一个基于nao机器人平台的高校迎新智能语音对话机器人

最新推荐文章于 2022-06-12 22:44:19 发布
最新推荐文章于 2022-06-12 22:44:19 发布
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分类专栏： 语音
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一、利用nao录制语音

nao录制音频保存在本地

# -*- coding: UTF-8 -*-
#利用的naoqi中的ALProxy包

import argparse
from naoqi import ALProxy
import time

tts = audio = record = aup = None

def recordAudio(robot_IP, robot_PORT=9559):
    # ----------> Connect to robot <----------
    tts = ALProxy("ALTextToSpeech", robot_IP, robot_PORT)
    audio = ALProxy("ALAudioDevice", robot_IP, robot_PORT)
    record = ALProxy("ALAudioRecorder", robot_IP, robot_PORT)
    aup = ALProxy("ALAudioPlayer", robot_IP, robot_PORT)
    # ----------> recording <----------0
    print 'start recording...'
    record_path = '/home/nao/record.wav'
    record.startMicrophonesRecording(record_path, 'wav', 16000, (0,0,1,0))  # 开始录音
    time.sleep(4)  # 录音时长，单位秒
    record.stopMicrophonesRecording()  # 结束录音
    print 'record over'

    #fileID = aup.playFile(record_path, 0.7, 0)

def getLanguage(robot_IP, robot_PORT=9559):
    tts = ALProxy("ALTextToSpeech", robot_IP, robot_PORT)
    languageType = tts.getLanguage()
    print languageType
    return languageType

def record(IP):#录制的初始化
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="192.168.1.103", help="Robot ip address")#?
    parser.add_argument("--port", type=int, default=9559, help="Robot port number")#?
    args = parser.parse_args()
    getLanguage(IP)
    recordAudio(IP)

def say(text, IP):
    robot_IP = IP
    robot_PORT = 9559
    tts = ALProxy("ALTextToSpeech", robot_IP, robot_PORT)
    tts.setLanguage("Chinese")
    tts.say(text)

二、nao语音文件下载

nao语音文件下载

# -*- coding:UTF-8 -*-
# 文件的下载我们用的是python的FTP协议，它的与nao的对话过程中没有实时性，我们也在寻求更好的解决方案答案，

from ftplib import FTP


def download(IP, user, passward, path, localFilePath='localRecord.wav', naoqiFile='record.wav'):
    ftp = FTP()
    ftp.connect(IP)
    ftp.login(user, passward)
    bufsize = 1024
    # ftp.nlst(path) 该函数用于获取目录下的文件
    with open(localFilePath, 'wb+') as f:
        ftp.retrbinary('RETR ' + naoqiFile, f.write, bufsize)
    ftp.quit()


def upload(IP, user, passward, path, localFilePath, naoqiFile):
    ftp = FTP()
    ftp.connect(IP)
    ftp.login(user, passward)
    bufsize = 1024
    with open(localFilePath, 'wb+') as f:
        ftp.retrbinary('RETR ' + naoqiFile, f.write, bufsize)
    ftp.quit()

三、nao调用百度语音识别api

这个百度里有详细的文档，demo教程

# coding=utf-8
#我在这里使用的是百度的语音识别

import sys
import json
import base64
import time
import re

IS_PY3 = sys.version_info.major == 3

if IS_PY3:
    from urllib.request import urlopen
    from urllib.request import Request
    from urllib.error import URLError
    from urllib.parse import urlencode

    timer = time.perf_counter
else:
    from urllib2 import urlopen
    from urllib2 import Request
    from urllib2 import URLError
    from urllib import urlencode

    if sys.platform == "win32":
        timer = time.clock
    else:
        # On most other platforms the best timer is time.time()
        timer = time.time


class DemoError(Exception):
    pass


class VoiceToText:
    def __init__(self, API_KEY, SECRET_KEY, AUDIO_FILE):
        self.API_KEY = API_KEY
        self.SECRET_KEY = SECRET_KEY

        # 需要识别的文件
        self.AUDIO_FILE = AUDIO_FILE  # 只支持 pcm/wav/amr 格式，极速版额外支持m4a 格式
        # 文件格式
        self.FORMAT = self.AUDIO_FILE[-3:]  # 文件后缀只支持 pcm/wav/amr 格式，极速版额外支持m4a 格式

        self.CUID = '123456PYTHON'
        # 采样率
        self.RATE = 16000  # 固定值

        # 普通版

        self.DEV_PID = 1537  # 1537 表示识别普通话，使用输入法模型。根据文档填写PID，选择语言及识别模型
        self.ASR_URL = 'http://vop.baidu.com/server_api'
        self.SCOPE = 'audio_voice_assistant_get'  # 有此scope表示有asr能力，没有请在网页里勾选，非常旧的应用可能没有
        self.TOKEN_URL = 'http://openapi.baidu.com/oauth/2.0/token'

        # 测试自训练平台需要打开以下信息， 自训练平台模型上线后，您会看见 第二步：“”获取专属模型参数pid:8001，modelid:1234”，按照这个信息获取 dev_pid=8001，lm_id=1234
        # DEV_PID = 8001 ;
        # LM_ID = 1234 ;

        # 极速版 打开注释的话请填写自己申请的appkey appSecret ，并在网页中开通极速版（开通后可能会收费）

        # DEV_PID = 80001
        # ASR_URL = 'http://vop.baidu.com/pro_api'
        # SCOPE = 'brain_enhanced_asr'  # 有此scope表示有极速版能力，没有请在网页里开通极速版

        # 忽略scope检查，非常旧的应用可能没有
        # SCOPE = False

    def fetch_token(self):
        params = {'grant_type': 'client_credentials',
                  'client_id': self.API_KEY,
                  'client_secret': self.SECRET_KEY}
        post_data = urlencode(params)
        if (IS_PY3):
            post_data = post_data.encode('utf-8')
        req = Request(self.TOKEN_URL, post_data)
        try:
            f = urlopen(req)
            result_str = f.read()
        except URLError as err:
            # if (IS_PY3):
            #     print('token http response http code : ' + str(err.code))
            # else:
            #     print 'token http response http code : ' + str(err.code)
            result_str = err.read()
        if (IS_PY3):
            result_str = result_str.decode()

        # if (IS_PY3):
        #     print(result_str)
        # else:
        #     print result_str
        result = json.loads(result_str)
        # if (IS_PY3):
        #     print(result)
        # else:
        #     print result
        if ('access_token' in result.keys() and 'scope' in result.keys()):
            # if (IS_PY3):
            #     print(self.SCOPE)
            # else:
            #     print self.SCOPE

            if self.SCOPE and (not self.SCOPE in result['scope'].split(' ')):  # SCOPE = False 忽略检查
                raise DemoError('scope is not correct')
            # if (IS_PY3):
            #     print('SUCCESS WITH TOKEN: %s  EXPIRES IN SECONDS: %s' % (result['access_token'], result['expires_in']))
            # else:
            #     print 'SUCCESS WITH TOKEN: %s  EXPIRES IN SECONDS: %s' % (result['access_token'], result['expires_in'])
            return result['access_token']
        else:
            raise DemoError(
                'MAYBE API_KEY or SECRET_KEY not correct: access_token or scope not found in token response')

    def drive(self):
        token = self.fetch_token()
        speech_data = []
        with open(self.AUDIO_FILE, 'rb') as speech_file:
            speech_data = speech_file.read()

        length = len(speech_data)
        if length == 0:
            raise DemoError('file %s length read 0 bytes' % self.AUDIO_FILE)
        speech = base64.b64encode(speech_data)
        if (IS_PY3):
            speech = str(speech, 'utf-8')
        params = {'dev_pid': self.DEV_PID,
                  'format': self.FORMAT,
                  'rate': self.RATE,
                  'token': token,
                  'cuid': self.CUID,
                  'channel': 1,
                  'speech': speech,
                  'len': length
                  }
        post_data = json.dumps(params, sort_keys=False)
        # print post_data
        req = Request(self.ASR_URL, post_data.encode('utf-8'))
        req.add_header('Content-Type', 'application/json')
        try:
            begin = timer()
            f = urlopen(req)
            result_str = f.read()
            # if (IS_PY3):
            #     print ("Request time cost %f" % (timer() - begin))
            # else:
            #     print "Request time cost %f" % (timer() - begin)
        except URLError as err:
            # if (IS_PY3):
            #     print('asr http response http code : ' + str(err.code))
            # else:
            #     print 'asr http response http code : ' + str(err.code)
            result_str = err.read()

        if (IS_PY3):
            result_str = str(result_str, 'utf-8')
        # if (IS_PY3):
        #     print(result_str)
        # else:
        #     print result_str
        result = "".join(re.findall(r'''"result":\["(.*)"\]''', result_str))
        with open("result.txt", "w") as of:
            of.write(result)
        return result

if __name__ == '__main__':
    API_KEY = 'ffoFEhUX1cRGFW8Thl9Viatx'
    SECRET_KEY = 'TI4CUb2q32UpE7uGgg0ITP42apbeTCRQ'
    AUDIO_FILE = '/home/nao/chat/localRecord.wav'

    STT = VoiceToText(API_KEY, SECRET_KEY, AUDIO_FILE)
    print STT.drive()

四、main主函数

可以将主函数和上面的每部分各写成一个.py文件
主函数前面的导包的各个包名就是.py文件的文件名。
我已经把我的机器人ip,apikey等去除，可以去百度、讯飞、图灵注册获取

# -*- coding: UTF-8 -*-
# import baiduAPI
import FTPdeal
import audio
import SpeechToText
import dialogue
import sys
import time
from naoqi import ALProxy

reload(sys)
sys.setdefaultencoding('utf-8')


def main():
    IP = "**"#填入机器人ip
    user = '**'#默认为nao
    passward = '**'#默认为nao
    port = 9559
    path = None

    # 智能回答配置
    #填入自己注册的机器人api
    apiKey = "******"
    userId = "**********"

    # 语音识别的配置
    #填入自己注册的机器人api
    API_KEY = '*********'
    SECRET_KEY = '*************************'
    AUDIO_FILE = '/home/nao/chat/localRecord.wav'#文件保存的位置
    STT = SpeechToText.VoiceToText(API_KEY, SECRET_KEY, AUDIO_FILE)

    memory = ALProxy("ALMemory", IP, port)
    led = ALProxy("ALLeds", IP, port)
    #用于检测机器人的开关，我在这里用的是头顶三个传感器
    Front = 0#头顶前部传感器
    Front1 = 0#头顶中部传感器
    Front2 = 0#头顶后部传感器
    while True:
        Front = memory.getData("FrontTactilTouched")
        Front1 = memory.getData("RearTactilTouched")
        Front2 = memory.getData("MiddleTactilTouched")
        led.off("ChestLedsGreen")#关闭绿色胸灯
        led.on("ChestLedsBlue")#开启蓝色胸灯
        led.off("RightEarLeds")  # 右耳
        led.off("LeftEarLeds")  # 左耳
        if Front == 1:
            #触碰前部传感器完成一次回答
            led.off("ChestLedsBlue")  # 胸灯
            led.on("ChestLedsGreen")  # 胸灯
            led.on("RightEarLeds")  # 右耳
            led.on("LeftEarLeds")  # 左耳
            # 让机器人在开始听的状态耳朵灯亮
            # 停止听则熄灭
            audio.record(IP)  # 录音
            FTPdeal.download(IP, user, passward, path)  # 记录录音

            stringText = STT.drive()  # 语音转文字

            stringText = str(stringText)
            text = dialogue.dialogue(stringText, apiKey, userId)  # 匹配知识库，回答答案
            # print type(text), text
            text = str(text)
            audio.say(text, IP)  # 说话
        elif Front2 == 1:
            for i in range(3):
                # 触碰头顶前部传感器完成三次回答
                #需要更多次的连续回答，修改循环次数即可
                led.off("ChestLedsBlue")  # 胸灯
                led.on("ChestLedsGreen")  # 胸灯
                led.on("RightEarLeds")  # 右耳
                led.on("LeftEarLeds")  # 左耳
                # 让机器人在开始听的状态耳朵灯亮
                # 停止听则熄灭
                audio.record(IP)  # 录音
                FTPdeal.download(IP, user, passward, path)  # 记录录音

                stringText = STT.drive()  # 语音转文字

                stringText = str(stringText)
                text = dialogue.dialogue(stringText, apiKey, userId)  # 匹配知识库，回答答案
                # print type(text), text
                text = str(text)
                audio.say(text, IP)  # 说话
                time.sleep(1)

        elif Front1 == 1:
            break
            #敲击头顶后部传感器结束对话程序

    audio.say("再见，再见", IP)


if __name__ == "__main__":
    main()

在这里插入图片描述

在这里插入图片描述

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Must belong to the languages available in TTS. /// Encoding of the specified language. public String getLanguageEncoding( String pLanguage) { Variant vpLanguage; vpLanguage = new Variant(pLanguage); Variant result = call("getLanguageEncoding" ,vpLanguage); return result.toString(); } /// /// Retrieves a method's description. /// /// The name of the method. /// A structure containing the method's description. public Variant getMethodHelp( String methodName) { Variant vmethodName; vmethodName = new Variant(methodName); Variant result = call("getMethodHelp" ,vmethodName); return result; } /// /// Retrieves the module's method list. /// /// An array of method names. public String[] getMethodList() { Variant result = call("getMethodList" ); return (String[]) result.toStringArray(); } /// /// Retrieves the module's description. /// /// A structure describing the module. public Variant getModuleHelp() { Variant result = call("getModuleHelp" ); return result; } /// /// Returns the value of one of the voice parameters. 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Do not use it if you want a low-latency synthesis or to synthesize a long std::string. /// /// Text to say, encoded in UTF-8. public void sayToFileAndPlay( String pStringToSay) { Variant vpStringToSay; vpStringToSay = new Variant(pStringToSay); Variant result = call("sayToFileAndPlay" ,vpStringToSay); // no return value } /// /// Changes the language used by the Text-to-Speech engine. It automatically changes the voice used since each of them is related to a unique language. If you want that change to take effect automatically after reboot of your robot, refer to the robot web page (setting page). /// /// Language name. Must belong to the languages available in TTS (can be obtained with the getAvailableLanguages method). It should be an identifier std::string. public void setLanguage( String pLanguage) { Variant vpLanguage; vpLanguage = new Variant(pLanguage); Variant result = call("setLanguage" ,vpLanguage); // no return value } /// /// Changes the parameters of the voice. 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Correct range is (0 -- 0.5) /// /// If the effect value is not available, the effect parameter remains unchanged. /// /// Name of the parameter. /// Value of the parameter. public void setParameter( String pEffectName, float pEffectValue) { Variant vpEffectName; vpEffectName = new Variant(pEffectName); Variant vpEffectValue; vpEffectValue = new Variant(pEffectValue); Variant result = call("setParameter" ,vpEffectName, vpEffectValue); // no return value } /// /// Changes the voice used by the text-to-speech engine. The voice identifier must belong to the installed voices, that can be listed using the 'getAvailableVoices' method. If the voice is not available, it remains unchanged. No exception is thrown in this case. For the time being, only two voices are available by default : Kenny22Enhanced (English voice) and Julie22Enhanced (French voice) /// /// The voice (as a std::string). public void setVoice( String pVoiceID) { Variant vpVoiceID; vpVoiceID = new Variant(pVoiceID); Variant result = call("setVoice" ,vpVoiceID); // no return value } /// /// Sets the volume of text-to-speech output. /// /// Volume (between 0.0 and 1.0). public void setVolume( float volume) { Variant vvolume; vvolume = new Variant(volume); Variant result = call("setVolume" ,vvolume); // no return value } /// /// returns true if the method is currently running /// /// the ID of the method to wait for public void stop( int id) { Variant vid; vid = new Variant(id); Variant result = call("stop" ,vid); // no return value } /// /// This method stops the current and all the pending tasks immediately. /// public void stopAll() { Variant result = call("stopAll" ); // no return value } /// /// Returns the version of the module. /// /// A string containing the version of the module. public String version() { Variant result = call("version" ); return result.toString(); } /// /// Wait for the end of a long running method that was called using 'post' /// /// The ID of the method that was returned when calling the method using 'post' /// The timeout period in ms. 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nao机器人实现语音对话 1、语音获取 nao耳麦有一个功能，它可以通过声音大小判断能力值，也就是声音越大能量越大。所以我们此次项目主要运用的就是nao 的这个功能，来展开实现的。下面是流程图。 功能流程图 我们可以看见上面的流程图，从录音开始到录音结束逻辑还是比较复杂的，而且还有一些我没画出来，这只是大概。 录音的代码 def recorder(self): self.audio_recorder.stopMicrophonesRecording() time.sl
基于NAO机器人在高职人工智能机器人专业教学中的应用.pdf
08-14
它在机器人足球世界杯中被指定为官方平台，拥有25个由电机和电动制动器控制的关节，配备有摄像头、红外传感器、超声波传感器和惯性器件，能够通过红外线传感器、无线网络、相机、麦克风和扬声器与人类互动。NAO...
基于云平台的NAO机器人语音处理.pdf
08-14
根据提供的文件内容，本文将详细介绍基于云平台的NAO机器人语音处理的相关知识点，包括NAO机器人的语音识别原理、云平台语音服务应用、降噪技术及其实现方法，以及语音端点检测技术等。 一、NAO机器人语音识别原理 ...
NAO 机器人舞蹈程序，nao 机器人大王叫我来巡山舞蹈程序.zip
05-21
总的来说，NAO 机器人大王叫我来巡山舞蹈程序不仅是一个娱乐项目，也是机器人技术、人工智能和艺术结合的体现，它展示了现代机器人在动作控制、感知和交互方面的能力。通过这个程序，用户可以深入了解NAO机器人的...
NAO-choregraphe.zip_nao_nao 机器人_nao机器人编程_site:www.pudn.com_人形机器人
07-14
Choregraphe是NAO机器人的主要编程环境，它提供了一个友好的图形化编程界面，使得非程序员也能进行机器人控制。用户可以通过拖拽各种行为盒（Behavior Boxes）和连接它们来创建复杂的程序逻辑。这些行为盒涵盖了动作...
基于NAO机器人的多种通道人机交互研究与案例实现.pdf
08-14
讯飞语音云是科大讯飞提供的一个智能语音交互平台。利用基于NAO机器人的多种通道人机交互研究与案例实现。 本文通过研究NAO机器人的多种通道人机交互，旨在为基于NAO机器人的多通道交互应用研究奠定基础，为人机...
毕业设计 - 语音识别控制机器人.part1
01-31
注意!该资料不完整。由于级别不够，只能在CSDN上传小于60MB的文件，这个项目比较复杂，涉及到的内容很多，共有有110MB，因此用WinRAR分卷压缩成了两个文件，要同时下载这两个文件并把它们放在同一文件夹里才能正常解压。 这只是资料的第一部分，第二部分请搜索“毕业设计 - 语音识别控制机器人.part2”。 该资源设计内容包含语音识别控制机器人的原理图，PCD，以及完整程序； 资料包括完整题目，芯片资料，以及所用到的单片机资料。 简单介绍题目内容： 主要任务简述： 制作一个语音识别控制机器人。 要求简述： 语音识别控制机器人，通过语音命令对其进行控制；可以跳两首舞曲；走步功能、转向功能、转头功能；发射飞盘功能等。
NAO机器人python源码，录音、动作、绕口令、声呐避障
07-11
压缩包里面是四个Python写的NAO机器人工程，分别实现了录音并且回放，做一串动作、绕口令、和声呐避障四个功能，代码清晰，但愿对大家有用
智能对话app
03-17
android智能语音对话app，可以可以识别用户说的话，对此作出应答
Choregraphe中NAO机器人如何使用纯python指令盒让机器人说话
qq_37674502的博客
10-30 2527
先上代码，以后再说 import time class MyClass(GeneratedClass): def __init__(self): GeneratedClass.__init__(self) self.tts = ALProxy('ALTextToSpeech') def onLoad(self): ...
naoqi机器人不说话
green_grow的博客
08-09 681
让Nao机器人说中文 欢迎使用Markdown编辑器 你好！ 这是你第一次使用 Markdown编辑器 所展示的欢迎页。如果你想学习如何使用Markdown编辑器, 可以仔细阅读这篇文章，了解一下Markdown的基本语法知识。 新的改变 我们对Markdown编辑器进行了一些功能拓展与语法支持，除了标准的Markdown编辑器功能，我们增加了如下几点新功能，帮助你用它写博客： 全新的界面设计 ...
NAO机器人——编程基础
清园暖歌的博客
04-26 2745
使用NAOqi模块时，不需要像普通Python程序那样用import语句导入所用模块。模块通过Broker通告它所提供的方法。通过Broker，任何模块都可以找到所有己经通告的模块及方法。 # 让NAO说话(say.py) from naoqi import ALProxy tts = ALProxy("ALTextToSpeech", "192.168.1.170", 9559) #将"192.168.1.170"替换成自己机器人IP tts.say("Hello, ...
Nao6 - Nao Recode 录音
YLDBlog-丽枫日落
03-11 555
Nao6 - Nao Recode 录音 Nao 是一个可爱活泼的机器人，可以在它身上进行很多有趣的开发，当 Nao 可以获取到环境的语音信息之后又可以做什么有趣的事情呢？ 这个问题留给读者自己探索，下面我们介绍一下如何使得 Nao 通过录音的方式，获取到环境的语音信息。 在开发的时候，通过 Naoqi API 进行对 Nao 的服务控制，要求本地的开发环境安装有 python 2.7，python 版本的 naoqi-sdk。当然，开发环境视情况而定，也可以是 C++、Java。 在本地上，主要是通过 P
NAO机器人程序设计复习，助你拿高分
一个正在努力学习的iter
06-12 3341
对于连接机器人两个身体部件的关节来说，在驱动电机实现关节运动时，固定在躯干上的部件是固定的，远离躯干的部 件将围绕关节轴旋转。自由度：机器人能够独立运动的关节数目，称为机器人的运动自由度， 简称自由度(Degree of Freedom)，由DOF简写表示。头部有两个关节，可以做偏转(Yaw)和俯仰(Pitch)，因此， 头部的自由度为2。除了表列出的24个自由度外，每只手能够张开和闭合，具有1个自由度，因此，NAO全身具有26 个自由度。坐标系绕Y轴旋转 坐标系绕Z轴旋转齐次变换：将n维矩阵升级到n+1维
Pepper初级教程：第四章 Pepper的App开发技术
gaohoteam的博客
09-27 2661
第五章 Pepper App开发技术 4.1 Pepper对话 制作对话App的方法有很多，其中一个方法是使用Speech Reco.和Say指令盒来实现。 4.1.1 Speech Reco.指令盒 Speech Reco.指令盒可以识别声音中的关键字。在参数“Word l...
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