CN102233191A - Aviation model with voice control function - Google Patents
Aviation model with voice control function Download PDFInfo
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- CN102233191A CN102233191A CN2010101695419A CN201010169541A CN102233191A CN 102233191 A CN102233191 A CN 102233191A CN 2010101695419 A CN2010101695419 A CN 2010101695419A CN 201010169541 A CN201010169541 A CN 201010169541A CN 102233191 A CN102233191 A CN 102233191A
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Abstract
The invention relates to an aviation model with a voice control function. The aviation model comprises remote control equipment and an aircraft, wherein the remote control equipment comprises a remote controller and a voice control module controlling the aircraft to operate through voice; and a manual operation module for controlling the aircraft to operate is arranged on the remote controller. Due to the voice control module, a novel action command can be conveniently generated at any time according to an operating state of the aircraft, and misoperation brought by an unskilled operating system of the aviation model is avoided; and the aircraft can be controlled to operate through voice, so hands of an operator can be greatly freed, and the interest of the aviation model and the man-machine interaction capacity are improved.
Description
Technical field:
The present invention relates to a kind of model plane, especially the technical field of the control system of model airplane.
Background technology:
Model plane are general designations of model airplane and model ship, and the invention is only at the model airplane technical field, and in order to narrate conveniently, in the present invention, if no special instructions, " model plane " refer in particular to " model airplane ".
Model plane are amusement and recreation instruments of a kind of health, and good nootropic effect is arranged, and along with the model plane development of science and technology, interest is also more and more stronger, have become the entertainment way of a kind of fashion of people day by day.Model airplane comprises model airplane remote control equipment, model aircraft; Described remote control equipment comprises remote controller, receiver, steering wheel; Described model aircraft is called for short aircraft, comprise the model of an airplane, model copter etc., aircraft has aircraft and helicopter etc., all be to adopt manual operation control, by the manual operation module on the remote controller, control signal is delivered to carry-on signal processing system, and the control aircraft is made corresponding flare maneuver.Fig. 1 is the block diagram of the radiating portion of model plane control operation of the prior art, radiating portion just is meant the remote controller part, as shown in the figure, the flare maneuver of aircraft is the manual operation module controls, move by the control stick on the manual operation module, produce digital signal transfers to the control mainboard by passage A/D conversion, after the corresponding program of control mainboard is handled, give wireless transmitter module the signal of output again.When this aircraft by manual operation control aloft flew, the operator will pay close attention to the running status of aircraft constantly, hand otherwise the control stick on the remote controller of stopping is easy to generate fatigue.For first operator, not very familiar in addition, be difficult to the running status of aircraft is made reaction timely, cause the accident easily by manual operation to control stick on the remote controller and button.
Summary of the invention:
In order to overcome the deficiencies in the prior art, the invention provides a kind of model plane that have voice control function concurrently, this model plane can be by the control of operator's voice, make more convenient operation, solved and made the fatigue that with the hands produces for a long time, strengthened the interest and the interactive ability of model plane, had the function that the model plane of speech identifying function can compatible common model plane, voice control and manually control can operate model plane simultaneously.
According to the invention provides the model plane that have voice control function concurrently, comprise remote control equipment and aircraft, described remote control equipment comprises remote controller, described remote controller is provided with the manual operation module that is used to control the aircraft operation, also comprises the speech control module by the operation of voice control aircraft; Pass through speech control module, can realize new action command taking place at any time easily according to the running status of aircraft, avoid because and the maloperation that bring not yet done the control system of aircraft, simultaneously, because the operation of aircraft just can be controlled in voice, therefore, can loosen operator's both hands largely, strengthen the interest and the interactive ability of model plane.
According to the model plane that have voice control function concurrently provided by the invention, also have following attached technical characterictic:
Described speech control module comprises sound identification module, voice conversion module, voice signal processing module, voice command converts discernible voice signal to by described sound identification module, convert data signal to through described voice conversion module again, described data signal sends to described voice signal processing module, send the running status of control signal control aircraft, to realize the accuracy of voice command.
Described sound identification module and voice conversion module are arranged on the described remote controller, be convenient to operator's voice control, improve phonetic recognization rate, described voice signal processing module is arranged on the described remote controller, also described voice signal processing module can be arranged on the described aircraft, determine according to the designing requirement of model plane.
Described speech control module can be specific people's voice control model module or unspecified person voice control model module, also can comprise these two kinds of mode module simultaneously, described specific people's voice control model module comprises the voice training module, the model plane of this mode speech recognition, the operator can not be subjected to the age, languages, the restriction of dialect, can use the function of speech recognition, and voice recognition commands can be set by operator oneself, carry out this action of advancing such as aircraft, the operator can set this order and be " forward ", " advance ", " advance into " or the like, can use mandarin, dialect or other languages etc., as required, one button can be set separately, if the operator is dissatisfied to the voice command of oneself, typing again; The model plane of unspecified person speech recognition do not need to carry out voice training, and the operator can directly send control command to model plane, and it is more convenient to operate.
Described voice signal processing module comprises command determination module, status data sampling module, Time Calculation module, comprehensive computing module, command execution module, after operating aircraft is received order, judge the content of order, and the present running status of aircraft sampled and form corresponding data, calculate actuation time also by comprehensive computing by the Time Calculation module again, operation result is sent to control loop, fill order.
Described status data sampling module is sampled to the status values of aircraft operation.
Described Time Calculation module is calculated the time difference between this subcommand and the last time same commands.
Described comprehensive computing module carries out comprehensive computing to described status data sampling module sampled result, Time Calculation module result of calculation.
Also comprise change-over switch, make described manual operation module and described speech control module can distinguish the operation of controlling aircraft separately, also can control the operation of aircraft simultaneously, voice control and manual control can be carried out simultaneously, have further increased the operability of aircraft.
The present invention also provides a kind of control method that has the model plane of voice control function concurrently, comprises the manual operation control mode, also comprises the voice control mode, and the voice command that sends by the operator converts the running status that control signal is controlled aircraft to.
Described voice control mode is specific people's voice control mode, and described specific people's voice control mode comprises the steps:
The voice training step can be carried out repetition training to voice command, and to form specific people's voice command, described specific people's voice command should be finished in the default time;
Speech recognition steps is compared operator's voice command and specific people's voice command, and comparison gets nowhere in the default time, then re-enters operator's voice command, compares successfully in the default time, then carries out next step;
Voice command is converted into the voice digital signal step;
The voice digital signal treatment step.
Described voice control mode is unspecified person voice control modes, and described unspecified person voice control mode comprises the steps:
Speech recognition steps is compared voice command default in operator's voice command and the remote controller, in the default time comparison unsuccessful, then re-enter operator's voice command, in the default time, compare successfully, then carry out next step;
Voice command is converted into the voice digital signal step;
Voice signal processing.
Described voice signal processing comprises the steps:
The command determination step, decision operation person is to the directive command content of the running status of aircraft;
The status data sampling step is sampled to the Flight Condition Data of aircraft;
Comprehensive calculation step is carried out comprehensive computing to time difference, status data between this subcommand and the last time same commands, with operation result as the exectorial foundation of aircraft;
Aircraft fill order step.
According to the model plane that have voice control function concurrently provided by the invention, can improve the operability of model plane widely, make that its operation sequence is more prone to carry out, can avoid or reduce the first operator feeling of failure that maloperation brings because of the remote controller lever system is unfamiliar with, the first operator of easier raising is to the interest of model plane; Because speech recognition controlled can liberate both hands largely, therefore, also improved model plane recreational to skilled operators.
Description of drawings:
Fig. 1 is the block diagram of the remote controller part of model plane control operation of the prior art;
Fig. 2 is the remote controller block diagram partly that has the model plane control operation of voice control function by provided by the invention;
Fig. 3 is the block diagram by the receiving unit of the model plane control operation with voice control function provided by the invention;
Fig. 4 is the workflow diagram by specific people's voice control mode provided by the invention;
Fig. 5 is the workflow diagram by unspecified person voice control mode provided by the invention;
Fig. 6 is the workflow diagram of remote controller part when being arranged on the remote controller by voice signal processing module provided by the invention;
Fig. 7 is the workflow diagram of signal receive section of the model plane control operation of Fig. 6 correspondence;
Fig. 8 is the workflow diagram of remote controller part when being arranged on the aircraft by this bright voice signal processing module that provides;
Fig. 9 is the workflow diagram of the carry-on signal receive section of Fig. 8 correspondence;
Figure 10 is the workflow diagram by a kind of voice signal processing module provided by the invention;
Figure 11 is the workflow diagram by another kind of voice signal processing module provided by the invention.
The specific embodiment:
Referring to Fig. 2 and Fig. 3, be the block diagram of radiating portion with model plane control operation of voice control function, the block diagram of remote controller part just also has the block diagram of receiving unit.As shown in the figure, by a change-over switch, the flare maneuver of aircraft both can be controlled by manual operation, also can control by voice command, also can control simultaneously, action on the manual operational module is arrived the control mainboard by the data signal of passage A/D conversion generation or the digital signal transfers of speech control module output, after the corresponding program of control mainboard is handled, give wireless transmitter module the signal of output again, receive the signal of remote controller wireless transmitter module emission by wireless receiving module on the model plane, and passing to signal processing module, angular-rate sensor is also given signal processing module the status signal of detected aircraft flight simultaneously.After signal processing module carries out respective handling to these signals, control steering wheel 1 steering wheel 2 and motor 1 motor 2 then respectively, thereby make the accurate work of aircraft energy.Above-mentioned sound identification module comprises specific people's sound identification module and unspecified person sound identification module, and wherein specific people's sound identification module comprises voice training module and sound identification module, and is not shown.
Referring to Fig. 4: for specific people's voice control mode, to carry out voice training before the operation for the first time, in voice training, want earlier initializes memory, play article one prompt tone then, for example " begin training ", at this moment just can train voice control command.And meeting playing alert tones, for example " please import first command " etc., " rising ", " decline ", " left-hand rotation " such three voice control command are arranged for another example, after hearing prompt tone, in order three orders are trained, every free length restriction of order, such as being set to 2 seconds, that is to say, when training order exceeds 2 seconds, has only order in preceding 2 seconds effectively, every order preferably trains twice, can improve the antijamming capability of identification, but will guarantee that the result of twice training is approaching.Successfully can point out when a voice training to enter next bar, if failure can require this instruction of repetition training, till training successfully.After complete order is trained successfully, just can enter the speech recognition state, earlier identifier is carried out initialization, then start monitoring in real time, play the prompt tone of beginning identification then, for example " beginning identification ", as long as at this moment the operator says the current voice command that trains, speech recognition system will be compared current voice-command features sign indicating number and all voice-command features sign indicating numbers that before trained, if the voice-command features sign indicating number similarity of training with certain bar meets the standard of setting, both discerned success, return respective voice ID number, if identification is overtime, then response " not hearing any sound ".Identification is converted to digital signal corresponding successful voice command ID number, so that voice command is handled accordingly.
Referring to Fig. 5: the voice-operated model plane of unspecified person, do not need to carry out voice training, as long as in advance in all voice control command typing memories, the operator directly sends control command in the typing memory to remote controller, just can realize the control to aircraft, it is more convenient to operate like this; Be introduced into the speech recognition state, earlier identifier is carried out initialization, then start monitoring in real time, play the prompt tone of beginning identification then, for example " beginning identification ", as long as at this moment the operator says the voice command of prior typing, speech recognition system will be compared current voice-command features sign indicating number and all voice-command features sign indicating numbers of previous typing, if the voice-command features sign indicating number similarity of training with certain bar meets the standard of setting, both discerned success, return respective voice ID number, if identification is overtime, then response " not hearing any sound ".Identification is converted to digital signal corresponding successful voice command ID number, so that voice command is handled accordingly.
Referring to Fig. 6: in program, need will judge whether voice training earlier, if trained, then repetition training again, if once do not train, then advanced lang sound training, after training successfully, judge model plane are that if whether voice-operated pattern, also will judge has button to press with voice-operated pattern or the pattern of manually controlling, the effect of this button is if dissatisfied to the training of oneself, repetition training again.If there is not button to press, just can enter the speech recognition stage.For unspecified person voice control mode, directly just can enter the speech recognition stage.It here is example with the four-way, after the voice recognition commands success, earlier passage 1 data are carried out the A/D conversion, because voice control and manual control can be carried out simultaneously, so will judge it is the data of voice command or the data of manually controlling to the data after the A/D conversion, and then the data of passage 1 are handled.Equally the data of passage 2, passage 3, passage 4 are handled accordingly.If the pattern of manual control then can be utilized control mode of the prior art, respectively each passage has been judged whether to finely tune to add or finely tune to subtract, if just have corresponding passage is carried out the A/D conversion, again channel data is added deduct.At last data processed all is delivered to wireless transmitter module, the emission data.Above flow process more then circulates.
Referring to Fig. 7: receiving unit is made up of wireless receiving module, signal processing module, motor and steering wheel on the aircraft.Receive the data that wireless transmission is partly launched by wireless receiving module, receive data after, data are carried out the passage demodulation, more respectively to steering wheel 1 steering wheel 2 and 2 controls of motor 1 motor.To judge whether earlier that in program data receive, if there is not program directly to forward control to steering wheel 1, steering wheel 2 and two motors, if there are data to receive, then enter in the data reception formula, data have been accepted, to voltage and angular velocity data sampling, pass through the channel data demodulation again, then in order to passage 1, passage 2, passage 3 and passage 4 data computation and processing, after handling, the Data Control steering wheel 1 of passage 1 then, the Data Control steering wheel 2 of passage 2, the Data Control motor 1 and the motor 2 of passage 3 passages 4, and then the above flow process that then circulates.
Referring to Fig. 8: in program, need will judge whether voice training earlier, if trained, then repetition training again, if once do not train, then advanced lang sound training, after training successfully, judge model plane are that if whether voice-operated pattern, also will judge has button to press with voice-operated pattern or the pattern of manually controlling, the effect of this button is if dissatisfied to the training of oneself, repetition training again.If there is not button to press, just can enter the speech recognition stage.Then do not need voice training for unspecified person voice control mode, directly just can enter the speech recognition stage.With the four-way is example, after the voice recognition commands success, respectively passage 1, passage 2, passage 3, passage 4 data is carried out the A/D conversion.If the pattern of manual control has then judged whether to finely tune to add or finely tune to subtract to each passage respectively, if just have corresponding passage is carried out the A/D conversion, again channel data is added deduct.At last these data all are delivered to wireless transmitter module, the emission data.Above flow process more then circulates.
Referring to Fig. 9: receiving unit is made up of wireless receiving module, signal processing module, motor and steering wheel on the aircraft.Receive the data that wireless transmission is partly launched by wireless receiving module, receive data after, data are carried out the passage demodulation, more respectively to steering wheel 1 steering wheel 2 and 2 controls of motor 1 motor.To judge whether earlier that in program data receive, if there is not program directly to forward to steering wheel 1, the control of steering wheel 2 and two motors, if there are data to receive, then enter in the data reception formula, data have been accepted, to voltage and angular velocity data sampling, pass through the channel data demodulation again, what judge whether then to adopt is voice-operated pattern, if voice-operated pattern, because voice control can be carried out simultaneously with manually controlling, thus to judge it is the data of voice command or the data of manually controlling to the data after the passage demodulation, and then the data of passage are handled.If the manual control model that adopts, then in order to passage 1, passage 2, passage 3 and passage 4 data computation and processing, after handling, the Data Control steering wheel 1 of passage 1 then, the Data Control steering wheel 2 of passage 2, the Data Control motor 1 and the motor 2 of passage 3 passages 4, and then the above flow process that then circulates.
Referring to Figure 10: present embodiment can be used for the voice control of helicopter model plane.Five voice control command are for example arranged, be respectively " rising ", " decline ", " left-hand rotation ", " right-hand rotation ", " stopping ", at the voice command handling procedure at the beginning, judge whether it is the order of rising earlier, if rise order, want then whether judgment models is to begin to take off from ground active force zero moving rate state, be x% if then put model active force power data, can be set to the data between the 10%-90%, and start model active force take-off power delay time; If not the rising order time of then calculating earlier current rise order and last time, and the active force power data added that twice rising order time difference multiply by coefficient, restart model active force take-off power delay time.If not the order of rising, judge whether it is the order that descends, if descend order, calculate the decline order time difference twice, judge then whether the time-delay of active force take-off power is finished, if do not finish, then the active force power data will deduct the y% of last climb data, can be set to the data between the 10%-90%; If time-delay is finished, then the active force power data will deduct twice decline order time difference and multiply by coefficient.Restart model active force take-off power delay time at last.If not the order that descends, judge whether it is the order of turning left, if then calculate twice left-hand rotation order time difference earlier, judge whether withdraw from then from the order of turning right, equal the center data if then put order, multiply by coefficient if not then turning left to order to equal twice left-hand rotation order time difference.Restart model active force take-off power delay time at last.If not the order of turning left, judge whether it is the order of turning right, if then calculate twice right-hand rotation order time difference earlier, judge whether withdraw from then from the order of turning left, equal the center data if then put the order of turning right, equal twice right-hand rotation order time difference if not the order of then turning right and multiply by coefficient.Restart model active force take-off power delay time at last.If not the order of turning right, judge whether it is to cease and desist order, if order data equals the center data before and after then putting, and delay time in returning before and after starting.To judge now whether active force take-off power delay time is finished, if do not finish, judge whether the departure time equals 3 seconds, if then put the active force power data is z%, can be set to the data between the 10%-90%, if not whether delay time is finished in returning before and after judging again, if finish then put before and after order data for forward.Just be through with to judgement and the processing to five voice commands here.
Referring to Figure 11: present embodiment can be used for fixing in the voice control of wing model plane.If such five orders are arranged: rise, descend, turn left, turn right, take off, will judge it is that order earlier.So at the beginning, judge whether it is the order of rising earlier, if judge again whether the lifting order of last time is the order that descends, if then putting elevator is the center action, if not then putting elevator is vertical motion, and the rising delay time is counted in program.The order if not rise judges whether it is the order that descends, if judge whether the lifting order of last time is the order of rising, if then putting elevator is the center action, if not then putting elevator is down maneuver, and the decline delay time is counted again.The order if not descend judges whether it is the order of turning left, if, whether the direction order of judging last time again is the order of turning right, if then putting rudder is the center action, if not, then put rudder and be the action of turning left, and add one to left-hand rotation delay time counting with to the order number of times that turns left.The order if not turn left judges whether it is the order of turning right, if, whether the direction order of judging last time again is the order of turning left, if then putting rudder is the center action, if not, then put rudder and be the action of turning right, and add one to right-hand rotation delay time counting with to the order number of times of turning right.The order if not turn right judges whether it is takeoff order, if whether judgment models active force power data is minimum again, if putting the active force power data is x%, can be set to the data between the 10%-90%, and to the delay time counting that takes off.After five command determination end, program judges whether the time-delay of taking off finishes then, if do not have, whether judge the delay time that takes off to putting the time of elevator,, and then judge that whether the time-delay of taking off is to the concluding time if then putting elevator is vertical motion for rising, if, putting the active force power data is x%, can be set to the data between the 10%-90%, and the time-delay of taking off finishes.Program judges then whether the time-delay of rising finishes, and is the center action if then put elevator.Program judges whether the time-delay that descends finishes again, and is the center action if then put elevator.Program judges whether the time-delay of turning left finishes again, and whether surpasses twice if judge the order number of times that turns left, if put rudder and be the action of turning left, if not putting rudder is the center action.Whether same determining program turns right to delay time finishes, and whether surpasses twice if then judge the order number of times of turning right, if putting rudder is the action of turning right, if not putting rudder is the center action, final program returns judges it is which bar voice command.
The foregoing description is explanation the present invention's a usefulness only, and is not to be limitation of the present invention, and the those of ordinary skill in relevant field on this basis, can also be made numerous variations and improvement project, and not break away from spirit of the present invention and protection domain.In these claims, wish to have comprised all these changes and the improvement project that meets essence of the present invention and scope.
Claims (16)
1. model plane that have voice control function concurrently, comprise remote control equipment and aircraft, described remote control equipment comprises remote controller, described remote controller is provided with the manual operation module that is used to control the aircraft operation, it is characterized in that: also comprise the speech control module by the operation of voice control aircraft.
2. the model plane that have voice control function concurrently according to claim 1, it is characterized in that: described speech control module comprises sound identification module, voice conversion module, voice signal processing module, voice command converts discernible voice signal to by described sound identification module, convert data signal to through described voice conversion module again, described data signal sends to described voice signal processing module, sends the running status of control signal control aircraft.
3. the model plane that have voice control function concurrently according to claim 2 is characterized in that: described sound identification module and voice conversion module are arranged on the described remote controller, and described voice signal processing module is arranged on the described remote controller.
4. the model plane that have voice control function concurrently according to claim 2 is characterized in that: described sound identification module and voice conversion module are arranged on the described remote controller, and described voice signal processing module is arranged on the described aircraft.
5. the model plane that have voice control function concurrently according to claim 4 is characterized in that: described speech control module is a unspecified person voice control model module.
6. according to the model plane that have voice control function concurrently described in the claim 5, it is characterized in that: described speech control module comprises specific people's voice control model module, and described specific people's voice control model module comprises the voice training module.
7. according to any described model plane that have voice control function concurrently of claim 1-6, it is characterized in that: described voice signal processing module comprises command determination module, status data sampling module, Time Calculation module, comprehensive computing module, command execution module.
8. the model plane that have voice control function concurrently according to claim 7 is characterized in that: described status data sampling module is sampled to the status values of aircraft operation.
9. the model plane that have voice control function concurrently according to claim 8 is characterized in that: described Time Calculation module is calculated the time difference between this subcommand and the last time same commands.
10. the model plane that have voice control function concurrently according to claim 9 is characterized in that: described comprehensive computing module carries out comprehensive computing to described status data sampling module sampled result, Time Calculation module result of calculation.
11. the model plane that have voice control function concurrently according to claim 10, it is characterized in that: also comprise change-over switch, make described manual operation module and described speech control module can distinguish the operation of controlling aircraft separately, also can control the operation of aircraft simultaneously.
12. a control method that has the model plane of voice control function concurrently comprises the manual operation control mode, it is characterized in that, also comprises the voice control mode, the voice command that sends by the operator converts the running status that control signal is controlled aircraft to.
13. the using method that has the model plane of voice control function concurrently according to claim 12 is characterized in that: described voice control mode is specific people's voice control mode, and described specific people's voice control mode comprises the steps:
The voice training step can be carried out repetition training to voice command, and to form specific people's voice command, described specific people's voice command should be finished in the default time;
Speech recognition steps is compared operator's voice command and specific people's voice command, and comparison gets nowhere in the default time, then re-enters operator's voice command, compares successfully in the default time, then carries out next step;
Voice command is converted into the voice digital signal step;
The voice digital signal treatment step.
14. the using method that has the model plane of voice control function concurrently according to claim 12 is characterized in that: described voice control mode is unspecified person voice control modes, and described unspecified person voice control mode comprises the steps:
Speech recognition steps is compared voice command default in operator's voice command and the remote controller, in the default time comparison unsuccessful, then re-enter operator's voice command, in the default time, compare successfully, then carry out next step;
Voice command is converted into the voice digital signal step;
Voice signal processing.
15. according to claim 13 or the 14 described usings method that have the model plane of voice control function concurrently, it is characterized in that: described voice signal processing comprises the steps:
The command determination step, decision operation person is to the directive command content of the running status of aircraft;
The status data sampling step is sampled to the Flight Condition Data of aircraft;
Comprehensive calculation step is carried out comprehensive computing to the coefficient of order delay data, running state data and setting, with operation result as the exectorial foundation of aircraft; Described order delay data can be with the time difference between this subcommand and the last time same commands as calculating radix;
Aircraft fill order step comprises and judges active force take-off power completing steps and the front and back order center data completing steps of whether delaying time of whether delaying time.
16. according to claim 13 or the 14 described usings method that have the model plane of voice control function concurrently, it is characterized in that: described voice signal processing comprises the steps:
The command determination step, decision operation person is to the directive command content of the running status of aircraft;
The status data sampling step is sampled to the Flight Condition Data of aircraft;
Respond commands steps, comprise the response rising of rising rudder or decline or takeoff order step, perhaps rudder is responded or the right-hand rotation commands steps;
Comprehensive calculation step comprises the order calculation procedure of delaying time;
Aircraft fill order step, comprise judge command execution whether delay time completing steps, rudder or elevator center step are set.
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2010
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Application publication date: 20111109 |