CN108334109A - A kind of phonetic controller - Google Patents
A kind of phonetic controller Download PDFInfo
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- CN108334109A CN108334109A CN201810112322.3A CN201810112322A CN108334109A CN 108334109 A CN108334109 A CN 108334109A CN 201810112322 A CN201810112322 A CN 201810112322A CN 108334109 A CN108334109 A CN 108334109A
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- phonetic
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- 238000012795 verification Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 11
- 230000001755 vocal effect Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007476 Maximum Likelihood Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011840 criminal investigation Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Selective Calling Equipment (AREA)
Abstract
In order to provide intelligentized remote control mode of unmanned plane while reduce above-mentioned in the prior art unreliable and uncertain factor, the present invention provides a kind of phonetic controllers, including：It receives the remote control of phonetic order and phonetic order is sent to the control unit of unmanned plane, the phonetic order is resolved into the instruction of several single movements by described control unit, described control unit previews the instruction of several single movements, the unmanned plane is according to preview as a result, providing feedback information to remote control.The present invention eliminates unmanned plane and is necessary to ensure that the requirement of the highly-reliable transmission of its own flight parameter and running parameter, while can intelligently estimate feasible scheme and automatically carry out, and substantially increases the efficiency of no-manned machine distant control.In addition, by speech recognition technology, the present invention also enhances the safety of no-manned machine distant control.
Description
The application is application No. is 2015101453624, and the applying date is on 03 30th, 2015, and invention and created name is
A kind of divisional application of the patent of " sound control method suitable for unmanned plane ".
Technical field
The present invention relates to the remote control technology fields of intelligent robot, being suitable for unmanned plane more particularly, to one kind
Sound control method.
Background technology
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, executes a variety of combat duties and can repeat
The unmanned plane tactical flying device used.Since the advantages such as its zero injures and deaths risk and high maneuverability cause the height weight of the military of various countries
Depending on.Unmanned plane during flying process be divided into take off, three parts of high-altitude flight and landing, high-altitude flight stage ambient enviroment is relatively steady
It is fixed, without to aircraft flying speed and posture do too many adjustment, so can be expired by GPS navigation by interior monitoring and control unit
Foot.But the velocity variations of takeoff and landing stage unmanned plane are big, pose adjustment frequently, landing place it is also more complicated so
The control system of unmanned plane is required very high.Unmanned plane makes experience rich generally by the way of the outer remote controler of observing and controlling vehicle at this stage
Rich aircrew controls unmanned plane by observing, to meet take off, landing phases are to control system real-time, motor-driven
The requirement of property, high complexity.
The research and development of unmanned plane just starts climax in worldwide.The remote control mode of unmanned plane is broadly divided into hand
Dynamic remote control, ultra-viewing distance remote control and semi-autonomous/autonomous control.Ultra-viewing distance remote control refers to that ground handling operator sends back according to unmanned plane
The holder shooting image and flight attitude signal handling unmanned plane come.
However, unmanned aerial vehicle (UAV) control mode is mostly remote control, need all multi-parameters beamed back according to unmanned plane by being remotely controlled
Personnel voluntarily judge whether to be suitable for sending control instruction.However, this mode is it is required that unmanned plane can at any time, either
At crucial moment, its own flight parameter and work state information can be beamed back；Secondly, this mode excessively relies on remote control people
The experience of member, once reaction is slower, then unmanned plane may break down under distress situation and even crash.These are unreliable
Or uncertain factor is unfavorable for successfully completing for aerial mission.
Invention content
In order to provide intelligentized remote control mode of unmanned plane and meanwhile reduce it is above-mentioned in the prior art unreliable and uncertain
Factor, the present invention provides a kind of sound control methods suitable for unmanned plane, including：
(1) remote control receives phonetic order；
(2) phonetic order is sent to the control unit of unmanned plane；
(3) phonetic order is resolved into the instruction of several single movements by the control unit of unmanned plane；
(4) unmanned aerial vehicle (UAV) control unit previews the instruction of several single movements；
(5) unmanned plane according to preview as a result, to remote control provide feedback information.
Further, the step (1) includes：
(1.1) remote control carries out recognition of face and carries out Application on Voiceprint Recognition；
(1.2) according to recognition of face as a result, judging whether to receive voice.
Further, the step (1.2) includes：If by recognition of face, the voice received is further sentenced
It is disconnected whether be the permission with voice control voice, determine the permission corresponding to the voice, and carry out speech recognition.
Further, the step (2) includes：Phonetic order is sent to the communication of unmanned plane by wireless data sending unit
Phonetic order is transmitted to unmanned plane by unit, the communication unit again by the security verification of phonetic order after by verification
Control unit.
Further, the step (3) includes：Identification phonetic order includes specific interval symbol, and according to this interval
Symbol resolves into phonetic order the instruction of several single movements.
Further, the instruction for phonetic order being resolved into several single movements includes：Referred to according to various voices
The default run time enabled, the assignment interval time between the instruction of each single movement.
Further, the step (4) includes：Unmanned aerial vehicle (UAV) control unit is that the command detection of each single movement is accordingly held
The association status of row component, and judge whether voice executes instruction feasible.
Further, the association status of the corresponding execution unit of the detection includes：
Judge the type of corresponding execution unit；
According to the type of corresponding execution unit, judge whether the association status for needing to detect corresponding execution unit：If no
It needs, then it is feasible directly to judge that the voice executes instruction.
Further, the association status includes：The association status includes：The control unit of unmanned plane obtains flight speed
The distance between degree, flying height, flight path and peripheral obstacle.
Further, the step (5) includes：Unmanned aerial vehicle (UAV) control unit is referred to by extending voice with preset time span
Interval between order carries out second of preview, then sending out as a result, being provided to remote control and feeding back it according to second of preview
The whether feasible information of phonetic order.
The beneficial effects of the invention are as follows：It eliminates unmanned plane and is necessary to ensure that height to its own flight parameter and running parameter
Transmitting requirement, while can intelligently estimate feasible scheme and automatically carry out, substantially increase no-manned machine distant control
Efficiency.In addition, by speech recognition technology, the present invention also enhances the safety of no-manned machine distant control.
Description of the drawings
Fig. 1 shows the flow diagram of the sound control method according to the present invention suitable for unmanned plane.
Specific implementation mode
As shown in Figure 1, according to a preferred embodiment of the invention, the sound control method for being suitable for unmanned plane includes following step
Suddenly：
(1) remote control receives phonetic order；Remote control includes sound-groove model library and face database.The step packet
It includes：
(1.1) remote control carries out recognition of face and carries out Application on Voiceprint Recognition.
Pre-saved when recognition of face, in face database face information (such as by infrared signal detect face figure
Picture simultaneously retains the physiological characteristics such as human eye interval, human eye length), in acquisition, human face data and people are collected by infrared signal
Data in face database are made comparisons.If by recognition of face, the voice received is further determined whether to have
The voice of the permission of voice control determines the permission corresponding to the voice, and carries out speech recognition.
(1.2) according to recognition of face as a result, judging whether to receive voice.
Application on Voiceprint Recognition (VoiceprintRecognition, VPR), also referred to as Speaker Identification (Speaker
Recognition), two classes, i.e. speaker recognize (Speaker Identification) and speaker verification (Speaker
Verification).The former, to judge that certain section of voice is described in which of several people, is " multiselect one " problem；And
The latter is " one-to-one differentiation " problem to confirm whether certain section of voice is described in specified someone.Different task and
Using different sound groove recognition technology in e can be used, recognition techniques may be needed when such as reducing criminal investigation range.In the present invention, vocal print mould
Type library uses Gauss model, has the vocal print feature information for the personnel for allowing to carry out voice control.Every have send out voice control
The personnel of system instruction upload one section of trained voice, which is trained voice by maximum likelihood method, into
And obtain vocal print library.
Vocal print is carried out when comparing, phonetic order sender sends out phonetic order, the phonetic order by with voice print database into
Row vocal print compares.It, be in multiple actions in phonetic order if including a plurality of phonetic order that an action is individually performed
Increase the voice of specific interval symbol, such as the pronunciation of English alphabet " O " between phonetic order.Preferably, which is no more than 3 seconds
Clock.
Corresponding identity information in voice print database and face database is searched by vocal print and face information, to confirm
Its permission.
(2) phonetic order is sent to the control unit of unmanned plane：(remote control can be used as by wireless data sending unit
A part be arranged in remote control) phonetic order is sent to the communication unit of unmanned plane, the communication unit is again by voice
The security verification of instruction, and phonetic order is transmitted to after by verification the control unit of unmanned plane.Preferably, Ge Geyu
Sound instruction is to be converted at a variety of different instruction codes before being sent to unmanned plane, and has between each code above-mentioned
Blank character.
(3) control unit of unmanned plane resolves into phonetic order according to the blank character (if any) in voice several
The instruction of a single movement parses each phonetic order.Then increase preset run time in the position of blank character.This is pre-
If run time be default run time according to various phonetic orders, the interval distributed between the instruction of each single movement
Time.The default run time of this phonetic order is according to unmanned aerial vehicle (UAV) control unit by the symbol lookup pair of the instruction received
Then the run time needed for instruction answered adds the run time after this phonetic order (being actually code).
(4) unmanned aerial vehicle (UAV) control unit previews the instruction of several single movements；The association status includes：
The association status includes：The control unit of unmanned plane obtain flying speed, flying height, flight path and peripheral obstacle it
Between distance.
In this step, the control unit of unmanned plane is the association of the corresponding execution unit of command detection of each single movement
State, and judge whether voice executes instruction feasible.
Specifically, the type of corresponding execution unit is first determined whether.If instruction is directed to camera or sensor
Position (if sensor is located on holder), the execution of the phonetic order is not by the state of flight of unmanned plane or unmanned plane
On other assemblies influence.It is 15 degree of north by east if it is adjustment heading, then first passes through camera or onboard ultrasound
Wave apparatus etc. judges 15 degree of unmanned plane north by east direction whether there are obstacles, if any, then so that detect barrier with
The distance of the unmanned plane, compares whether unmanned plane can strike obstacle with current flying speed during adjusting heading
Object.These final results judged will be returned to unmanned aerial vehicle (UAV) control unit.
Further,
(5) unmanned plane according to preview as a result, to remote control provide feedback information.
Unmanned aerial vehicle (UAV) control unit (such as is increased by the interval for being extended or being shortened with preset time span between phonetic order
Add 10 seconds) second of preview is carried out, the process of preview is the same as above-mentioned preview process.Then according to second preview as a result, to
Remote control provides the feedback whether feasible information of phonetic order that it sends out.
The method of the present invention is not only applicable to train no-manned machine distant control personnel that it is made to enlarge one's experience, and is suitable for unmanned plane
Task is smoothly completed under the mal-conditions such as video control mode inconvenience.
The above, the only specific implementation mode in the present invention, but scope of protection of the present invention is not limited thereto, appoints
What is familiar with the people of the technology within the technical scope disclosed by the invention, it will be appreciated that expects transforms or replaces, and should all cover
Within the scope of the present invention, therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (10)
1. a kind of phonetic controller, including：It receives the remote control of phonetic order and phonetic order is sent to unmanned plane
The phonetic order is resolved into the instruction of several single movements, described control unit pair by control unit, described control unit
The instruction of several single movements is previewed, and the unmanned plane is according to preview as a result, providing feedback letter to remote control
Breath；Described control unit identifies that the phonetic order includes specific interval symbol, and according to this blank character phonetic order point
For solution at the instruction of several single movements, described control unit is the pass of the corresponding execution unit of command detection of each single movement
Connection state, and judge whether voice executes instruction feasible.
2. phonetic controller according to claim 1, which is characterized in that described that phonetic order resolved into several is individually dynamic
The instruction of work includes：According to the default run time of various phonetic orders, between the instruction of each single movement when assignment interval
Between.
3. phonetic controller according to claim 1, which is characterized in that the remote control carries out recognition of face and carry out sound
Line identifies, according to recognition of face as a result, judging whether to receive voice.
4. phonetic controller according to claim 3, which is characterized in that if by recognition of face, if described control unit
The voice received is further determined whether for the voice of the permission with voice control, to determine the power corresponding to the voice
Limit, and carry out speech recognition.
5. phonetic controller according to claim 1, which is characterized in that the phonetic controller further includes by no line number
Phonetic order is sent to the communication unit of unmanned plane by leaflet member, the communication unit again by the security verification of phonetic order, and
Phonetic order is transmitted to described control unit after by verification.
6. phonetic controller according to claim 1, which is characterized in that the association status packet for detecting corresponding execution unit
It includes：Judge the type of corresponding execution unit.
7. phonetic controller according to claim 6, which is characterized in that described control unit is according to the kind of corresponding execution unit
Class judges whether the association status for needing to detect corresponding execution unit：If it is not required, then directly judging that the voice executes instruction
It is feasible.
8. phonetic controller according to claim 6, which is characterized in that the association status includes：The control list of unmanned plane
Member obtains the distance between flying speed, flying height, flight path and peripheral obstacle.
9. phonetic controller according to claim 1, which is characterized in that described control unit passes through with preset time span
The interval extended between phonetic order carries out second and previews.
10. phonetic controller according to claim 9, which is characterized in that described control unit is previewed according to described second
As a result, providing feedback its whether feasible information of phonetic order for sending out to the remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810112322.3A CN108334109B (en) | 2015-03-30 | 2015-03-30 | Voice control device |
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| CN201510145362.4A CN104865856B (en) | 2015-03-30 | 2015-03-30 | A kind of sound control method suitable for unmanned plane |
| CN201810112322.3A CN108334109B (en) | 2015-03-30 | 2015-03-30 | Voice control device |
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| CN201510145362.4A Active CN104865856B (en) | 2015-03-30 | 2015-03-30 | A kind of sound control method suitable for unmanned plane |
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| CN114373457A (en) * | 2021-12-14 | 2022-04-19 | 太原重工股份有限公司 | An intelligent unmanned crane voice control system |
| CN115482820A (en) * | 2022-08-31 | 2022-12-16 | 海尔优家智能科技（北京）有限公司 | Device control method and apparatus, storage medium, and electronic apparatus |
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| CN108334109B (en) | 2021-02-12 |
| CN104865856A (en) | 2015-08-26 |
| CN104865856B (en) | 2018-02-06 |
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