Semantic understand and command follow(Voice Version)

1. Course Content

1. After running the large model program, users can interact with the robot through voice conversation. User voice commands are first converted into text by the voice recognition large model. The text is then used by the large model and visual multimodality to accurately understand the user's commands and voice. Finally, the robot performs the specified actions according to the user's commands and responds to the user.

2. Preparation

2.1 Content Description

This course uses the Jetson Orin NANO as an example. This is for users of the gimbal servo USB camera version. For Raspberry Pi and Jetson Nano boards, you need to open a terminal on the host computer and enter the command to enter the Docker container. Once inside the Docker container, enter the commands mentioned in this course in the terminal. For instructions on entering the Docker container on the host computer, refer to [01. Robot Configuration and Operation Guide] -- [5.Enter Docker (For JETSON Nano and RPi 5)]. For RDKX5 and Orin boards, simply open a terminal and enter the commands mentioned in this course.

3. Run Example

3.1 Launch the Program

Open the host terminal and start the Dify environment.

sh ~/bringup_dify.sh

Open the terminal on the car and enter the command:

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border-color: #e5e5e5;\\n}\\n\\n.ty-preferences .window-content {\\n    background-color: #fafafa;\\n}\\n\\n.ty-preferences .nav-group-item.active {\\n    color: white;\\n    background: #999;\\n}\\n\\n\\n\u003C\u002Fstyle\u003E\u003Cstyle\u003Eol { list-style-type: decimal !important; }ul { list-style-type: disc !important; }\u003C\u002Fstyle\u003E\u003C!doctype html\u003E\\n\u003Chtml\u003E\\n\u003Chead\u003E\\n\u003Cmeta charset='UTF-8'\u003E\u003Cmeta name='viewport' content='width=device-width initial-scale=1'\u003E\\n\u003Ctitle\u003E1.Semantic understand and command follow\u003C\u002Ftitle\u003E\u003Clink href='https:\u002F\u002Ffonts.loli.net\u002Fcss?family=Open+Sans:400italic,700italic,700,400&subset=latin,latin-ext' rel='stylesheet' type='text\u002Fcss' \u002F\u003E\\n\u003C\u002Fhead\u003E\\n\u003Cbody class='typora-export os-windows'\u003E\\n\u003Cdiv id='write'  class=''\u003E\u003Ch1\u003E\u003Ca name=\\\"semantic-understand-and-command-followvoice-version\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003ESemantic understand and command follow(Voice Version)\u003C\u002Fspan\u003E\u003C\u002Fh1\u003E\u003Cdiv class='md-toc' mdtype='toc'\u003E\u003Cp class=\\\"md-toc-content\\\" role=\\\"list\\\"\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h1\\\" data-ref=\\\"n0\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#semantic-understand-and-command-followvoice-version\\\"\u003ESemantic understand and command follow(Voice Version)\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h2\\\" data-ref=\\\"n78\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#1-course-content\\\"\u003E1. Course Content\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h2\\\" data-ref=\\\"n6\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#2-preparation\\\"\u003E2. Preparation\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n7\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#21-content-description\\\"\u003E2.1 Content Description\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h2\\\" data-ref=\\\"n10\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#3-run-example\\\"\u003E3. Run Example\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n11\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#31-launch-the-program\\\"\u003E3.1 Launch the Program\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n20\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#32-test-cases\\\"\u003E3.2 Test Cases\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h5\\\" data-ref=\\\"n27\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#321-case-1\\\"\u003E3.2.1 Case 1\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h5\\\" data-ref=\\\"n41\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#322-case-2\\\"\u003E3.2.2 Case 2\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h2\\\" data-ref=\\\"n44\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#4-code-analysis\\\"\u003E4. Code Analysis\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h2\\\" data-ref=\\\"n46\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#5-common-problem-solutions\\\"\u003E5. Common Problem Solutions\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n47\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#51-microphone-recording-too-sensitive\\\"\u003E5.1 Microphone Recording Too Sensitive\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n67\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#52-microphone-recording-insensitivity\\\"\u003E5.2 Microphone Recording Insensitivity\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n73\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#53-incomplete-speech-recognition\\\"\u003E5.3 Incomplete Speech Recognition\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003Cspan role=\\\"listitem\\\" class=\\\"md-toc-item md-toc-h3\\\" data-ref=\\\"n75\\\"\u003E\u003Ca class=\\\"md-toc-inner\\\" href=\\\"#54-voice-module-recognition-error\\\"\u003E5.4 Voice Module Recognition Error\u003C\u002Fa\u003E\u003C\u002Fspan\u003E\u003C\u002Fp\u003E\u003C\u002Fdiv\u003E\u003Cp\u003E \u003C\u002Fp\u003E\u003Ch2\u003E\u003Ca name=\\\"1-course-content\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003E1. Course Content\u003C\u002Fspan\u003E\u003C\u002Fh2\u003E\u003Col \u003E\u003Cli\u003E\u003Cspan\u003EAfter running the large model program, users can interact with the robot through voice conversation. User voice commands are first converted into text by the voice recognition large model. The text is then used by the large model and visual multimodality to accurately understand the user's commands and voice. Finally, the robot performs the specified actions according to the user's commands and responds to the user.\u003C\u002Fspan\u003E\u003C\u002Fli\u003E\u003C\u002Fol\u003E\u003Ch2\u003E\u003Ca name=\\\"2-preparation\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003E2. Preparation\u003C\u002Fspan\u003E\u003C\u002Fh2\u003E\u003Ch3\u003E\u003Ca name=\\\"21-content-description\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003E2.1 Content Description\u003C\u002Fspan\u003E\u003C\u002Fh3\u003E\u003Cblockquote\u003E\u003Cp\u003E\u003Cspan\u003EThis course uses the Jetson Orin NANO as an example. This is for users of the gimbal servo USB camera version. For Raspberry Pi and Jetson Nano boards, you need to open a terminal on the host computer and enter the command to enter the Docker container. Once inside the Docker container, enter the commands mentioned in this course in the terminal. For instructions on entering the Docker container on the host computer, refer to \u003C\u002Fspan\u003E\u003Cstrong\u003E\u003Cspan\u003E[01. Robot Configuration and Operation Guide] -- [5.Enter Docker (For JETSON Nano and RPi 5)]\u003C\u002Fspan\u003E\u003C\u002Fstrong\u003E\u003Cspan\u003E. For RDKX5 and Orin boards, simply open a terminal and enter the commands mentioned in this course.\u003C\u002Fspan\u003E\u003C\u002Fp\u003E\u003C\u002Fblockquote\u003E\u003Ch2\u003E\u003Ca name=\\\"3-run-example\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003E3. Run Example\u003C\u002Fspan\u003E\u003C\u002Fh2\u003E\u003Ch3\u003E\u003Ca name=\\\"31-launch-the-program\\\" class=\\\"md-header-anchor\\\"\u003E\u003C\u002Fa\u003E\u003Cspan\u003E3.1 Launch the Program\u003C\u002Fspan\u003E\u003C\u002Fh3\u003E\u003Cp\u003E\u003Cspan\u003EOpen the host terminal and start the Dify environment.\u003C\u002Fspan\u003E\u003C\u002Fp\u003E\u003Cpre spellcheck=\\\"false\\\" class=\\\"md-fences md-end-block ty-contain-cm modeLoaded\\\" lang=\\\"\\\"\u003E\u003Cdiv class=\\\"CodeMirror cm-s-inner CodeMirror-wrap\\\" lang=\\\"\\\"\u003E\u003Cdiv style=\\\"overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;\\\"\u003E\u003Ctextarea autocorrect=\\\"off\\\" autocapitalize=\\\"off\\\" spellcheck=\\\"false\\\" tabindex=\\\"0\\\" style=\\\"position: absolute; bottom: -1em; padding: 0px; width: 1000px; height: 1em; outline: none;\\\"\u003E\u003C\u002Ftextarea\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-scrollbar-filler\\\" cm-not-content=\\\"true\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-gutter-filler\\\" cm-not-content=\\\"true\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-scroll\\\" tabindex=\\\"-1\\\"\u003E\u003Cdiv class=\\\"CodeMirror-sizer\\\" style=\\\"margin-left: 0px; margin-bottom: 0px; border-right-width: 0px; padding-right: 0px; padding-bottom: 0px;\\\"\u003E\u003Cdiv style=\\\"position: relative; top: 0px;\\\"\u003E\u003Cdiv class=\\\"CodeMirror-lines\\\" role=\\\"presentation\\\"\u003E\u003Cdiv role=\\\"presentation\\\" style=\\\"position: relative; outline: none;\\\"\u003E\u003Cdiv class=\\\"CodeMirror-measure\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-measure\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv style=\\\"position: relative; z-index: 1;\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-code\\\" role=\\\"presentation\\\"\u003E\u003Cdiv class=\\\"CodeMirror-activeline\\\" style=\\\"position: relative;\\\"\u003E\u003Cdiv class=\\\"CodeMirror-activeline-background CodeMirror-linebackground\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-gutter-background CodeMirror-activeline-gutter\\\" style=\\\"left: 0px; width: 0px;\\\"\u003E\u003C\u002Fdiv\u003E\u003Cpre class=\\\" CodeMirror-line \\\" role=\\\"presentation\\\"\u003E\u003Cspan role=\\\"presentation\\\" style=\\\"padding-right: 0.1px;\\\"\u003Esh ~\u002Fbringup_dify.sh\u003C\u002Fspan\u003E\u003C\u002Fpre\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003Cdiv style=\\\"position: absolute; height: 0px; width: 1px; border-bottom: 0px solid transparent; top: 23px;\\\"\u003E\u003C\u002Fdiv\u003E\u003Cdiv class=\\\"CodeMirror-gutters\\\" style=\\\"display: none; height: 23px;\\\"\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fdiv\u003E\u003C\u002Fpre\u003E\u003Cp\u003E\u003Cimg src=\\\"http:\u002F\u002Fwww.yahboom.net\u002Fpublic\u002Fupload\u002Fupload-html\u002F1767771344\u002Fimage-20251223182648280.png\\\" referrerpolicy=\\\"no-referrer\\\" alt=\\\"image-20251223182648280\\\" loading=\\\"lazy\\\"\u003E\u003C\u002Fp\u003E\u003Cp\u003E\u003Cspan\u003EOpen the terminal on the car and enter the command:\u003C\u002Fspan\u003E\u003C\u002Fp\u003E\u003Cpre spellcheck=\\\"false\\\" class=\\\"md-fences md-end-block ty-contain-cm modeLoaded\\\" lang=\\\"shell\\\"\u003E\u003Cdiv class=\\\"CodeMirror cm-s-inner CodeMirror-wrap\\\" lang=\\\"shell\\\"\u003E\u003Cdiv style=\\\"overflow: hidden; position: relative; width: 3px; height: 0px; top: 0px; left: 8px;\\\"\u003E\u003Ctextarea autocorrect=\\\"off\\\" autocapitalize=\\\"\",\"videotype\":2,\"videoname_1\":\"`\u003Ciframe width=\\\"600\\\" height=\\\"420\\\" src=\\\"https:\u002F\u002Fwww.youtube.com\u002Fembed\u002F1KYd7_XY2TM\\\" title=\\\"ROSMASTER A1 AI Large Model ROS2 Robot - 5 1 Semantic understand and command follow\\\" frameborder=\\\"0\\\" allow=\\\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\\\" referrerpolicy=\\\"strict-origin-when-cross-origin\\\" allowfullscreen\u003E\u003C\u002Fiframe\u003E`\",\"videoname_2\":\"``\",\"videoname_3\":\"``\",\"videoname_4\":\"``\",\"videoname_5\":\"``\",\"videoname_6\":\"``\",\"newimg\":0,\"dataurl\":\"\",\"customurl\":\"\",\"documentation_switch\":\"1\",\"classificationid\":0,\"paixu\":0,\"adddate\":\"1758510673\",\"updated_at\":\"2026-09-28 16:24:57\",\"productCname\":\"ROSMASTER-A1\",\"productName\":\"ROSMASTER A1\"},\"video\":[[\"\",\"\u003Ciframe width=\\\"600\\\" height=\\\"420\\\" src=\\\"https:\u002F\u002Fwww.youtube.com\u002Fembed\u002F1KYd7_XY2TM\\\" title=\\\"ROSMASTER A1 AI Large Model ROS2 Robot - 5 1 Semantic understand and command follow\\\" frameborder=\\\"0\\\" allow=\\\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\\\" referrerpolicy=\\\"strict-origin-when-cross-origin\\\" allowfullscreen\u003E\u003C\u002Fiframe\u003E\",\"\",\"\"]],\"forbidden\":false}}}"</script>
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