CN1664924A - Aquatic bionic animal voice control system - Google Patents
Aquatic bionic animal voice control system Download PDFInfo
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- CN1664924A CN1664924A CN200510064471XA CN200510064471A CN1664924A CN 1664924 A CN1664924 A CN 1664924A CN 200510064471X A CN200510064471X A CN 200510064471XA CN 200510064471 A CN200510064471 A CN 200510064471A CN 1664924 A CN1664924 A CN 1664924A
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Abstract
This invention discloses one internet sound parting shorthand method, which comprises the following steps: dividing the sounds; sending the sound parts to the recording ends with requirements; recording the parts as fonts parts; integrating the said sound relative font parts into one font whole.
Description
Technical field
The present invention relates to aquatic bionic animal voice control system.
Background technology
Voice are a kind of the most natural, modes the most easily that the mankind carry out information exchange. Along with the development of computer, mechanics of communication, the importance of speech recognition technology further obtains embodying in recent years. Meanwhile, in the robot research field, the underwater biomimetic robotic animal becomes the focus of research. For example, bionic machine fish is take fish as model, utilizes the methods such as modern machinery, electronics, control to realize from profile, the mode of moving about and the bionical of control ability that cooperate. The research of aquatic bionic animal is as the basis take bionics, take mechano-electronic etc. as means, adopt advanced Robotics to make up the model of " animal under the intelligence water ", the language that can allow machine animal such as machine fish, robotic dolphin etc. can understand the people also is one of its function. Speech recognition is controlled computer with sound and is finished some specific action, can replace the part button and come fill order. Control various manual systems with voice command, it is convenient greatly to bring to the user, and it is important that this point especially seems when people's both hands are in busy state. Speech recognition technology is with a wide range of applications, in the industrial auditory system that can be used for intelligent robot, and the control password of aircraft or data input etc.; Available voice control sorting mailbag in the postal system, mechanized directory assistance; Be used for the military commanding password system in military service; Speech recognition can help physical disabilities to control wheelchair, acoustic control input etc. In addition, voice are controlled at medical treatment, commercial field also tempting prospect.
Flourish along with electronic information technology, speech recognition technology and application study thereof more and more are subject to people's attention, and speech recognition has become a kind of development trend of intelligence control system. Take speech recognition and speech synthesis technique as the basis, make up the sense of hearing and the voice system of robot, just can make robot can understand people's language. Utilize the result of speech recognition as control signal, thereby can make robot finish given order, action or task. In general, how the Research of Speech Recognition adopts Digital Signal Processing automatically to extract and determine the most basic, the most significant information in the voice signal. Speech recognition algorithm commonly used has: based on the dynamic time warping (DTW) of template matches, based on the hidden markov model method (HMM) of statistical model and based on the identification of neutral net etc. After entering the eighties in 20th century, the emphasis of speech recognition technology research is turned to the continuous speech recognition of large vocabulary, unspecified person gradually by little vocabulary, the discrete speech recognition of particular person. On Research Thinking, also begin to turn to technical thought based on statistical model, particularly hidden markov model (HMM) by traditional technical thought based on the standard form coupling. But not in the very large application scenario in the identification vocabulary, simple and convenient based on the speech recognition technology of template matches, real-time good, and also discrimination is higher. Development along with the deep and Robotics that aquatic animal is advanced mechanism research, aquatic bionic animal miscellaneous has appearred, such as machine fish, snake robot, robotic dolphin etc., but in existing document, also do not see based on voice-operated aquatic bionic animal.
Summary of the invention
Main purpose of the present invention is to provide a kind of aquatic bionic animal voice control system in conjunction with Robotics and speech recognition technology.
For achieving the above object, the invention provides a kind of aquatic bionic animal voice control system, it comprises voice signal input module, sound identification module, micro controller module, remote-transmitter module, remote control reception module and external device, described voice signal input module is connected with described sound identification module, described micro controller module is connected with described sound identification module, remote-transmitter module and external device respectively, described remote control reception module is installed in the aquatic bionic animal body, is connected with the control system of described aquatic bionic animal.
Described sound identification module, micro controller module are arranged in the described aquatic bionic animal body.
It is external that described sound identification module, micro controller module are arranged on described aquatic bionic animal, forms an external voice remote controller with described voice input module and external device.
Described sound identification module is 16/32 voice control chip, and described micro controller module is low-power consumption, high performance single-chip microcomputer, and described micro controller module is 4,8,16 or 32 s' single-chip microcomputer.
Described micro controller module has LCD and drives and infraluminescence pipe driving force and multiple common interfaces.
Described micro controller module is connected with outer memory module.
The present invention also comprises an audio signal output module that is connected with described sound identification module, and described audio signal output module is loudspeaker, and described voice signal input module is microphone, and described external device comprises keyboard and display.
Owing to adopted above technical scheme, make the present invention have the advantages that the identification module volume is little, cost is low, discrimination is high, interactive vocabulary (drama) can be edited, expand according to user's request. The interactive voice mode of hommization has strengthened the interaction capabilities between aquatic bionic animal and the people greatly, has also strengthened the interesting and ornamental of aquatic bionic animal simultaneously.
The present invention will design for aquatic bionic animal voice control system, integratedly provide reference, can develop voice " pet " display systems with market application foreground, be applied to the science popularization exhibition in aquarium, children's palace; Simultaneously, also provide the theory and technology basis for mutual (human-machine interaction) between research aquatic bionic animal and the people.
Description of drawings
Fig. 1 is composition frame chart of the present invention
Fig. 2 is the operating process schematic diagram of external voice remote controller of the present invention
Fig. 3 is workflow diagram of the present invention
The specific embodiment
The below is according to preferred embodiment of the present invention, and the cooperation accompanying drawing is described further technical scheme of the present invention.
As shown in Figure 1, aquatic bionic animal voice control system provided by the present invention adopts modular organization, and it comprises voice signal input module 1, sound identification module 2, micro controller module 3, the memory module 4 that links to each other with micro controller module, remote-transmitter module 5, is installed in the remote control reception module 6 in the aquatic bionic animal body and comprises keyboard and the external device of display 7 etc. Voice signal input module 1 will be processed in the voice signal input sound identification module 2 that receive, by sound identification module 2 result is sent into micro controller module 3 again, read and write the training mode of sound template or according to training the language template of finishing to send the computing of control instruction, and by remote-transmitter module 5 instruction issue is gone out, by display 7 instruction that it sends is shown simultaneously. Remote control reception module 6 receives the instruction that micro controller modules 3 send, and by with aquatic bionic animal body that remote control reception module 6 is connected in control system control the action of aquatic bionic animal.
Voice signal input module 1 is generally various wired or wireless microphones. In order to realize the interactive voice mode of hommization between people and the aquatic bionic animal, strengthen the interaction capabilities between aquatic bionic animal and the people, the present invention can also arrange an audio signal output module 8, realizes the dialogue between people and the aquatic bionic animal. Audio signal output module 8 is generally loudspeaker, and it is connected with sound identification module 2. Identify the problem of enquirement when sound identification module 2 after, the answer language that just will preset is play by audio signal output module 8.
Sound identification module 2 in the speech control system, micro controller module 3 are connected with memory module to adopt and built-inly are connected with aquatic bionic animal with the external dual mode. When adopting built-in connection, sound identification module 2 in the speech control system, micro controller module 3 and memory module 4 are directly installed in the aquatic bionic animal body as a voice signal processing module, by the voice switch key, the control aquatic bionic animal enters or withdraws from the voice control model. In external connected, the sound identification module 2 in the speech control system, micro controller module 3 and memory module 4 can be combined with remote controller, and the remote controller that forms a whole, this remote controller have key-press input and two kinds of patterns of phonetic entry concurrently. The voice switch key can be installed on the housing of aquatic bionic animal, also can be installed on the voice remote controller.
In the present invention, sound identification module 2 is cores of speech control system, and its main body is a speech chip. Voice signal is input in the speech chip by microphone and speech iput circuit, by speech chip voice signal is processed, voice command is converted into the binary order code, carry out exchanges data by control line and data wire and micro controller module 3 again, and will answer accordingly language and automatically play by loudspeaker 8. Typical speech chip has Infineon SDA 80D51 A-U (Infineon), Apollo VP2 (Weisheng) etc. In general, speech chip has training and identifies two kinds of mode of operations. Because the voice command template of preserving in the speech chip after the power down can be lost, after powering on, again train again, speech control system all can be read the sound template that generates and write in the outside memory module 4 by microcontroller 3 after having trained each order from speech chip. After re-powering, whether microcontroller 3 is at first judged the voice command template that trains in the memory module 4, if having then command template is read successively and write the RAM memory of speech chip. Like this, directly enter recognition mode with regard to having saved training mode. But the RAM finite capacity of speech chip in order to store more the template number that trains, must add memory module 4, to utilize the voice command number of memory module 4 expansion identifications. During training, memory module 4 is read and write to microcontroller 3 with the voice command template that generates. But suppose a RAM store M voice command template of speech chip. During identification, microcontroller at first deposits front M voice command template in the storing template in the RAM of speech chip, add rear M voice command template such as needs, only need a control instruction, allow microcontroller 3 that speech chip RAM is read and write to rear M voice command template from memory module. For the volume that reduces speech control system and the I/O cost that reduces microcontroller, can select the E2PROM integrated chip of work in series as the core of memory module.
Sound identification module 2 must be selected the voice recognition chip that discrimination is high, response is fast, volume is little, low in energy consumption, have multiple output interface, as selects the process chip based on 16/32 DSP technology or 16/32 s' embedded-type ARM technology.
Micro controller module 3 is selected low-power consumption, high performance 4,8,16 or 32 s' High Performance SCM, have that volume is little, integrated level is high, good reliability, the control function is strong, favorable expandability, make up easily the application system of various scales, and have LCD driving and infraluminescence pipe driving force and multiple common interfaces. Common are W741E260 (magnificent nation), Samsung S3C2410 (Samsung) etc. On forming, a microcontroller chip is equivalent to a computer.
As shown in Figure 2, when the external voice remote controller is worked, namely enter the keyboard scan program behind the system initialization, the keyboard scan program has three kinds of functions to select: a, voice training pattern; B, manual operation mode; C, voice control model.
Press the multiplexing key on the remote controller, but just display command word enters the voice training pattern. The voice training pattern mainly realizes study, the training process of sound template. When using sound identification module for the first time, must train template. After the template stores that trains, the instruction of voice operating after just can be used as. Press the switch key on the remote controller, namely enter manual operation mode.
Manual operation mode is common button operation pattern, by keyboard scan, operates according to the prompting of liquid crystal display, and control signal is launched.
The voice control model is that system enters reading state, utilizes the template that trains to identify the phonetic order of input, and then is converted into the control instruction for specific control object, launches the action of control aquatic bionic animal with remote signal.
In the built-in voice control system course of work, only have voice training pattern and voice control model, and can enter voice control model or voice training pattern by the control biomimetics machine fish by the voice switch key.
In order to cooperate the use of external voice remote controller, also must add keyboard and display device 7, remote-transmitter module etc. Keyboard and display 7 are that the needs according to training mode design. Generate a correct voice command template and should input first the sequence number of voice command, then carry out the input of 2～4 voice signals. Keyboard is used for the sequence number of input template and the instruction of sending input speech signal, and display 7 is used for showing in real time physical training condition. The remote-transmitter module then is transformed into the recognition result of the sound identification module after processing through microcontroller the motion control instruction of aquatic bionic animal, and the mode by controlled in wireless sends again.
When the external voice remote controller was worked, speech control system can enter button and voice double-mode automatically, and this moment, any button or effective phonetic order all can make aquatic bionic animal carry out corresponding action. If ambient noise is too large, may have influence on the normal operation of speech recognition circuit, cause maloperation, can close speech voice input function this moment by the operation switch key, only adopts the button pattern to control. After ambient noise reduces, by a switch key, can restart speech voice input function again. The duty of speech control system can be judged by observing its working station indicator.
When speech control system is worked, microcontroller and sound identification module will be processed voice signal, usually adopt the sample frequency of 10kHz that the voice analog signal from microphone output is carried out digital collection, then carrying out recognizer processes, obtain the condition code of voice command, mate calculating with existing template again, export at last the recognition result of this voice command.
Workflow of the present invention as shown in Figure 3, after the system power-up, micro controller module is the initialization system parameter at first, then judge whether outer memory module has the voice command template that trains, call in immediately the sound template of outer memory module to the RAM of speech chip, enter the speech recognition state, otherwise turn to the voice training state. At the normal voice status recognition, as long as press the training key, system switches to training mode immediately. In training mode, can once train a voice command, also can once train a plurality of voice commands. Whenever finish a voice command template training process, microcontroller will be deposited into outside memory module to this voice command template automatically. Train complete after, press the return key of microcontroller, system can switch to recognition mode immediately. In identifying, if find that the discrimination of certain order is not ideal enough, only need press the training key and can again train this voice command, newly-generated voice command template will cover former template automatically. When it should be noted that in speech control system is built in the aquatic bionic animal body, in order to simplify system and convenient use, the memory module of the large volume, external of a plurality of voice command templates that train can being write direct. Like this, speech control system can enter recognition mode immediately when system power-up, and the template that trains under the squelch of laboratory has higher discrimination. But like this, can not change at random for the vocabulary of identification, only have and to change with special RAM programming software after sound identification module taken out. In addition, when editor's vocabulary, the control instruction that can pronunciation is close, easily obscures as with " soon ", " hurrying up ", " hurrying up again ", " acceleration ", " quicker ", " trip is hurried up ", " trip of hurrying up " as one group, and " acceleration " instruction of the equal corresponding aquatic bionic animal of result of identification. Like this, can obviously improve fault-tolerant ability and " intelligence " of speech recognition.
Embodiment
Use the bionical aquatic bionic animal voice control system of external of the present invention, it selects Infineon SDA80D51 (Infineon) the voice control chip with DSP and single-chip microcomputer double-core, SST 39VF1682 (flash memory) is acp chip for outer memory module, and circuit board is of a size of 6 * 10cm2 As experimenter during with microphone or headset and aquatic bionic animal (machine fish) dialogue, speech control system is identified immediately, and the result of identification is converted into the control instruction to aquatic bionic animal by in the loudspeaker playback. Control by voice, aquatic bionic animal can be finished a series of actions of moving about in water, as accelerating, slowing down, turns left, turns right, suddenly stops etc., and can have a vivid dialogue, and the dialogue of carrying out sees the following form.
| Sequence number | Problem | Voice answering | Output code |
| Daily dialogue part: | |||
| 1 | Hello! | Hello! Welcome Peking University system and control research center! | 0 |
| 2 | Hello！ | Hello！Welcome to Peking University Intelligent Control Laboratory ！ | 0 |
| 3 | Can speak English? | Of course！I am robot fish！ | 0 |
| 4 | What do you cry? | I am Biomimetic Fish, Robot fish. | 0 |
| 5 | What name? | I am Biomimetic Fish, Robot fish. | 0 |
| 6 | You understand anything | I understand via hole, keep away barrier, head a ball ... a lot of Dong Dong! | 0 |
| 7 | What can you perform? | I understand via hole, keep away barrier, head a ball ... a lot of Dong Dong! | 0 |
| 8 | What can you perform? | I understand via hole, keep away barrier, head a ball ... a lot of Dong Dong! | 0 |
| 9 | Show | Alright! At once with regard to show! | 0 |
| 10 | Demonstrate | Alright! At once with regard to show! | 0 |
| 11 | Perform | Alright! At once with regard to show! | 0 |
| 12 | One of Show | Alright! At once with regard to show! | 0 |
| 13 | You where | In the pond, play | 0 |
| 14 | You are towards which trip | In the pond, play | 0 |
| 15 | You are at What for | In the pond, play | 0 |
| 16 | Oneself is played | Toot! Have not you played with me? | 0 |
| 17 | Oneself is played and goes ahead | Toot! Have not you played with me? | 0 |
| 18 | You come wherefrom | The Based Intelligent Control laboratory | 0 |
| 19 | Who teaches you to swim | The Based Intelligent Control laboratory | 0 |
| 20 | Your well done | A compliment of thank you! | 0 |
| 21 | You are excellent | A compliment of thank you! | 0 |
| 22 | Jees for you | A compliment of thank you! | 0 |
| 23 | You are very good | A compliment of thank you! | 0 |
| 24 | You eat anything | I eat electricity, stimulate very much! | 0 |
| 25 | Goodbye | Remember again me! | 0 |
| 26 | Bye-bye | Remember again me! | 0 |
| 27 | Good-by | Remember again me! | 0 |
| 28 | What can hear the problem that is ignorant of (eat such as you?) answering: Sorry, I do not understand! | 0 | |
| 29 | The control command part: | ||
| 30 | Trip speed 1 | Alright! Trip speed 1. | 11 |
| 31 | Trip speed 2 | Alright! Trip speed 2. | 12 |
| 32 | Trip speed 3 | Alright! Trip speed 3. | 13 |
| 33 | Trip speed 4 | Alright! Trip speed 4. | 14 |
| 34 | Trip speed 5 | Alright! Trip speed 5. | 15 |
| 35 | Trip speed 6 | Alright! Trip speed 6. | 16 |
| 36 | Trip speed 7 | Alright! Trip speed 7. | 17 |
| 37 | |||
| 38 | Turn left 1 | Alright! Turn left 1. | 20 |
| 39 | Turn left 2 | Alright! Turn left 2. | 21 |
| 40 | Turn left 3 | Alright! Turn left 3. | 22 |
| 41 | Turn left 4 | Alright! Turn left 4. | 23 |
| 42 | |||
| 43 | Turn right 1 | Alright! Turn right 1. | 25 |
| 44 | Turn right 2 | Alright! Turn right 2. | 26 |
| 45 | Turn right 3 | Alright! Turn right 3. | 27 |
| 46 | Turn right 4 | Alright! Turn right 4. | 28 |
| 47 | |||
| 48 | Hurry up | Out of question! Hurry up again! | 30 |
| 49 | Hurry up again | Out of question! Hurry up again! | 30 |
| 50 | Accelerate | Out of question! Hurry up again! | 30 |
| 51 | Hurry up | Out of question! Hurry up again! | 30 |
| 52 | Quicker | Out of question! Hurry up again! | 30 |
| 53 | Trip is hurried up | Out of question! Hurry up again! | 30 |
| 54 | Hurry up and swim | Out of question! Hurry up again! | 30 |
| 55 | |||
| 56 | Slowly | An a little slower trip! | 40 |
| 57 | A little slower | An a little slower trip! | 40 |
| 58 | A little slower again | An a little slower trip! | 40 |
| 59 | Slowly | An a little slower trip! | 40 |
| 60 | Slow down | An a little slower trip! | 40 |
| 61 | A little slower trip | An a little slower trip! | 40 |
| 62 | Swim a little slower | An a little slower trip! | 40 |
| 63 | |||
| 64 | Front trip | Understand! A Go! | 50 |
| 65 | Forward | Understand! A Go! | 50 |
| 66 | Go forward | Understand! A Go! | 50 |
| 67 | Go ahead | Understand! | 50 |
| 68 | Go straight | Understand! A Go! | 50 |
| 69 | keep going | Understand! A Go! | 50 |
| 70 | Trip | Understand! A Go! | 50 |
| 71 | Advance | Understand! A Go! | 50 |
| 72 | Forward | Understand! | 50 |
| 73 | Trip forward | Understand! | 50 |
| 74 | Forward trip | Understand! | 50 |
| 75 | |||
| 76 | Left | Turn left! | 60 |
| 77 | Left | Turn left! | 60 |
| 78 | Turn left | Turn left! | 60 |
| 79 | Turn left | Turn left! | 60 |
| 80 | Turn left | Turn left! | 60 |
| 81 | Turn left | Turn left! | 60 |
| 82 | Toward turning left | Turn left! | 60 |
| 83 | Turn left | Turn left! | 60 |
| 84 | Left | Turn left! | 60 |
| 85 | |||
| 86 | Right | Turn right! | 70 |
| 87 | Right | Turn right! | 70 |
| 88 | Turn right | Turn right! | 70 |
| 89 | Turn right | Turn right! | 70 |
| 90 | Turn right | Turn right! | 70 |
| 91 | Toward turning right | Turn right! | 70 |
| 92 | Turn right | Turn right! | 70 |
| 93 | To the right | Turn right! | 70 |
| 94 | |||
| 95 | Stop | Alright! Finally can have a rest for a moment! | ff |
| 96 | Stop | Alright! Finally can have a rest for a moment! | ff |
| 97 | Stop | Alright! Finally can have a rest for a moment! | ff |
| 98 | Stop | Alright! Finally can have a rest for a moment! | ff |
| 99 | Stop | Alright! Finally can have a rest for a moment! | ff |
| 100 | Do not swum | Alright! Finally can have a rest for a moment! | ff |
| 101 | Do not move | Alright! Finally can have a rest for a moment! | ff |
| 102 | The meeting of having a rest | Alright! Finally can have a rest for a moment! | ff |
| 103 | The rest meeting | Alright! Finally can have a rest for a moment! | ff |
| 104 | Change one | I could have a rest for a moment finally! | ff |
| 105 | |||
| 106 | To knock | A narrow squeak! | 81 |
| 107 | Turn-take in the original place | Alright! Begin to have turn-taked! | 82 |
| 108 | Turn around | Alright! Turn around! | 83 |
In sum, in aquatic bionic animal voice control system provided by the invention, experimenter's (unspecified person, irrelevant with sex) phonetic order be converted in real time the motion control commands of aquatic bionic animal, thereby can control the behavior of aquatic bionic animal in water, and then a kind of novel control mode is provided. Sound identification module volume used in the present invention is little, cost is low, discrimination is high, and interactive vocabulary (drama) can be edited, expand according to user's request.
Aquatic bionic animal voice control system provided by the present invention, can be installed on the various aquatic bionic animals such as bionic machine fish, robotic dolphin, can realize the interactive voice mode of hommization between people and the aquatic bionic animal, greatly strengthen the interaction capabilities between aquatic bionic animal and the people, also strengthened the interesting and ornamental of aquatic bionic animal simultaneously.
Use the present invention, can develop the voice aquatic bionic animal display systems with market application foreground, be applied to the science popularization exhibition in aquarium, children's palace, simultaneously, also provide alternately the theory and technology basis for studying between intelligent aquatic bionic animal and the people.
The present invention is not subjected to the restriction of above embodiment, and those skilled in the art just can draw without creative thinking, all in protection scope of the present invention.
Claims (10)
1, a kind of aquatic bionic animal voice control system, it is characterized in that: it comprises voice signal input module, sound identification module, micro controller module, remote-transmitter module, remote control reception module and external device, described voice signal input module is connected with described sound identification module, described micro controller module is connected with described sound identification module, remote-transmitter module and external device respectively, described remote control reception module is installed in the aquatic bionic animal body, is connected with the control system of described aquatic bionic animal.
2, aquatic bionic animal voice control system as claimed in claim 1 is characterized in that: described sound identification module, micro controller module are arranged in the described aquatic bionic animal body.
3, aquatic bionic animal voice control system as claimed in claim 1, it is characterized in that: it is external that described sound identification module, micro controller module are arranged on described aquatic bionic animal, forms an external voice remote controller with described voice input module and external device.
4, such as claim 1 or 2 or 3 described aquatic bionic animal voice control systems, it is characterized in that: described sound identification module is 16/32 voice control chip, described micro controller module is low-power consumption, high performance single-chip microcomputer, and described micro controller module is 4,8,16 or 32 s' single-chip microcomputer.
5, aquatic bionic animal voice control system as claimed in claim 4 is characterized in that: described micro controller module has LCD and drives and infraluminescence pipe driving force and multiple common interfaces.
6, such as claim 1 or 2 or 3 or 5 described aquatic bionic animal voice control systems, it is characterized in that: described micro controller module is connected with outer memory module.
7, aquatic bionic animal voice control system as claimed in claim 4 is characterized in that: described micro controller module is connected with outer memory module.
8, such as claim 1 or 2 or 3 or 5 or 7 described aquatic bionic animal voice control systems, it is characterized in that: also comprise an audio signal output module that is connected with described sound identification module, described audio signal output module is loudspeaker, described voice signal input module is microphone, and described external device comprises keyboard and display.
9, aquatic bionic animal voice control system as claimed in claim 4, it is characterized in that: also comprise an audio signal output module that is connected with described sound identification module, described audio signal output module is loudspeaker, described voice signal input module is microphone, and described external device comprises keyboard and display.
10, aquatic bionic animal voice control system as claimed in claim 6, it is characterized in that: also comprise an audio signal output module that is connected with described sound identification module, described audio signal output module is loudspeaker, described voice signal input module is microphone, and described external device comprises keyboard and display.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880080A (en) * | 2012-10-15 | 2013-01-16 | 河海大学 | Somatosensory interaction method for bionic fish |
| CN103971682A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Voice control method for ice and snow robot |
| CN105045183A (en) * | 2015-07-30 | 2015-11-11 | 青岛歌尔声学科技有限公司 | Intelligent sensing aquatic system |
| CN106157949A (en) * | 2016-06-14 | 2016-11-23 | 上海师范大学 | A kind of modularization robot speech recognition algorithm and sound identification module thereof |
| CN107437419A (en) * | 2016-05-27 | 2017-12-05 | 广州零号软件科技有限公司 | A kind of method, instruction set and the system of the movement of Voice command service robot |
-
2005
- 2005-04-18 CN CN200510064471XA patent/CN1664924A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880080A (en) * | 2012-10-15 | 2013-01-16 | 河海大学 | Somatosensory interaction method for bionic fish |
| CN103971682A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Voice control method for ice and snow robot |
| CN105045183A (en) * | 2015-07-30 | 2015-11-11 | 青岛歌尔声学科技有限公司 | Intelligent sensing aquatic system |
| CN105045183B (en) * | 2015-07-30 | 2017-10-27 | 青岛歌尔声学科技有限公司 | A kind of intelligent-induction aquarium system |
| CN107437419A (en) * | 2016-05-27 | 2017-12-05 | 广州零号软件科技有限公司 | A kind of method, instruction set and the system of the movement of Voice command service robot |
| CN106157949A (en) * | 2016-06-14 | 2016-11-23 | 上海师范大学 | A kind of modularization robot speech recognition algorithm and sound identification module thereof |
| CN106157949B (en) * | 2016-06-14 | 2019-11-15 | 上海师范大学 | A kind of modularization robot speech recognition algorithm and its speech recognition module |
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