CN108334109B - Voice control device - Google Patents
Voice control device Download PDFInfo
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- CN108334109B CN108334109B CN201810112322.3A CN201810112322A CN108334109B CN 108334109 B CN108334109 B CN 108334109B CN 201810112322 A CN201810112322 A CN 201810112322A CN 108334109 B CN108334109 B CN 108334109B
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- voice
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- aerial vehicle
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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
Abstract
In order to provide an intelligent unmanned aerial vehicle remote control mode and simultaneously reduce unreliable and uncertain factors in the prior art, the invention provides a voice control device, which comprises: the remote control unit who receives voice command reaches the control unit who sends voice command to unmanned aerial vehicle, control unit will voice command decomposes into the instruction of a plurality of independent action, control unit is right the instruction of a plurality of independent action carries out the rehearsal, unmanned aerial vehicle provides feedback information to remote control unit according to the rehearsal result. The invention removes the requirement that the unmanned aerial vehicle needs to ensure high-reliability transmission of the flight parameters and working parameters of the unmanned aerial vehicle, can intelligently estimate a feasible scheme and automatically execute the scheme, and greatly improves the remote control efficiency of the unmanned aerial vehicle. In addition, the safety of the unmanned aerial vehicle remote control is enhanced through the voice recognition technology.
Description
The application is a divisional application of a patent with the application number of 2015101453624 and the application date of 2015, 03 and 30, and the invention creates a 'voice control method applicable to unmanned aerial vehicles'.
Technical Field
The invention relates to the technical field of remote control of intelligent robots, in particular to a voice control method suitable for an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an unmanned aerial vehicle tactical aircraft which has power, can be controlled, can carry various task equipment, can execute various combat missions and can be repeatedly used. Due to the advantages of zero casualty risk, high maneuverability and the like, the military of all countries draws high attention. The flight process of the unmanned aerial vehicle comprises three parts of take-off, high-altitude flight and landing, the surrounding environment is relatively stable in the high-altitude flight stage, and the flying speed and the flying posture of the unmanned aerial vehicle do not need to be adjusted too much, so that the requirement of the in-vehicle measurement and control platform on GPS navigation can be met. However, in the takeoff and landing stages, the unmanned aerial vehicle has large speed change, frequent posture adjustment and complex landing field, so that the requirement on a control system of the unmanned aerial vehicle is high. At present, the unmanned aerial vehicle generally adopts a mode of measuring and controlling the external remote controller, and empiric flight personnel can control the unmanned aerial vehicle by observation, so that the requirements of taking off and landing stages on the real-time performance, the maneuverability and the high complexity of a control system are met.
Research and development of unmanned aerial vehicles is raising the climax worldwide. The remote control mode of the unmanned aerial vehicle mainly comprises manual remote control, beyond-the-horizon remote control and semi-autonomous/autonomous control. Beyond visual range remote control means that ground operating personnel shoot the image and the flight attitude signal control unmanned aerial vehicle according to the cloud platform that unmanned aerial vehicle transmitted back.
However, the mode of unmanned aerial vehicle control is mostly remote control, and it needs to be self-judged by remote control personnel whether the mode is suitable for sending control instructions according to a plurality of parameters sent back by the unmanned aerial vehicle. However, this approach needs to enable the drone to send back its own flight parameters and operating state information at any time, or at a critical moment; secondly, this kind of mode relies on remote control personnel's experience too much, and once the reaction is slow, then unmanned aerial vehicle probably breaks down or even crashes under the condition of distress. These factors, either unreliable or uncertain, are detrimental to the successful completion of the flight mission.
Disclosure of Invention
In order to provide an intelligent unmanned aerial vehicle remote control mode and simultaneously reduce unreliable and uncertain factors in the prior art, the invention provides a voice control method suitable for an unmanned aerial vehicle, which comprises the following steps:
(1) the remote control device receives a voice instruction;
(2) sending the voice command to a control unit of the unmanned aerial vehicle;
(3) the control unit of the unmanned aerial vehicle decomposes the voice command into a plurality of commands for independent actions;
(4) the unmanned aerial vehicle control unit previews the instructions of the plurality of independent actions;
(5) and the unmanned aerial vehicle provides feedback information for the remote control device according to the preview result.
Further, the step (1) includes:
(1.1) carrying out face recognition and voiceprint recognition by a remote control device;
and (1.2) judging whether to receive the voice or not according to the result of the face recognition.
Further, the step (1.2) comprises: if the face recognition is passed, the received voice is further judged whether to be the voice with the voice control authority, the authority corresponding to the voice is determined, and the voice recognition is carried out.
Further, the step (2) includes: the voice command is sent to the communication unit of the unmanned aerial vehicle through the wireless data transmission unit, the communication unit verifies the safety of the voice command, and the voice command is sent to the control unit of the unmanned aerial vehicle after the voice command passes the verification.
Further, the step (3) includes: the speech command is recognized to include a specific spacer and is broken into a number of individual action commands based on the spacer.
Further, the decomposing of the voice instruction into a number of separate actions includes: and allocating interval time between the instructions of the individual actions according to the preset running time of each voice instruction.
Further, the step (4) includes: the drone control unit detects the association status of the corresponding execution component for each individual action instruction and determines whether the voice execution instruction is feasible.
Further, the detecting the association status of the respective execution unit includes:
judging the type of the corresponding execution component;
judging whether the correlation state of the corresponding execution component needs to be detected or not according to the type of the corresponding execution component: if not, the voice execution instruction is directly judged to be feasible.
Further, the association state includes: the association state includes: the control unit of the unmanned aerial vehicle obtains the flying speed, the flying height, the flying track and the distance between surrounding obstacles.
Further, the step (5) includes: the unmanned aerial vehicle control unit performs second rehearsal by prolonging the interval between the voice commands by a preset time length, and then provides information for feeding back whether the voice commands sent by the unmanned aerial vehicle control unit are feasible or not to the remote control unit according to the result of the second rehearsal.
The invention has the beneficial effects that: the requirement that the unmanned aerial vehicle needs to ensure high-reliability transmission of flight parameters and working parameters of the unmanned aerial vehicle is eliminated, meanwhile, a feasible scheme can be intelligently estimated and automatically executed, and the efficiency of remote control of the unmanned aerial vehicle is greatly improved. In addition, the safety of the unmanned aerial vehicle remote control is enhanced through the voice recognition technology.
Drawings
Fig. 1 shows a flow chart of a voice control method suitable for a drone according to the invention.
Detailed Description
As shown in fig. 1, according to the preferred embodiment of the present invention, the voice control method for the drone includes the following steps:
(1) the remote control device receives a voice instruction; the remote control device comprises a voiceprint model library and a face database. The method comprises the following steps:
and (1.1) the remote control device performs face recognition and voiceprint recognition.
During face recognition, face information is stored in the face database in advance (for example, a face image is detected through infrared signals, physiological characteristics such as human eye intervals and human eye lengths are stored in the face image), and during acquisition, face data acquired through infrared signals are compared with data in the face database. If the face recognition is passed, the received voice is further judged whether to be the voice with the voice control authority, the authority corresponding to the voice is determined, and the voice recognition is carried out.
And (1.2) judging whether to receive the voice or not according to the result of the face recognition.
Voiceprint Recognition (VPR), also known as Speaker Recognition (Speaker Recognition), has two categories, namely Speaker Identification (Speaker Identification) and Speaker Verification (Speaker Verification). The former is used for judging which one of a plurality of people said a certain section of voice, and is a 'one-out-of-multiple' problem; the latter is used to confirm whether a certain speech is spoken by a given person, which is a "one-to-one decision" problem. Different tasks and applications may use different voiceprint recognition techniques, such as may be required to narrow criminal investigation. In the invention, the voiceprint model library adopts a Gaussian model and has voiceprint characteristic information of a person allowed to be controlled by voice. Each person who has the command for sending the voice control uploads a section of training voice, and the training voice is trained on the voice through a maximum likelihood method, so that a voiceprint library is obtained.
When voiceprint comparison is performed, the voice command sender sends a voice command, and the voice command is compared with the voiceprint database. If the voice command comprises a plurality of voice commands for executing one action independently, a voice with a specific interval character, such as the pronunciation of English letter 'O', is added between the voice commands of the plurality of actions. Preferably, the interval does not exceed 3 seconds.
And searching corresponding identity information in a voiceprint database and a face database through the voiceprint and face information so as to confirm the authority of the voiceprint database and the face database.
(2) Send the voice command to the control unit of unmanned aerial vehicle: the voice command is sent to the communication unit of the unmanned aerial vehicle through the wireless data transmission unit (which can be arranged in the remote control device as a part of the remote control device), the communication unit verifies the safety of the voice command, and the voice command is transmitted to the control unit of the unmanned aerial vehicle after the voice command passes the verification. Preferably, the individual voice commands are converted into a plurality of different command codes before being sent to the drone, with the above-mentioned spacers between the individual codes.
(3) The control unit of the unmanned aerial vehicle decomposes the voice command into a plurality of commands of independent actions according to the interval symbols (if any) in the voice, and analyzes each voice command. A preset run time is then added at the position of the spacer. The preset running time is the interval time distributed among the instructions of each independent action according to the preset running time of each voice instruction. The preset running time of such a voice instruction is the running time required for querying the corresponding instruction according to the code of the received instruction by the drone control unit, and then adding the running time after the piece of voice instruction (actually, the code).
(4) The unmanned aerial vehicle control unit previews the instructions of the plurality of independent actions; the association state includes: the association state includes: the control unit of the unmanned aerial vehicle obtains the flying speed, the flying height, the flying track and the distance between surrounding obstacles.
In this step, the control unit of the drone detects the association status of the corresponding execution component for each individual action instruction and determines whether the voice execution instruction is feasible.
Specifically, the type of the corresponding execution unit is first determined. If the command is for the position of the camera or sensor (if the sensor is located on the pan-tilt head), then execution of the voice command is not affected by the flight state of the drone or other components on the drone. If it is 15 degrees north-east to adjust the flight direction, then whether there is the barrier in the 15 degrees directions north-east of unmanned aerial vehicle through camera or airborne ultrasonic device etc. judgement unmanned aerial vehicle earlier, if have, then detect the barrier and this unmanned aerial vehicle's distance, compare whether unmanned aerial vehicle can bump the barrier with current flight speed during adjustment flight direction. The final result of these determinations will be returned to the drone control unit.
Further, the air conditioner is provided with a fan,
(5) and the unmanned aerial vehicle provides feedback information for the remote control device according to the preview result.
The drone control unit performs a second preview by extending or shortening the interval between voice commands by a preset length of time (e.g., by 10 seconds), the preview process being the same as the preview process described above. And then providing information for feeding back whether the voice command sent by the remote control device is feasible or not according to the result of the second preview.
The method is not only suitable for training the unmanned aerial vehicle remote control personnel to increase experience, but also suitable for smoothly completing tasks of the unmanned aerial vehicle under the severe conditions that a video control mode is inconvenient and the like.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can understand that the modifications or substitutions within the technical scope of the present invention are included in the scope of the present invention, and therefore, the scope of the present invention should be subject to the protection scope of the claims.
Claims (7)
1. A voice control apparatus comprising: the control unit is used for decomposing the voice instruction into a plurality of instructions for independent actions, previewing the instructions for the independent actions by the control unit, and providing feedback information for the remote control device by the unmanned aerial vehicle according to a previewing result; the control unit identifies that the voice command comprises a specific spacer, and decomposes the voice command into a plurality of commands of independent actions according to the spacer, the control unit detects the associated state of a corresponding execution component for each command of the independent actions and judges whether the voice execution command is feasible or not; the instructions to break the voice instructions into individual actions include: allocating interval time among the instructions of each independent action according to the preset running time of each voice instruction; the detecting the association status of the respective execution unit comprises: judging the type of the corresponding execution component; the control unit judges whether the correlation state of the corresponding execution component needs to be detected or not according to the type of the corresponding execution component: if not, the voice execution instruction is directly judged to be feasible.
2. The voice control apparatus according to claim 1, wherein the remote control apparatus performs face recognition and voiceprint recognition, and determines whether or not to receive a voice based on a result of the face recognition.
3. The voice control apparatus according to claim 2, wherein if the received voice is a voice having a voice control authority, the control unit further determines whether the received voice is a voice having a voice control authority, determines the authority corresponding to the voice, and performs voice recognition.
4. The voice control device according to claim 1, further comprising a communication unit for transmitting the voice command to the drone through the wireless data transmission unit, the communication unit further verifying the security of the voice command and transmitting the voice command to the control unit after the verification is passed.
5. The voice control apparatus according to claim 1, wherein the association state comprises: the control unit of the unmanned aerial vehicle obtains the flying speed, the flying height, the flying track and the distance between surrounding obstacles.
6. The voice control apparatus according to claim 1, wherein the control unit performs the second preview by extending an interval between the voice commands by a preset time length.
7. The voice control apparatus according to claim 6, wherein the control unit provides the remote control apparatus with information that feeds back whether or not the voice command it issues is possible, based on the result of the second preview.
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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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| CN111402863A (en) * | 2020-03-23 | 2020-07-10 | 北京京东乾石科技有限公司 | Control method, system, device, medium and equipment for formation unmanned aerial vehicle |
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| CN108334109A (en) | 2018-07-27 |
| CN104865856A (en) | 2015-08-26 |
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