CN105223965B - Unmanned plane voice activated control - Google Patents
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- CN105223965B CN105223965B CN201510746855.3A CN201510746855A CN105223965B CN 105223965 B CN105223965 B CN 105223965B CN 201510746855 A CN201510746855 A CN 201510746855A CN 105223965 B CN105223965 B CN 105223965B
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Abstract
The present invention proposes a kind of unmanned plane voice activated control, including：Ground control unit is used for the phonetic order for receiving commander, and phonetic order is converted into flight control signal, when receiving the unmanned plane return signal that Airborne Control Unit is sent, gathers the current location information of ground control unit；Airborne Control Unit is located on unmanned plane, for being analyzed and processed to receiving flight control signal, obtain sporting flying instruction, sporting flying instruction is sent to the flight control system of unmanned plane, instructed from flight control system according to sporting flying to the speed regulator of unmanned plane and send rotating speed control instruction, as speed regulator control unmanned plane motor speed to complete and the corresponding flare maneuver of sporting flying instruction.Invention increases the stability of acoustic control UAS, realizes safety and stability efficiently by Voice command unmanned plane during flying.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control technical field, more particularly to a kind of unmanned plane voice activated control.
Background technology
Speech recognition is a cross discipline.In the late two decades, speech recognition technology obtains marked improvement, starts from experiment
Move towards market in room.It is contemplated that in coming 10 years, speech recognition technology will enter industry, household electrical appliances, communication, automotive electronics, doctor
The every field such as treatment, home services, consumption electronic product.Speech recognition dictation machine some fields application by US News circle
It is chosen as one of ten major issues of development of computer in 1997.Many experts think that speech recognition technology is between 2000 to 2010
One of big important development in science and technology technology of areas of information technology ten.Field involved by speech recognition technology includes：Signal transacting,
Pattern-recognition, probability theory and information theory, sound generating mechanism and hearing mechanism, artificial intelligence etc..
Speech exchange is carried out with machine, allows machine to understand what you say, this is the thing that people dream of for a long time.
Alliance of Chinese Internet of Things school-run enterprise is vivid to be obtained speech recognition ratio as " auditory system of machine ".Speech recognition technology is exactly the machine that allows
Device is changed into voice signal with understanding process by identifying the high-tech of corresponding text or order.Speech recognition technology is main
Including three Feature Extraction Technology, pattern match criterion and model training technology aspects.Speech recognition technology car networking also obtains
Sufficient reference, such as in the networking of wing truck, i.e. settable destination need to be only given an oral account by PTT contact staff and directly be led
Boat, safely, conveniently.
Current unmanned plane field sound control technique is not all also overripened, and major defect, which is that phonetic recognization rate is low, causes voice activated control
Reliability is low, and the quick response and coordination technique of sound identification module and system for flight control computer are also immature.This is due to language
Sound identification technology is not also overripened to cause sound instruction discrimination too low, and system for flight control computer is combined with acoustic control identifying system
Using and complete instruction correct transmission and state passback have certain technical difficulty.
The content of the invention
The purpose of the present invention is intended at least solve one of described technological deficiency.
Therefore, it is an object of the invention to propose a kind of unmanned plane voice activated control, the steady of acoustic control UAS is added
It is qualitative, realize safety and stability efficiently by Voice command unmanned plane during flying.
To achieve these goals, the embodiment of one aspect of the present invention provides unmanned plane voice activated control, including：Ground controls
Device and Airborne Control Unit, the ground control unit and the Airborne Control Unit wireless connection, wherein, the ground control
Device processed is used for the phonetic order for receiving commander, and the phonetic order is converted into flight control signal, and is receiving
During the unmanned plane return signal sent to the Airborne Control Unit, the present bit confidence of the ground control unit is gathered
Breath, the flight control signal and the current location information are sent to the Airborne Control Unit；The airborne control dress
Setting on unmanned plane, for being analyzed and processed to receiving flight control signal, sporting flying instruction is obtained, is flown described
Row movement instruction is sent to the flight control system of the unmanned plane, is instructed from the flight control system according to the sporting flying to described
The speed regulator of unmanned plane sends rotating speed control instruction, by the speed regulator control the motor speed of the unmanned plane with
Completion and the corresponding flare maneuver of sporting flying instruction, and when the unmanned plane turns head, controlled to the ground
Device processed sends unmanned plane return signal, and after the current location information of the ground control unit is received, works as to described
Front position information is analyzed and processed to generate return navigation instruction, and the return navigation instruction is sent to the unmanned plane
Flight control system, the head for controlling the unmanned plane by the flight control system is turned to the direction of the ground control unit, with control
Make the unmanned plane to fly towards the position of the ground control unit, the back course of the unmanned plane is navigated, its
In, the Airborne Control Unit includes：
Second wireless communication module, the first radio communication of second wireless communication module and the ground control unit
Module is connected, for receiving the flight control signal and the current location information from the ground control unit；
Airborne main control module, the airborne main control module are connected with second wireless communication module, for flying to described
Row control signal is analyzed and processed to generate the sporting flying instruction, and is turned head in the unmanned plane and prepared to make a return voyage
When, send unmanned plane return signal to second wireless communication module, with by second wireless communication module by the nothing
Man-machine return signal is forwarded to first wireless communication module, and in the current location for receiving the ground control unit
After information, the current location information is analyzed and processed to generate return navigation instruction, send to the unmanned plane and fly
Control system, instructed from the flight control system according to the sporting flying to the speed regulator of the unmanned plane and send rotating speed control
Instruction, control the motor speed of the unmanned plane corresponding with sporting flying instruction winged to complete as the speed regulator
Action is made, and controls the head of the unmanned plane to turn to described according to the return navigation instruction by the flight control system
The direction of face control device.
Further, the ground control unit includes：Acoustic control module, for receiving the phonetic order of commander, and by institute
State phonetic order and be converted into corresponding instruction code；Locating module, for gathering the present bit confidence of the ground control unit
Breath；Ground main control module, the ground main control module are connected with the acoustic control module and the locating module, described for receiving
Instruction code and current location information, the instruction code is handled to generate the flight control signal；First is wireless
Communication module, first wireless communication module are connected with the ground main control module, for by the current location information and
Flight control signal is sent to the Airborne Control Unit；Display module, the display module and the ground main control module phase
Even, for showing that flight control signal, the current location information of the ground control unit and the Airborne Control Unit return
Information.
Further, the locating module is GPS location chip or Big Dipper positioning chip.
Further, the ground control unit also includes：Keyboard, the keyboard are connected with the ground main control module, use
In the instruction that the reception commander is manually entered；Ground controls LED light, ground control LED light with it is described
Ground main control module is connected, for showing the working condition of the ground control unit.
Further, the Airborne Control Unit also includes：Airborne control LED light, the airborne control LED light
It is connected with the airborne main control module, for showing the working condition of the Airborne Control Unit.
Unmanned plane voice activated control according to embodiments of the present invention, by the way that speech recognition technology is integrated into application to unmanned plane
In flight control system, realize by voice to control the target of unmanned plane.Language is substantially increased by advanced speech recognition technology
The discrimination of sound, the stability of acoustic control UAS is added, realize safety and stability efficiently by Voice command unmanned plane
Flight.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the structure chart according to the unmanned plane voice activated control of the embodiment of the present invention；
Fig. 2 is the structure chart according to the ground control unit of the embodiment of the present invention；
Fig. 3 is the structure chart according to the Airborne Control Unit of the embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
As shown in figure 1, the unmanned plane voice activated control of the embodiment of the present invention, including：Ground control unit 1 and airborne control dress
Put 2, ground control unit 1 and the wireless connection of Airborne Control Unit 2.
Specifically, ground control unit 1 is used for the phonetic order for receiving commander, and phonetic order is converted into flight control
Signal processed, and when receiving the unmanned plane return signal that Airborne Control Unit 2 is sent, collection ground control unit 1
Current location information, flight control signal and current location information are sent to Airborne Control Unit 2.
As shown in Fig. 2 ground control unit 1 includes：Acoustic control module 101, locating module 102, ground main control module 103,
First wireless communication module 104 and display module 105.
Acoustic control module 101 is used for the phonetic order for receiving commander, and phonetic order is converted into corresponding instruction code.
Locating module 102 is used for the current location information for gathering ground control unit 1.Wherein, locating module 102 can be
GPS location chip or Big Dipper positioning chip.
Ground main control module 103 is connected with acoustic control module 101 and locating module 102, for receiving instruction code and current
Positional information, instruction code is handled to generate flight control signal.
In one embodiment of the invention, ground main control module 103 can be STM32F103RET6 main control chips.
First wireless communication module 104 is connected with ground main control module 103, for current location information and flight to be controlled
Signal is sent to Airborne Control Unit 2.Wherein, the first wireless communication module 104 can be wireless serial module.
Display module 105 is connected with ground main control module 103, for showing flight control signal, ground control unit 1
The information that current location information and Airborne Control Unit 2 return.Wherein, display module 105 can use model Mini12864
LCDs.
Ground control unit 1 also includes：Keyboard 106 and ground control LED light 107.Specifically, keyboard 106 and ground
Face main control module 103 is connected, the instruction being manually entered for receiving commander.Ground controls LED light 107 and ground master control
Module 103 is connected, for showing the working condition of ground control unit 1.
Further, ground control unit 1 also includes：Buzzer 112, the buzzer 112 and the phase of ground main control module 103
Even.Ground main control module 103 is according to data are received, and when judging that equipment breaks down, control buzzer 112 sends buzzing report
Alert signal.
With reference to figure 2, the power pack of ground control unit 1 includes：Voltage detection module 108, supplying cell 109,5V are steady
Die block 110 and 3.3V Voltage stabilizing modules 111.Wherein, the output end of voltage detection module 108 and the input of supplying cell 109
It is connected, the output end of supplying cell 109 is connected with the input of 5V Voltage stabilizing modules 110 with to the output voltage of 5V Voltage stabilizing modules 110
Signal.The voltage signal of 5V Voltage stabilizing modules self-powered battery in 110 future 109 is converted to 5V voltages, the output of 5V Voltage stabilizing modules 110
Input respectively with acoustic control module 101 and 3.3V Voltage stabilizing modules 111 is held to be connected, for acoustic control module 101 and 3.3V voltage stabilizings
Module 111 exports 5V voltages.The 5V voltage conversions received are 3.3V voltages by 3.3V Voltage stabilizing modules 111,3.3V Voltage stabilizing modules
111 output end is connected with ground main control module 103, exports 3.3V voltages for earthward main control module 103 to be powered.
The workflow of ground control unit 1 is illustrated below.
First, phonetic order is gathered by acoustic control module 101 and changes into command adapted thereto code, be sent to ground main control module
103 processing, are then sent to Airborne Control Unit 2, while display module by the first wireless communication module 104 by command adapted thereto
Also the state of command adapted thereto and onboard modules passback can be shown on 105.When turning head, ground control unit 1 is by positioning mould
The current location information that block 102 collects is sent to Airborne Control Unit 2 by the first wireless communication module 104 and handled.
Same instructions can also be sent by acoustic control auxiliary keyboard 106 simultaneously.
Airborne Control Unit 2 is located on unmanned plane, for being analyzed and processed to receiving flight control signal, obtains and flies
Row movement instruction, and sporting flying instruction is sent to the flight control system 205 of unmanned plane, transported by flight control system 205 according to flight
Dynamic instruction sends rotating speed control instruction to the speed regulator of unmanned plane.Then the motor for controlling unmanned plane by speed regulator turns
Speed is to complete and the corresponding flare maneuver of sporting flying instruction.
Also, when unmanned plane is turned head preparation and maked a return voyage, earthward control device 1 sends nobody to Airborne Control Unit 2
Machine return signal, and after the current location information of ground control unit 1 is received, current location information is analyzed and processed
Navigation instruction is returned to generation, navigation instruction will be returned and sent to the flight control system 205 of unmanned plane.By the basis of flight control system 205
The head of return navigation instruction control unmanned plane is turned to the direction of ground control unit 1, control unmanned plane to be controlled towards ground
The position flight of device 1 processed, so as to realize the essence for the ground control centre that the place of ground control unit 1 is returned to unmanned plane
Really navigation.
As shown in figure 3, Airborne Control Unit 2 includes：Second wireless communication module 201 and airborne main control module 202.
Second wireless communication module 201 is connected with the first wireless communication module 104, and ground control unit is come from for receiving
1 flight control signal and current location information.Wherein, the second wireless communication module 201 can be wireless serial module.
Airborne main control module 202 is connected with the second wireless communication module 201, for being carried out to flight control signal at analysis
Reason is instructed with generating sporting flying.Wherein, airborne main control module 202 can be model STM32F103RET6 main control chip.
Airborne main control module 202 sends unmanned plane when unmanned plane turns head, to the second wireless communication module 201 and returned
Unmanned plane return signal is forwarded to ground control unit 1 by signal, the second wireless communication module 201.Airborne main control module 202 is also
For receive the second wireless communication module 201 forwarding come ground control unit 1 current location information after, to present bit
Confidence breath is analyzed and processed the flight control system 205 for generate return navigation instruction, being then forwarded to unmanned plane, by flight control system
205 turn to the direction of ground control unit 1 according to the head for returning to navigation instruction control unmanned plane, to control unmanned plane direction
The position flight of ground control unit 1, so as to which can realizes the precision navigation to unmanned plane back course.
Airborne Control Unit 2 also includes：Airborne control LED light 204.Wherein, it is airborne control LED light 204 with
Airborne main control module 202 is connected, for showing the working condition of Airborne Control Unit 2.
Further, also include with reference to figure 3, Airborne Control Unit 2：Buzzer 212, the buzzer 212 and airborne master control mould
Block 202 is connected.Airborne main control module 202 is according to data are received, and when judging that equipment breaks down, control buzzer 112 is sent out
Go out buzzing alarm signal.
With reference to figure 3, the power pack of Airborne Control Unit 2 includes：Voltage detection module 206, supplying cell 207,5V are steady
Die block 208 and 3.3V Voltage stabilizing modules 209.Wherein, the output end of voltage detection module 206 and the input of supplying cell 207
It is connected, the output end of supplying cell 207 is connected with the input of 5V Voltage stabilizing modules 110 with to the output voltage of 5V Voltage stabilizing modules 208
Signal.The voltage signal of 5V Voltage stabilizing modules self-powered battery in 208 future 207 is converted to 5V voltages, the output of 5V Voltage stabilizing modules 208
End is connected with the input of 3.3V Voltage stabilizing modules 209, for exporting 5V voltages to 3.3V Voltage stabilizing modules 209.3.3V Voltage stabilizing module
The 5V voltage conversions received are 3.3V voltages, the output end of 3.3V Voltage stabilizing modules 209 and the airborne phase of main control module 202 by 209
Even, for exporting 3.3V voltages to airborne main control module 202 to be powered.
The output end of the airborne further NAND gate chip 211 of main control module 202 is connected, wherein, the input of NOT gate chip 211
End is connected with receiver 210.
The workflow of Airborne Control Unit 2 is illustrated below.
Airborne main control module 202 receives the instruction of the transmission of ground control unit 1 by the second wireless communication module 201 and incited somebody to action
Airplane motion information is issued flight control system 205 by command adapted thereto after being handled by main control chip.After flight control system 205 is connected to information
Instruction controlled motor rotating speed is readjusted the distribution out to electricity so as to complete corresponding actions.Turn head to prepare when making a return voyage, Airborne Control Unit 2 connects
The GPS location information that ground control unit 1 is sent is received, is handled by the calculating of airborne main control module 202, to flight control system
205 send return navigation instruction, make unmanned plane that head to be turned to the direction of ground control unit 1 automatically, so as to realize nobody
The ground control centre that machine accurately makes a return voyage back where ground control unit 1.
Unmanned plane voice activated control according to embodiments of the present invention, by the way that speech recognition technology is integrated into application to unmanned plane
In flight control system, realize by voice to control the target of unmanned plane.Language is substantially increased by advanced speech recognition technology
The discrimination of sound, the stability of acoustic control UAS is added, realize safety and stability efficiently by Voice command unmanned plane
Flight.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art is not departing from the principle and objective of the present invention
In the case of above-described embodiment can be changed within the scope of the invention, change, replace and modification.The scope of the present invention
Extremely equally limited by appended claims.
Claims (5)
- A kind of 1. unmanned plane voice activated control, it is characterised in that including：Ground control unit and Airborne Control Unit, the ground Control device and the Airborne Control Unit wireless connection, wherein,The ground control unit is used for the phonetic order for receiving commander, and the phonetic order is converted into flight control letter Number, and when receiving the unmanned plane return signal that the Airborne Control Unit is sent, gather the ground control unit Current location information, the flight control signal and the current location information are sent to the Airborne Control Unit；The Airborne Control Unit is located on unmanned plane, for being analyzed and processed to receiving flight control signal, obtains and flies Row movement instruction, sporting flying instruction is sent to the flight control system of the unmanned plane, by the flight control system according to institute State sporting flying instruct to the unmanned plane speed regulator send rotating speed control instruction, by the speed regulator control institute State the motor speed of unmanned plane with complete with the corresponding flare maneuver of sporting flying instruction, and turn in the unmanned plane When head prepares to make a return voyage, unmanned plane return signal is sent to the ground control unit, and receiving the ground control dress After the current location information put, the current location information is analyzed and processed to generate return navigation instruction, returned described Navigation instruction is returned to send to the flight control system of the unmanned plane, by the flight control system control the head of the unmanned plane turn to The direction of the ground control unit, to control the unmanned plane to be flown towards the position of the ground control unit, to described The back course of unmanned plane is navigated, wherein, the Airborne Control Unit includes：Second wireless communication module, the first wireless communication module of second wireless communication module and the ground control unit It is connected, for receiving the flight control signal and the current location information from the ground control unit；Airborne main control module, the airborne main control module are connected with second wireless communication module, for being controlled to the flight Signal processed is analyzed and processed to generate the sporting flying instruction, and when the unmanned plane is turned head preparation and maked a return voyage, Send unmanned plane return signal to second wireless communication module, with by second wireless communication module by the unmanned plane Return signal is forwarded to first wireless communication module, and in the current location information for receiving the ground control unit Afterwards, the current location information is analyzed and processed to generate return navigation instruction, sent to the winged control system of the unmanned plane System, the speed regulator transmission rotating speed control to the unmanned plane is instructed to refer to according to the sporting flying from the flight control system Order, the motor speed of the unmanned plane is controlled by the speed regulator to complete fly corresponding with sporting flying instruction Action, and control the head of the unmanned plane to turn to the ground according to the return navigation instruction by the flight control system The direction of control device.
- 2. unmanned plane voice activated control as claimed in claim 1, it is characterised in that the ground control unit includes：Acoustic control module, corresponding instruction code is converted into for receiving the phonetic order of commander, and by the phonetic order；Locating module, for gathering the current location information of the ground control unit；Ground main control module, the ground main control module is connected with the acoustic control module and the locating module, for receiving Instruction code and current location information are stated, the instruction code is handled to generate the flight control signal；First wireless communication module, first wireless communication module are connected with the ground main control module, for that described will work as Front position information and flight control signal are sent to the Airborne Control Unit；Display module, the display module are connected with the ground main control module, for showing flight control signal, the ground The information that the current location information of control device and the Airborne Control Unit return.
- 3. unmanned plane voice activated control as claimed in claim 2, it is characterised in that the locating module be GPS location chip or Big Dipper positioning chip.
- 4. unmanned plane voice activated control as claimed in claim 2, it is characterised in that the ground control unit also includes：Keyboard, the keyboard are connected with the ground main control module, the instruction being manually entered for receiving the commander；Ground controls LED light, and the ground control LED light is connected with the ground main control module, for showing State the working condition of ground control unit.
- 5. unmanned plane voice activated control as claimed in claim 1, it is characterised in that the Airborne Control Unit also includes：It is airborne LED light is controlled, the airborne control LED light is connected with the airborne main control module, for showing the airborne control The working condition of device processed.
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| CN205788705U (en) * | 2016-03-17 | 2016-12-07 | 深圳飞豹航天航空科技有限公司 | A kind of smart machine controlling mobile device running status and system |
| CN105818983B (en) * | 2016-03-18 | 2019-10-01 | 普宙飞行器科技（深圳）有限公司 | The control method and UAV system of unmanned plane |
| CN105679322B (en) * | 2016-03-29 | 2020-05-12 | 普宙飞行器科技（深圳）有限公司 | Unmanned aerial vehicle system based on airborne voice control and control method |
| CN105827260A (en) * | 2016-04-15 | 2016-08-03 | 上海理工大学 | Voice control unmanned aerial vehicle |
| CN105961360A (en) * | 2016-05-10 | 2016-09-28 | 南京乐乐飞电子科技有限公司 | Unmanned plane chemical spray control and chemical dose detection device |
| CN107783550A (en) * | 2016-08-26 | 2018-03-09 | 北京臻迪机器人有限公司 | The method and device that control unmanned plane makes a return voyage |
| CN106569505A (en) * | 2016-10-19 | 2017-04-19 | 广东容祺智能科技有限公司 | Unmanned control system based on sound spectrum recognition function |
| CN106406356A (en) * | 2016-12-13 | 2017-02-15 | 天津成周科技有限公司 | Control system for electronic-information-based unmanned aerial vehicle formation management and management method thereof |
| CN107123422A (en) * | 2017-05-23 | 2017-09-01 | 成都环磊科技有限公司 | Unmanned plane positions voice distributed control method |
| CN106982120A (en) * | 2017-05-23 | 2017-07-25 | 成都环磊科技有限公司 | A kind of unmanned plane distance flight attitude regulating command system |
| CN107222852A (en) * | 2017-05-23 | 2017-09-29 | 成都环磊科技有限公司 | Unmanned plane antidirection finding sound control method |
| CN107221327A (en) * | 2017-05-23 | 2017-09-29 | 成都鼎智汇科技有限公司 | Unmanned plane manipulating rights discrimination method |
| CN107170448A (en) * | 2017-05-23 | 2017-09-15 | 成都鼎智汇科技有限公司 | Speech recognition algorithm for unmanned plane |
| CN107316640A (en) * | 2017-05-23 | 2017-11-03 | 成都鼎智汇科技有限公司 | Unmanned plane tele-control system |
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| CN108922535A (en) * | 2018-08-23 | 2018-11-30 | 上海华测导航技术股份有限公司 | Voice interactive system and exchange method for receiver |
| CN109279016A (en) * | 2018-10-31 | 2019-01-29 | 广州成至智能机器科技有限公司 | Unmanned plane digital speech broadcasting system |
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| CN108334109B (en) * | 2015-03-30 | 2021-02-12 | 绵阳硅基智能科技有限公司 | Voice control device |
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