to schedule a cleaning robot to clean a specified area, it is usually necessary to use a remote control or other device for control, which is cumbersome to operate. This adds a certain degree of difficulty and cost to cleaning services in specific scenarios such as hotels. Therefore, a simple and efficient cleaning robot scheduling solution is needed to solve these problems. Summary of the invention

[0003] The present disclosure provides a method, device, equipment and medium for voice-driven cleaning robots, including: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction mode to determine the scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other equipment, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction mode, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and improves the cleaning efficiency while making the cleaning more comprehensive and thorough, and the cleaning effect is good.

[0004] In order to achieve the above objectives, the present invention adopts the following technical solutions:

[0005] A first aspect of the present disclosure provides a method for driving a cleaning robot by voice, comprising:

[0006] Receive cleaning voice commands.

[0007] The cleaning voice instruction is converted into a text instruction.

[0008] The text instructions are compared with preset instruction patterns to determine scheduling requirements.

[0009] A cleaning path is planned according to the scheduling requirements and the current environment so that cleaning is performed along the cleaning path.

[0010] Furthermore, the method of driving the cleaning robot by voice, after receiving the cleaning voice instruction, further comprises:

[0011] The cleaning voice instruction is preprocessed.

[0012] Furthermore, the method for driving the cleaning robot by voice, preprocessing the cleaning voice command, comprises:

[0013] The cleaning voice instruction is subjected to noise removal and signal enhancement.

[0014] Furthermore, the method for driving the cleaning robot by voice, converting the cleaning voice instruction into a text instruction, comprises:

[0015] The cleaning voice instruction is subjected to spectrum analysis and sound feature extraction to construct a sound model.

[0016] Based on the sound model and the speech recognition algorithm, the cleaning voice instruction is recognized and decoded to be converted into the text instruction.

[0017] Furthermore, the method of driving the cleaning robot by voice, comparing the text instruction with a preset instruction mode to determine the scheduling requirement, includes:

[0018] Natural language processing and machine learning techniques are used to compare the text instructions with preset instruction patterns to determine scheduling requirements.

[0019] Furthermore, the method of driving the cleaning robot by voice, planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path, includes:

[0020] The cleaning path is planned according to the scheduling requirements, the current environment and visual assistance so that cleaning is performed along the cleaning path.

[0021] Furthermore, in the method of voice-driven cleaning robot, the visual assistance comprises:

[0022] Real-time images are acquired through the camera, and computer vision algorithms are used to identify target objects and obstacles.

[0023] Furthermore, the method of driving the cleaning robot by voice, after planning a cleaning path according to the scheduling requirements and the current environment so as to clean according to the cleaning path, further comprises:

[0024] The cleaning path is adjusted according to the environment map update and / or the real-time obstacle location.

[0025] Furthermore, the method of driving the cleaning robot by voice, adjusting the cleaning path according to the environment map update and / or the real-time obstacle position, includes:

[0026] The cleaning path and its own operation strategy are adjusted according to the environment map update and / or the real-time obstacle location.

[0027] A second aspect of the present disclosure provides a device for a voice-driven cleaning robot, comprising:

[0028] The receiving unit is used to receive the cleaning voice instruction.

[0029] The conversion unit is used to convert the cleaning voice instruction into a text instruction.

[0030] The comparison unit is used to compare the text instruction with a preset instruction mode to determine the scheduling requirement.

[0031] The planning unit is used to plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning according to the cleaning path.

[0032] Furthermore, the voice-driven cleaning robot device further comprises:

[0033] A preprocessing unit is used to preprocess the cleaning voice instruction.

[0034] Furthermore, the voice-driven cleaning robot device, the conversion unit, comprises:

[0035] A construction module is used to perform spectrum analysis and sound feature extraction on the cleaning voice instruction to construct a sound model.

[0036] The recognition and decoding module is used to recognize and decode the cleaning voice instruction based on the sound model and the speech recognition algorithm to convert it into the text instruction.

[0037] Furthermore, the voice-driven cleaning robot device further comprises:

[0038] An adjustment unit is used to adjust the cleaning path according to an environment map update and / or a real-time obstacle position.

[0039] A third aspect of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0040] A fourth aspect of the present disclosure provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0041] The present disclosure provides a method, device, electronic device and medium for voice-driven cleaning robots, including: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction mode to determine scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote controller or other device, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction mode, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and improves the cleaning efficiency while making the cleaning more comprehensive and thorough, and the cleaning effect is good.

[0042] At the same time, the present invention pre-processes the received cleaning voice instructions to improve accuracy and stability.

[0043] In addition, during the cleaning process, the present invention can adjust the cleaning path according to the environment map update and / or the real-time obstacle location, with a high degree of intelligence and good cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0045] Figure 1 This is a flow chart of a method for driving a cleaning robot by voice according to an embodiment of the present disclosure;

[0046] Figure 2 A schematic flow chart of another method for driving a cleaning robot by voice in an embodiment of the present disclosure;

[0047] Figure 3 A schematic diagram of the structure of a voice-driven cleaning robot according to an embodiment of the present disclosure;

[0048] Figure 4 Schematic diagram of the structure of another voice-driven cleaning robot in an embodiment of the present disclosure;

[0049] Figure 5 This is a schematic diagram of the electronic device structure of a voice-driven cleaning robot in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0051] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meanings as those commonly understood by technicians in the field of the present disclosure; the terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the terms "including" and "having" and any variations thereof in the specification and claims of the present disclosure and the above-mentioned drawings, and are intended to cover non-exclusive inclusions.

[0052] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0053] In the description of the embodiments of the present disclosure, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0054] In the description of the embodiments of the present disclosure, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0055] In the description of the embodiments of the present disclosure, the orientations or positional relationships indicated by technical terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", and "circumferential" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description. They do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the embodiments of the present disclosure.

[0056] In the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0057] Example 1

[0058] The present disclosure provides a method for driving a cleaning robot by voice. Figure 1 As shown, including:

[0059] 101. Receive a cleaning voice command.

[0060] Among them, the cleaning robot is equipped with a sound receiver for receiving cleaning voice instructions, and the cleaning voice instructions are sound information issued by the staff.

[0061] 102. Convert the cleaning voice instruction into a text instruction.

[0062] Specifically, based on machine learning and speech recognition algorithms, the input sweeping voice instructions will be recognized and decoded, thereby converting them into text-based instructions.

[0063] 103. Compare the text instruction with a preset instruction pattern to determine scheduling requirements.

[0064] The preset instruction mode stores a large number of text instructions, and the converted text instructions are compared with the preset instruction mode to determine the scheduling requirements represented by the converted text instructions.

[0065] 104. Plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning along the cleaning path.

[0066] Among them, after the meaning of the cleaning voice instructions is understood and parsed, the system will use the path planning algorithm to plan the best path and cleaning plan for the cleaning robot according to the scheduling requirements and the current environment.

[0067] The embodiment of the present disclosure provides a method for voice-driven cleaning robot, comprising: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction pattern to determine scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and while improving the cleaning efficiency, makes the cleaning more comprehensive and thorough, and has a good cleaning effect.

[0068] Example 2

[0069] The present disclosure provides a method for driving a cleaning robot by voice. Figure 2 As shown, including:

[0070] 201. Receive a cleaning voice command.

[0071] The cleaning voice is issued by the staff, and can be issued with the help of communication tools, such as: mobile phones, walkie-talkies, or directly issuing cleaning voice instructions to the cleaning robot. In this embodiment, the staff directly issues cleaning voice instructions to the cleaning robot.

[0072] 202. Preprocess the cleaning voice instruction.

[0073] Preprocessing the cleaning voice command includes noise removal and signal enhancement, wherein noise removal, as the name implies, is to remove the noise in the cleaning voice; signal enhancement is to enhance the cleaning voice command. The specific methods of noise removal and signal enhancement are basic technologies well known to those skilled in the art and will not be described in detail here.

[0074] 203. Convert the cleaning voice instruction into a text instruction.

[0075] Specifically, based on machine learning and speech recognition algorithms, the input sweeping voice instructions will be recognized and decoded, thereby converting them into text-based instructions.

[0076] Regarding the speech recognition algorithm, this embodiment lists several different methods:

[0077] The first one: algorithm based on dynamic time warping

[0078] It is still the mainstream method in continuous speech recognition. The method has a large amount of computation, but it is technically simple and has a high recognition accuracy. In small vocabulary and isolated word recognition systems, many improved DTW algorithms have been proposed. For example, the method of using the frequency-scale DTW algorithm for isolated word recognition.

[0079] The second method: the hidden Markov model (HMM) based on the parameter model

[0080] This algorithm is mainly used in speech recognition systems with large vocabulary. It requires more model training data, longer training and recognition time, and larger memory space. Generally, the continuous hidden Markov model has a larger amount of calculation than the discrete hidden Markov model, but the recognition rate is higher.

[0081] The third method: vector quantization (VQ) based on non-parametric model

[0082] The model training data, training and recognition time, and working storage space required by this method are very small, but the recognition performance of the VQ algorithm for large vocabulary speech recognition is not as good as HMM. It has been well applied in isolated character (word) speech recognition systems.

[0083] In addition, there are algorithms based on artificial neural networks (ANN) and hybrid algorithms, such as ANN / HMM method, FSVQ / HMM method, etc.

[0084] This embodiment uses the first one, that is, the algorithm based on dynamic time warping. In other embodiments, implementers can select according to their own needs.

[0085] 2031. Perform spectrum analysis and sound feature extraction on the cleaning voice command to construct a sound model.

[0086] Among them, the frequency domain analysis of the test signal is an analysis method that expresses the amplitude, phase or energy transformation of the signal with the frequency coordinate axis and then analyzes its frequency characteristics, which is also called spectrum analysis. Spectral analysis of the signal can obtain more useful information, such as obtaining the various frequency components and frequency distribution ranges in the dynamic signal, and finding the amplitude distribution and energy distribution of each frequency component, so as to obtain the frequency values ​​of the main amplitude and energy distribution.

[0087] There are many ways to extract sound features, but in most cases the following steps are required: Sound features can be extracted in the field of digital signal processing. Sound can be regarded as a time series signal. By extracting the frequency, amplitude and time features, we can convert the sound into a digital signal for analysis and processing. Specific sound feature extraction methods mainly include time domain features, frequency domain features, wavelet packet transform, etc. Among them, time domain features include short-time energy, short-time zero-crossing rate, etc.; frequency domain features include fast Fourier transform, cepstral coefficients, etc.; wavelet packet transform can decompose the sound signal into sub-bands and then extract the features on the sub-bands.

[0088] 2032. Based on the sound model and the speech recognition algorithm, the cleaning voice instruction is recognized and decoded to convert it into the text instruction.

[0089] Decoding is a process of using a specific method to restore digital data to the content it represents or convert electrical pulse signals, light signals, radio waves, etc. into the information, data, etc. it represents. Decoding is the process by which the receiver restores the received symbols or codes to information, which corresponds to the encoding process. In this embodiment, a decoder is directly used to decode the cleaning voice command to convert it into a text command.

[0090] 204. Compare the text instruction with a preset instruction pattern to determine a scheduling requirement.

[0091] Among them, natural language processing and machine learning technologies are used to compare text instructions with preset instruction patterns to determine scheduling requirements.

[0092] 205. Plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning along the cleaning path.

[0093] Among them, the cleaning path is planned according to the scheduling requirements, the current environment and visual assistance so that cleaning can be performed according to the cleaning path. Among them, visual assistance is to obtain real-time images through the camera and use computer vision algorithms to identify target objects and obstacles.

[0094] 206. Adjust the cleaning path according to the environment map update and / or the real-time obstacle location.

[0095] Specifically, the cleaning path and its own operation strategy are adjusted according to the environment map update and / or the real-time obstacle position.

[0096] The embodiment of the present disclosure provides a method for voice-driven cleaning robot, comprising: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction pattern to determine scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and while improving the cleaning efficiency, makes the cleaning more comprehensive and thorough, and has a good cleaning effect.

[0097] At the same time, the present invention pre-processes the received cleaning voice instructions to improve accuracy and stability.

[0098] In addition, during the cleaning process, the present invention can adjust the cleaning path according to the environment map update and / or the real-time obstacle location, with a high degree of intelligence and good cleaning effect.

[0099] Example 3

[0100] The present disclosure provides a device for driving a cleaning robot by voice, such as Figure 3 As shown, including:

[0101] The receiving unit 31 is used to receive a cleaning voice instruction.

[0102] The conversion unit 32 is used to convert the cleaning voice instruction into a text instruction.

[0103] The comparison unit 33 is used to compare the text instruction with a preset instruction mode to determine the scheduling requirement.

[0104] The planning unit 34 is used to plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning according to the cleaning path.

[0105] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.

[0106] The embodiment of the present disclosure provides a device for a voice-driven cleaning robot, comprising: a receiving unit for receiving cleaning voice instructions; a conversion unit for converting the cleaning voice instructions into text instructions; a comparison unit for comparing the text instructions with a preset instruction pattern to determine a scheduling requirement; a planning unit for planning a cleaning path according to the scheduling requirement and the current environment, so as to perform cleaning according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate. The scheduling requirement is determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirement and the current environment, which is scientific and reasonable, improves the cleaning efficiency, and makes the cleaning more comprehensive and thorough, with a good cleaning effect.

[0107] Example 4

[0108] The present disclosure provides a device for driving a cleaning robot by voice, such as Figure 4 As shown, including:

[0109] The receiving unit 41 is used to receive a cleaning voice instruction.

[0110] The preprocessing unit 42 is used to preprocess the cleaning voice instruction.

[0111] The conversion unit 43 is used to convert the cleaning voice instruction into a text instruction.

[0112] The construction module 431 is used to perform spectrum analysis and sound feature extraction on the cleaning voice instruction to construct a sound model.

[0113] The recognition and decoding module 432 is used to recognize and decode the sweeping voice instruction based on the sound model and the speech recognition algorithm to convert it into the text instruction.

[0114] The comparison unit 44 is used to compare the text instruction with a preset instruction mode to determine the scheduling requirement.

[0115] The planning unit 45 is used to plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning according to the cleaning path.

[0116] The adjustment unit 46 is used to adjust the cleaning path according to the environment map update and / or the real-time obstacle position.

[0117] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.

[0118] The embodiment of the present disclosure provides a device for a voice-driven cleaning robot, comprising: a receiving unit for receiving cleaning voice instructions; a conversion unit for converting the cleaning voice instructions into text instructions; a comparison unit for comparing the text instructions with a preset instruction pattern to determine a scheduling requirement; a planning unit for planning a cleaning path according to the scheduling requirement and the current environment, so as to perform cleaning according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate. The scheduling requirement is determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirement and the current environment, which is scientific and reasonable, improves the cleaning efficiency, and makes the cleaning more comprehensive and thorough, with a good cleaning effect.

[0119] At the same time, the preprocessing unit of the present invention preprocesses the received cleaning voice instructions to improve accuracy and stability.

[0120] In addition, the adjustment unit of the present invention can adjust the cleaning path according to the environment map update and / or the real-time obstacle location during the cleaning process, with a high degree of intelligence and good cleaning effect.

[0121] Example 5

[0122] The present disclosure provides an electronic device for a voice-driven cleaning robot, such as Figure 5 As shown, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned method of voice-driven cleaning robot are implemented.

[0123] A processing device (e.g., a central processing unit, a graphics processing unit, etc.) 51 can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 52 or a program loaded from a storage device 58 into a random access memory (RAM) 53. Various programs and data required for the operation of the electronic device are also stored in the RAM 53. The processing device 51, the ROM 52, and the RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0124] Typically, the following devices may be connected to the I / O interface 55: an input device 56 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 57 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 58 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 59. The communication device 59 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Figure 5An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead. Figure 5 Each block shown in the figure may represent one device, or may represent multiple devices as required.

[0125] In particular, according to some embodiments of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In some such embodiments, the computer program can be downloaded and installed from the network through the communication device 59, or installed from the storage device 58, or installed from the ROM 52. When the computer program is executed by the processing device 51, the above-mentioned functions defined in the method of some embodiments of the present disclosure are executed.

[0126] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.

[0127] The embodiment of the present disclosure provides an electronic device of a voice-driven cleaning robot, comprising: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction pattern to determine scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and while improving the cleaning efficiency, makes the cleaning more comprehensive and thorough, and has a good cleaning effect.

[0128] At the same time, the present invention pre-processes the received cleaning voice instructions to improve accuracy and stability.

[0129] In addition, during the cleaning process, the present invention can adjust the cleaning path according to the environment map update and / or the real-time obstacle location, with a high degree of intelligence and good cleaning effect.

[0130] Example 6

[0131] An embodiment of the present disclosure provides a computer-readable storage medium for a voice-driven cleaning robot, wherein a computer program is stored on the computer-readable storage medium. When the computer program is executed by one or more processors, the method for driving the cleaning robot as described above is implemented.

[0132] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0133] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0134] The computer-readable medium may be included in the device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: receives a voice cleaning instruction; converts the voice cleaning instruction into a text instruction; compares the text instruction with a preset instruction mode to determine the scheduling requirement; and plans a cleaning path according to the scheduling requirement and the current environment so as to clean according to the cleaning path.

[0135] Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0136] It should be noted here that the detailed description of each component in this embodiment can refer to other embodiments and will not be repeated here.

[0137] The embodiment of the present disclosure provides a computer-readable storage medium of a voice-driven cleaning robot, including: receiving cleaning voice instructions; converting the cleaning voice instructions into text instructions; comparing the text instructions with a preset instruction pattern to determine scheduling requirements; planning a cleaning path according to the scheduling requirements and the current environment, so as to clean according to the cleaning path. Compared with the prior art, the present disclosure realizes the cleaning of the cleaning robot by receiving voice instructions, and does not need to be controlled by a remote control or other device, and is easy to operate; the scheduling requirements are determined by comparing the text instructions with the preset instruction pattern, and then the cleaning path is planned according to the scheduling requirements and the current environment, which is scientific and reasonable, and while improving the cleaning efficiency, makes the cleaning more comprehensive and thorough, and has a good cleaning effect.

[0138] At the same time, the present invention pre-processes the received cleaning voice instructions to improve accuracy and stability.

[0139] In addition, during the cleaning process, the present invention can adjust the cleaning path according to the environment map update and / or the real-time obstacle location, with a high degree of intelligence and good cleaning effect.

[0140] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] The units described in some embodiments of the present disclosure may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes a receiving unit, an information acquisition unit, a target determination unit, and a distribution unit. The names of these units do not constitute limitations on the units themselves in some cases.

[0142] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0143] The above descriptions are only some preferred embodiments of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned inventive concept. For example, the above-mentioned features are replaced with the technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to) and the technical solutions formed.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A method for driving a cleaning robot by voice, characterized in that: include: Receive cleaning voice instructions; Converting the cleaning voice command into a text command; Comparing the text instruction with a preset instruction pattern to determine the scheduling requirement; A cleaning path is planned according to the scheduling requirements and the current environment so that cleaning is performed along the cleaning path.

2. The method of voice-driven cleaning robot according to claim 1, characterized in that: After receiving the cleaning voice command, it also includes: The cleaning voice instruction is preprocessed.

3. The method of voice-driven cleaning robot according to claim 2, characterized in that: Preprocessing the cleaning voice command includes: The cleaning voice instruction is subjected to noise removal and signal enhancement.

4. The method of voice-driven cleaning robot according to claim 1, characterized in that: Converting the cleaning voice command into a text command includes: Performing spectrum analysis and sound feature extraction on the cleaning voice command to construct a sound model; Based on the sound model and the speech recognition algorithm, the cleaning voice instruction is recognized and decoded to be converted into the text instruction.

5. The method of voice-driven cleaning robot according to claim 1, characterized in that: Comparing the text instruction with a preset instruction pattern to determine the scheduling requirements, including: Natural language processing and machine learning techniques are used to compare the text instructions with preset instruction patterns to determine scheduling requirements.

6. The method of voice-driven cleaning robot according to claim 1, characterized in that: Planning a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning according to the cleaning path includes: The cleaning path is planned according to the scheduling requirements, the current environment and visual assistance so that cleaning is performed along the cleaning path.

7. The method of voice-driven cleaning robot according to claim 5, characterized in that: The visual aids include: Real-time images are acquired through the camera, and computer vision algorithms are used to identify target objects and obstacles.

8. The method of voice-driven cleaning robot according to claim 1, characterized in that: After planning a cleaning path according to the scheduling requirements and the current environment so as to clean according to the cleaning path, the method further includes: The cleaning path is adjusted according to the environment map update and / or the real-time obstacle location.

9. The method for voice-driven cleaning robot according to claim 8, characterized in that: Adjusting the cleaning path according to the environment map update and / or the real-time obstacle location includes: The cleaning path and its own operation strategy are adjusted according to the environment map update and / or the real-time obstacle location.

10. A device for driving a cleaning robot by voice, characterized in that: include: A receiving unit, used for receiving a cleaning voice instruction; A conversion unit, used to convert the cleaning voice instruction into a text instruction; A comparison unit, used to compare the text instruction with a preset instruction pattern to determine the scheduling requirement; The planning unit is used to plan a cleaning path according to the scheduling requirements and the current environment so as to perform cleaning according to the cleaning path.

11. The device of voice-driven cleaning robot according to claim 10, characterized in that: Also includes: A preprocessing unit is used to preprocess the cleaning voice instruction.

12. The device of voice-driven cleaning robot according to claim 10, characterized in that: Conversion unit, including: A construction module is used to perform spectrum analysis and sound feature extraction on the cleaning voice command to construct a sound model; The recognition and decoding module is used to recognize and decode the cleaning voice instruction based on the sound model and the speech recognition algorithm to convert it into the text instruction.

13. The device of voice-driven cleaning robot according to claim 10, characterized in that: Also includes: An adjustment unit is used to adjust the cleaning path according to an environment map update and / or a real-time obstacle position.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

Images