1. A voice control method is applied to a logistics robot cluster, the logistics robot cluster comprises a plurality of logistics robots, and the voice control method is characterized by comprising the following steps:

when at least one logistics robot receives an activation voice command issued by a user, the at least one logistics robot enters an activation state; after the logistics robot enters the activation state, voice processing can be carried out;

the at least one logistics robot broadcasts an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

each logistics robot receives a control voice command issued by a user, wherein the control voice command comprises specific identity information and an action command of a specific logistics robot which is designated to execute an action;

and each logistics robot analyzes the control voice command, determines whether the specific identity information is the same as the identity information of the logistics robot, and executes corresponding action according to the action command when the specific identity information is the same as the identity information of the logistics robot.

2. The voice control method of claim 1, wherein the method further comprises:

each logistics robot with identity information different from the specific identity information confirms whether a confirmation message sent by the specific logistics robot is received or not, wherein the confirmation message is used for indicating that the specific logistics robot determines that the identity information of the specific logistics robot is the same as the specific identity information and analyzes the action command;

and when the confirmation message is not received, the logistics robot with the identity information different from the specific identity information broadcasts the specific identity information and the action command.

3. The voice control method according to claim 1, wherein the control voice command further includes packet number information of the logistics robot cluster;

each logistics robot analyzes the control voice command, and the method comprises the following steps:

in a first analysis stage, each logistics robot analyzes the grouping number information from the control voice command and determines whether the logistics robot belongs to a group corresponding to the grouping number information according to the grouping information of the logistics robot; and

in a second analysis phase, one or more logistics robots determined to belong to the corresponding group analyze the specific identity information and the action command from the control voice command.

4. The voice control method according to claim 3, wherein the action commands recognizable by the logistics robots belonging to different groups are different.

5. The voice control method of claim 1, wherein the analyzing the control voice command comprises:

analyzing the action command in the control voice command through semantic analysis.

6. The voice-control method of claim 1, wherein the corresponding action comprises: at least one of a shelf putting-down operation, a shelf lifting operation, a shelf unloading operation, an on-line operation, a resetting operation and a moving-to-specified position operation.

7. The voice control method according to any one of claims 1 to 6, wherein after receiving a control voice command issued by a user, the method further comprises:

and carrying out noise reduction processing on the control voice command.

8. The utility model provides a speech control device, is applied to logistics robot cluster, logistics robot cluster includes a plurality of logistics robot, its characterized in that includes:

the activation module is used for enabling at least one logistics robot to enter an activation state when the at least one logistics robot receives an activation voice command issued by a user; after the logistics robot enters the activation state, voice processing can be carried out;

a broadcasting module, configured to enable the at least one logistics robot to broadcast an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

the receiving module is used for enabling each logistics robot to receive a control voice command issued by a user, and the control voice command comprises specific identity information and an action command of a specific logistics robot which is designated to execute an action;

and the processing module is used for enabling each logistics robot to analyze the control voice command, determining whether the specific identity information is the same as the identity information of the logistics robot or not, and executing corresponding action according to the action command when the specific identity information is the same as the identity information of the logistics robot.

9. An electronic device, comprising:

a memory; and

a processor coupled to the memory, the processor configured to perform the voice control method of any of claims 1-7 based on instructions stored in the memory.

10. A computer-readable storage medium on which a program is stored, which program, when executed by a processor, implements the speech control method according to any one of claims 1 to 7.

Background

With the rapid development of electronic commerce and internet economy, higher and higher requirements are also put forward on the warehousing management capacity of commodity suppliers. In order to improve the operation efficiency and save manpower in the warehouse logistics link, an Automatic Guided Vehicle (AGV) type logistics robot is increasingly used to complete the work such as loading and unloading goods on shelves, carrying and the like in the places such as warehousing, sorting and the like, and the control mode for the logistics robot is gradually changed from key control, touch screen control to voice control.

However, the storage environment is often large in area and noisy, and the voice command of the user cannot be received by the logistics robot well, so that a series of problems such as no response of the logistics robot after the voice command is issued, and misrecognition of the voice command occur.

Therefore, there is a need for an improved voice control method for a logistics robot that addresses the above-mentioned problems, at least to some extent.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

An object of the embodiments of the present disclosure is to provide a voice control method, a voice control apparatus, an electronic device, and a computer-readable storage medium, so as to solve at least a problem that a storage environment affects recognition of a voice command by a logistics robot to a certain extent, thereby improving work efficiency of a storage logistics link.

According to an aspect of the present disclosure, there is provided a voice control method applied to a logistics robot cluster, where the logistics robot cluster includes a plurality of logistics robots, including:

when at least one logistics robot receives an activation voice command issued by a user, the at least one logistics robot enters an activation state; after the logistics robot enters the activation state, voice processing can be carried out;

the at least one logistics robot broadcasts an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

each logistics robot receives a control voice command issued by a user, wherein the control voice command comprises specific identity information and an action command of a specific logistics robot which is designated to execute an action;

and each logistics robot analyzes the control voice command, determines whether the specific identity information is the same as the identity information of the logistics robot, and executes corresponding action according to the action command when the specific identity information is the same as the identity information of the logistics robot.

In an exemplary embodiment of the present disclosure, the method further comprises: the logistics robot with the identity information different from the specific identity information confirms whether a confirmation message sent by the specific logistics robot is received or not, wherein the confirmation message is used for indicating that the specific logistics robot determines that the identity information of the specific logistics robot is the same as the specific identity information and analyzes the action command; and when the confirmation message is not received, the logistics robot with the identity information different from the specific identity information broadcasts the specific identity information and the action command.

In an exemplary embodiment of the present disclosure, the control voice command further includes group number information of the logistics robot cluster; each logistics robot analyzes the control voice command, and the method comprises the following steps: in a first analysis stage, each logistics robot analyzes the grouping number information from the control voice command and determines whether the logistics robot belongs to a group corresponding to the grouping number information according to the grouping information of the logistics robot; and in a second analysis stage, determining that one or more logistics robots belonging to the corresponding group analyze the specific identity information and the action command from the control voice command.

In an exemplary embodiment of the present disclosure, the action commands that can be recognized by the logistics robots belonging to different groups are different.

In an exemplary embodiment of the present disclosure, the analyzing the voice command includes: analyzing the action command in the control voice command through semantic analysis.

In an exemplary embodiment of the present disclosure, the corresponding action includes: at least one of a rack lowering operation, a rack lifting operation, a rack unloading operation, a resetting operation, and a moving to a specified position operation.

In an exemplary embodiment of the present disclosure, after receiving a control voice command issued by a user, the method further includes: and carrying out noise reduction processing on the control voice command.

According to an aspect of the present disclosure, there is provided a voice control apparatus applied to a logistics robot cluster, the logistics robot cluster including a plurality of logistics robots, including:

the activation module is used for enabling at least one logistics robot to enter an activation state when the at least one logistics robot receives an activation voice command issued by a user; after the logistics robot enters the activation state, voice processing can be carried out;

a broadcasting module, configured to enable the at least one logistics robot to broadcast an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

the receiving module is used for enabling each logistics robot to receive a control voice command issued by a user, and the control voice command comprises specific identity information and an action command of a specific logistics robot which is designated to execute an action;

and the processing module is used for enabling each logistics robot to analyze the control voice command, determining whether the specific identity information is the same as the identity information of the logistics robot or not, and executing corresponding action according to the action command when the specific identity information is the same as the identity information of the logistics robot.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method of any one of the above via execution of the executable instructions.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the above.

Exemplary embodiments of the present disclosure may have some or all of the following benefits:

in the voice control method provided by the disclosed example embodiment, on one hand, the logistics robot enters the activated state first and then issues the control voice command by using the activated voice command or the activated message, so that the logistics robot can better receive the control voice command of the user in the monitored state, thereby improving the success rate of receiving and identifying the control voice command by the logistics robot in the warehousing environment, and further improving the working efficiency of the warehousing and logistics link. On the other hand, by broadcasting the corresponding activation message to other logistics robots by the part of logistics robots receiving the activation voice command, all logistics robots in a working area can be enabled to enter an activation state in a conduction diffusion mode, so that the quality of receiving the control voice command by each robot in the logistics robot cluster can be improved particularly for the logistics robot cluster, the success rate of receiving and identifying the control voice command by the logistics robot cluster is improved, and the working efficiency of the warehousing logistics link is further improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

FIG. 1 schematically illustrates a flow diagram of a voice control method according to one embodiment of the present disclosure;

fig. 2 shows a schematic diagram of a process of bringing a logistics robot cluster into an active state by activating a voice command according to one embodiment of the present disclosure;

FIG. 3 is a diagram illustrating a process of issuing a control voice command to a logistics robot cluster according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram illustrating a process of issuing a control voice command to a logistics robot belonging to a different group according to an embodiment of the present disclosure;

FIG. 5 schematically illustrates a block diagram of a voice control apparatus according to one embodiment of the present disclosure;

FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and the like. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.

The technical solution of the embodiment of the present disclosure is explained in detail below:

the embodiment of the example provides a voice control method, which is applied to a logistics robot cluster, wherein the logistics robot cluster comprises a plurality of logistics robots. Referring to fig. 1, the voice control method may include the steps of:

s110, when at least one logistics robot receives an activation voice command issued by a user, the at least one logistics robot enters an activation state; after the logistics robot enters the activation state, voice processing can be carried out;

step S120, the at least one logistics robot broadcasts an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

s130, each logistics robot receives a control voice command issued by a user, wherein the control voice command comprises specific identity information and an action command of a specific logistics robot appointed to execute an action;

and S140, analyzing the control voice command by each logistics robot, determining whether the specific identity information is the same as the identity information of the logistics robot, and executing corresponding actions according to the action command when the specific identity information is the same as the identity information of the logistics robot.

According to the voice control method provided by the exemplary embodiment, on one hand, the logistics robot enters the activated state first and then issues the control voice command by using the activated voice command or the activated message, so that the logistics robot can better receive the control voice command of the user in the monitored state, the success rate of receiving and identifying the control voice command by the logistics robot in the warehousing environment is improved, and the working efficiency of the warehousing logistics link is improved. On the other hand, by broadcasting the corresponding activation message to other logistics robots by the part of logistics robots receiving the activation voice command, all logistics robots in a working area can be enabled to enter an activation state in a conduction diffusion mode, so that the quality of receiving the control voice command by each robot in the logistics robot cluster can be improved particularly for the logistics robot cluster, the success rate of receiving and identifying the control voice command by the logistics robot cluster is improved, and the working efficiency of the warehousing logistics link is further improved.

The above steps are explained in more detail below by way of exemplary embodiments.

In step S110, when at least one logistics robot receives an activation voice command issued by a user, the at least one logistics robot enters an activation state; and after the logistics robot enters the activated state, voice processing can be performed.

In the present exemplary embodiment, each logistics robot in the logistics robot cluster may be equipped with a voice pickup device, which may be a microphone or a microphone array, for example. The activate voice command may be a preset word or words and issued by the user via voice. The activate voice command may be a combination of words with or without a specific meaning, and for convenience of user memory, in this example embodiment, may be a combination of a plurality of words with specific meanings, for example. The activating voice command may be, for example, "hi robot". And each logistics robot can be set to monitor only for the active voice command when not entering the active state, and to enter the active state only when the active voice command is monitored. For example, each of the logistics robots may be configured to recognize a voice command through a voice recognition algorithm when the voice command is received, and enter an activated state in response to the voice command if the voice command is 'hi robot' as a result of the recognition, when the logistics robot does not enter the activated state; and if the voice command is the other voice command as a recognition result, each logistics robot does not respond. The speech recognition algorithm may be, for example, a Dynamic Time Warping (DTW) -based algorithm; in addition, the speech recognition algorithm may be other algorithms suitable for recognizing a specific speech command, such as an algorithm based on Vector Quantization (VQ) of a non-parametric model, and the like, and this is not particularly limited in the present exemplary embodiment.

As shown in fig. 2, when at least one of the logistics robots 202 receives a specific activating voice command issued by the user 201, for example, "hi robot", then the at least one logistics robot 202 may enter an activated state. Because the logistics robot usually depends on the self-integrated power module, such as a battery module, to supply power during the operation process, in consideration of the endurance time of the logistics robot, when the logistics robot does not enter the activated state, the current supplied to the voice pickup device can be reduced, so that the voice pickup device can work in the low-power mode, and unnecessary energy consumption can be reduced. When the logistics robot enters an activated state, the current supplied to the voice pickup device can be increased so as to enable the voice pickup device to work in a high-power mode, and the configuration parameters of the voice pickup device can be adjusted correspondingly, such as the receiving sensitivity of the voice pickup device is improved, so that the control voice command from the user can be received better and the receiving quality is improved. In one example, upon entering the activation state, the logistics robot may also send a response signal, for example, a status indicator light configured on the logistics robot may flash or display a specific color (e.g., yellow), and the logistics robot may also play a response voice through a speaker equipped with the logistics robot, for example, "i am"; in addition, the logistics robot may also pause or keep running according to actual conditions, for example, and this is not particularly limited in this example embodiment.

In step S120, the at least one logistics robot broadcasts an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state upon receiving the activation message.

In the present example embodiment, the effective propagation distance of the user's voice command is typically quite limited, as the warehousing environment tends to be large in area, closed, and noisy. This results in that in a certain work area, only a few logistics robots, which may be close to the user, can effectively receive the user's activation voice command and enter an activation state. For this case, as shown in fig. 2, a corresponding activation message may be generated by at least one logistics robot 202 that effectively receives the activation voice command according to the activation voice command, and the activation message may be broadcasted to other logistics robots 207. The activation message may be, for example, a dedicated message with a predetermined format and content. When the other logistics robots 207 receive the activation message, decoding analysis can be performed, and when the received message is recognized as the activation message, the other logistics robots 207 also enter an activation state in response to the activation message. In addition, after receiving the activation message, the other logistics robots 207 may further continue to broadcast the activation message, so that in a logistics robot cluster in a certain work area, the activation message can be transmitted in a conduction diffusion manner, and each logistics robot in the logistics robot cluster can enter an activation state progressively.

In one example, communication between the logistics robots may be implemented based on ZigBee (ZigBee) technology, such as broadcasting an activation message and receiving an activation message, etc. In addition, the communication between the logistics robots may be implemented based on other inter-device regional communication technologies, such as Ad-Hoc network technology, which is not particularly limited in this example embodiment.

In one example, each logistics robot may be set to exit the activated state after a preset time has elapsed. For example, after entering the activated state, if no further control voice command is received from the user within 20 seconds, each logistics robot may exit the activated state, for example, the current supplied to the voice pickup device may be reduced, the receiving sensitivity of the voice pickup device may be lowered, the transmission of the response signal may be stopped, the operation may be resumed, and the like, thereby returning to the normal operation state.

In step S130, each of the logistics robots receives a control voice command issued by a user, where the control voice command includes specific identity information and an action command of a specific logistics robot designated to perform an action.

In the present exemplary embodiment, in the activated state, the user may issue a control voice command to each logistics robot, and the control voice command may include specific identity information and an action command of a specific logistics robot specified by the user. For example, the identity information may be preset for all the logistics robots in the current working area, for example, numbers 1 to 50 may be preset for 50 logistics robots, so that when the logistics robots detect the voice command corresponding to their numbers, it can be known that the voice command is issued for themselves. For example, if the user wants to specify that the logistics robot numbered 3 executes a cargo lifting task, the user may issue a control voice command "car No. 3, lift", in which case the logistics robot No. 3 is a specific logistics robot, and the identity information "No. 3" is specific identity information, and the "lift" therein is a specific action command.

In step S140, each of the logistics robots analyzes the control voice command, determines whether the specific identity information is the same as the own identity information, and executes a corresponding action according to the action command when the specific identity information is the same as the own identity information.

In this example embodiment, when receiving a control voice command issued by a user, each logistics robot may analyze specific identity information and an action command in the control voice command. For example, a user issues a control voice command "car 3, lift", and each logistics robot may analyze specific identity information in the control voice command, i.e., "car 3", and an action command to be executed, i.e., "lift", based on a voice recognition algorithm; when the specific identity information obtained by analysis is 'number 3', each logistics robot can compare the identity information of the logistics robot, such as a serial number, with the specific identity information; when determining that the number of the logistics robot is, for example, No. 5 but not No. 3, the logistics robot may not respond to the action command obtained by the analysis; and when the number of the self is determined to be the same as the specific identity information, namely the number 3, the number 3 logistics robot determines that the self is the specific logistics robot, and can execute the lifting action according to the action command obtained by analysis.

In one example, the logistics robot can also analyze the action commands in the control voice commands through a semantic recognition algorithm, such as a Natural Language Processing (NLP) analysis algorithm. In this case, the user may not be limited to a specific command content when issuing the action command. For example, when the logistics robot recognizes an action command based on a voice recognition algorithm, if the action command issued by the user is "lift", the specific logistics robot can recognize that the content of the action command is an action for instructing to lift goods, and can execute a corresponding action according to the instruction of the action command; however, if the action command issued by the user is "lift up", which is different from the content of each action command that can be recognized by the logistics robot, the logistics robot cannot correctly recognize the content of the action command at this time. Through semantic recognition technology, for example, for the action command of "lift", the user may not be limited to a specific form, but may issue a series of action commands with similar meanings, such as "lift", "lift up", and the like, but with the same intentions, and the logistics robot can correctly recognize the action to be performed.

Through the example, the user can issue the action command in a more flexible mode without requiring the user to issue the action command conforming to the specified mode, so that on one hand, the training cost of the operating personnel of the logistics robot can be reduced, and the operator does not need to strictly memorize the specified mode of the action command; on the other hand, the speed of issuing action commands by field operators can be increased, so that the field operation efficiency is improved.

In one example, as shown in fig. 3, after analyzing a control voice command issued by a user 301 and determining that its own identity information is the same as specific identity information and an action command has been analyzed, a specific logistics robot 304 may broadcast an Acknowledgement (ACK) message, for example, to notify a non-specific logistics robot 303 whose identity information is different from the specific identity information: the control voice command has been correctly received. And the non-specific logistics robot 303 may detect whether the confirmation message is received within a preset time period, for example, 5 seconds, after receiving the control voice command. If the confirmation message is received, the non-specific streaming robot 303 may ignore the previously received control voice command and continue normal operation; if the confirmation message is not received within a preset time period, the non-specific logistics robot 303 determines that the specific logistics robot 304 fails to correctly receive the control voice command; in this case, the one or more non-specific logistics robots 303 may broadcast the specific identity information and the action command obtained by self analysis, for example, the one or more non-specific logistics robots 303 may broadcast a message or a message corresponding to "car 3, lift", so that the specific logistics robot 304 having the identity of "car 3" can correctly know that the control voice command issued by the user 301 specifies that the user itself executes the action of "lift", and accordingly respond to the control voice command to execute the lift action.

Through the above example, in the case that the specific logistics robot fails to receive the control voice command due to possible environmental factors, through a guarantee mechanism of "detection confirmation message-judgment-broadcast", the specific logistics robot can be ensured to correctly receive the control voice command and execute corresponding actions by the non-specific logistics robot, so that a user does not need to repeatedly confirm whether the control voice command is correctly received or repeatedly send the control voice command underground, the stability of the logistics robot cluster in terms of receiving and responding to the command is ensured, and the operating efficiency of the logistics robot cluster is improved.

In one example, as shown in fig. 4, different grouping information may be previously set for each logistics robot. For example, for a cluster including 50 logistics robots, for example, 20 logistics robots 405 may be divided into groups a for transportation and the other 30 logistics robots 406 may be divided into groups B for loading and unloading by job area or job content, and respective grouping information, such as respective group identifiers and member-within-group lists corresponding to intra-group numbers a1 to a20 and B1 to B30, may be written in advance in the storage devices of the 50 logistics robots in accordance with the grouping situation. Correspondingly, the control voice command issued by the user 401 may further include packet number information of the logistics robot cluster, such as a packet a or a packet B. In this case, when the 50 logistics robots receive the control voice command and perform analysis, first, the group number information, such as group a or group B, may be analyzed from the control voice command in the first analysis stage, respectively; and determines whether or not to belong to the packet corresponding to the packet number information, i.e., to the packet designated by the user in the control voice command, based on the own packet identification code, respectively. For example, the control voice command issued by the user is "group B, car No. 3, car No. 5, loading and unloading", a logistics robot 406 can analyze the group number information as "group B" from the control voice command in the first analysis stage, and the own group identification code corresponds to the number B16, so that the logistics robot can know that the logistics robot belongs to the group B designated by the user; in this case, the logistics robot 405 belonging to the group a can accordingly know that it does not belong to the group B designated by the user, and can exit the activated state and continue to perform the original task action.

Then, in a second analysis stage, the logistics robot belonging to the group specified by the user can further analyze the control voice command and analyze the control voice command to obtain specific identity information and action commands. In the above example, after the logistics robot whose group identifier corresponds to the number B16 knows that the logistics robot belongs to the group specified by the user by analyzing the control voice command, the logistics robot can continue to analyze the control voice command, so as to obtain the specific identity information of "car 3, car 5", and the action command of "loading and unloading"; the logistics robot can compare its own identity information with the specific identity information in the manner described above, for example, when the identity information is "No. 5", the logistics robot can perform a corresponding cargo handling operation according to the operation command. In addition, after the specific logistics robot belonging to the group B correctly receives the control voice command, a confirmation message can be broadcasted to the logistics robot belonging to the group B according to the member list in the group and in the manner described above; while a non-specific streaming robot belonging to group B may broadcast specific identity information and action commands within group B according to the list of members within the group and in the manner described above, accordingly, if no acknowledgement message is received within a preset time period.

By the above example, more refined control can be realized by dividing the groups in the logistics robot cluster, so that the influence on the logistics robot which is not specified in the logistics robot cluster when a user issues a voice command is reduced at least to a certain extent, the time for waiting for the command and interrupting the task can be shortened, and the work efficiency of the logistics robot cluster can be improved.

In the above example, it is also possible to set the logistics robots belonging to the group a and the group B, respectively, so that the recognizable motion commands are different. For example, an action command recognition library of the logistics robot belonging to the group a may be provided so as to be able to recognize the transportation command but not the loading and unloading command; accordingly, the operation command recognition library of the logistics robot belonging to the group B may be provided so as to recognize the loading/unloading command but not the transportation command. Through the mode, the corresponding exclusive action command can be executed by the exclusive logistics robot, so that the risk of disordered field operation caused by the cross-region operation of the logistics robot due to misoperation of an operator can be reduced at least to a certain extent.

In one example, the logistics robot can perform at least one of a put down rack operation, a lift up rack operation, a drop down operation, an bring up operation, a reset operation, a move to a specified position operation in response to a control voice command of a user, that is, the logistics robot can perform a loading and unloading operation such as a put down and a lift up rack, an operation such as a stop operation and a resume operation on the go, an operation of re-registering and resuming a task, an operation of entering a specified coordinate point according to a coordinate position in the command, and the like. The logistics robot can respond to the voice commands to complete task actions of more types of storage logistics links by means of expanding the voice command library of the logistics robot. Therefore, the control on the logistics robot is more flexible and efficient, and the control function expandability is strong.

In one example, in order to realize high-quality recognition of the control voice command, the received control voice command may be subjected to noise reduction processing on the logistics robot side. For example, a method of wiener filtering noise reduction may be adopted to perform noise reduction processing; in addition, the control voice command may be subjected to noise reduction processing by using an audio noise reduction algorithm based on a Deep Neural Network (DNN) or a Recurrent Neural Network (RNN), for example, which is not particularly limited in this example. By the mode, background noise in the warehousing environment can be better removed, so that receiving and recognition quality of the control voice command is improved, and probability of recognition failure caused by noise influence is reduced.

Further, in this example embodiment, a voice control apparatus is further provided, which is applied to a logistics robot cluster, where the logistics robot cluster includes a plurality of logistics robots. Referring to fig. 5, the voice control apparatus 500 may include an activation module 510, a broadcasting module 520, a receiving module 530, and a processing module 540. Wherein:

the activation module 510 may be configured to, when at least one logistics robot receives an activation voice command issued by a user, enable the at least one logistics robot to enter an activation state; after the logistics robot enters the activation state, voice processing can be carried out;

the broadcasting module 520 may be configured to cause the at least one logistics robot to broadcast an activation message corresponding to the activation voice command, so that other logistics robots enter the activation state when receiving the activation message;

the receiving module 530 may be configured to enable each of the logistics robots to receive a control voice command issued by a user, where the control voice command includes specific identity information and an action command of a specific logistics robot designated to perform an action;

the processing module 540 may be configured to enable each logistics robot to analyze the control voice command, determine whether the specific identity information is the same as the identity information of the logistics robot, and execute a corresponding action according to the action command when the specific identity information is the same as the identity information of the logistics robot.

In an exemplary embodiment of the present disclosure, the receiving module 530 may be further configured to enable the logistics robot with different identity information from the specific identity information to confirm whether a confirmation message sent by the specific logistics robot is received, where the confirmation message is used to indicate that the specific logistics robot has determined that its own identity information is the same as the specific identity information; and the broadcasting module 520 may be further configured to broadcast the specific identity information and the action command when the logistics robot having identity information different from the specific identity information does not receive the confirmation message.

In an exemplary embodiment of the present disclosure, the control voice command further includes group number information of the logistics robot cluster; the processing module 540 may be specifically configured to: in a first analysis stage, each logistics robot analyzes the grouping number information from the control voice command and determines whether the logistics robot belongs to a group corresponding to the grouping number information according to the grouping information of the logistics robot; and in a second analysis phase, enabling one or more logistics robots determined to belong to the corresponding group to analyze the specific identity information and the action command from the control voice command.

In an exemplary embodiment of the present disclosure, the processing module 540 may also be used to make the action commands recognizable by the logistics robots belonging to different groups different.

In an exemplary embodiment of the present disclosure, the processing module 540 causes each of the logistics robots to analyze the voice command through semantic analysis.

In an exemplary embodiment of the present disclosure, the corresponding action includes: at least one of a rack lowering operation, a rack lifting operation, a rack unloading operation, a resetting operation, and a moving to a specified position operation.

In an exemplary embodiment of the disclosure, the processing module 540 may be further configured to enable each logistics robot to perform noise reduction processing on the control voice command.

The specific details of each module or unit in the voice control apparatus have been described in detail in the corresponding voice control apparatus, and therefore are not described herein again.

FIG. 6 illustrates a schematic structural diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present disclosure.

It should be noted that the computer system 600 of the electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for system operation are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT) display, a Liquid Crystal Display (LCD), and the like, and a speaker and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage section 608 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. The computer program, when executed by a Central Processing Unit (CPU)601, performs various functions defined in the methods and apparatus of the present application.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments above.

It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.