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  • Author Author: Workshopshed
  • Date Created: Date Created
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Voice activated robot

Workshopshed

I decided to wire up the Google AIY box to Marty the Robot.

image

OK Google!

 

The first thing to do was to upgrade the software so I did not have to press the button to work the robot. I followed Eric Duncan Google AIY upgrade steps.

 

After stopping the service

sudo systemctl stop voice-recognizer.service

 

I then edited the config file to switch to "Ok Google" mode rather than button mode.

 

nano ~/.config/voice-recognizer.ini

 

And set the trigger to be

trigger = ok-google

 

Configuring for Marty

 

Next I installed the Marty Python library from Robotical

 

cd ~/voice-recognizer-raspi
source env/bin/activate
pip install martypy

 

Next up is adding some custom actions to google AIY
I edited the actions file and included the Marty library.

 

import datetime
import logging
import subprocess
import martypy

import phue
from rgbxy import Converter

 

Then in the make_actor function I added my own command.

 

# =========================================
    # Makers! Add your own voice commands here.
    # =========================================

    actor.add_keyword(_('raspberry power off'), PowerCommand(say, 'shutdown'))
    actor.add_keyword(_('raspberry reboot'), PowerCommand(say, 'reboot'))

    actor.add_keyword(_('marty walk'), MartyCommand(say, 'walk'))

    return actor

 

Then finally I added a class to process that command, I based the flow on the Hue Lightbulb one provided. I used the "calibrate tool" to find my Marty but I think it's also possible to find them in code. I'd also recommend enhancing the code to cope with exceptions.

 

# Control Marty the robot #
#

class MartyCommand(object):
    """Control Marty the Robot"""

   def __init__(self, say, command):
        self.say = say
        self.command = command
        mymarty = self.connect()
        mymarty.hello()  # Move to zero positions and wink
        mymarty.enable_motors()

    def connect(self):
        return martypy.Marty('socket://192.168.1.77') # Change IP to match your Marty

    def run(self, voice_command):
        if self.command == "walk":
            self.say("Walking forward 5 paces")
            mymarty = self.connect()
            mymarty.walk(5)

        else:
            logging.error("Error identifying Martys command.")
            self.say("Sorry I didn't identify that command")

 

Finally to test run

 

src/main.py

 

Once you are happy with testing you can restart the recogniser service with

 

sudo systemctl start voice-recognizer

 

My biggest issue was that Google did not like my accent so I ended up adding lots of keywords with the combinations that the voice recognition had detected. Also the detection needs to match exactly so you'd end up having to add lots of different commands. One approach is the approach taken by Marcin Gorecki to use wild cards. You could then say "Marty Walk Forward Five Paces" and have the recognition software parse the number of steps.

 

Adding wildcards to Google AIY actions on Raspberry Pi. – geek.mgorecki.net

Parents

  • I remember when we tested the early voice recognition algorithms back in the early 1980's we discovered that the basic settings worked for everyone but our female engineer from Georgia.  Her southern accent was too pronounced for the device to catch.  When we changed the settings so that it would work with her, it would not work for anyone else in the office.

     

    DAB

Comment

  • I remember when we tested the early voice recognition algorithms back in the early 1980's we discovered that the basic settings worked for everyone but our female engineer from Georgia.  Her southern accent was too pronounced for the device to catch.  When we changed the settings so that it would work with her, it would not work for anyone else in the office.

     

    DAB

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