CN105390143A - Voiceprint recognition-based intelligent program control method - Google Patents
Voiceprint recognition-based intelligent program control method Download PDFInfo
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- CN105390143A CN105390143A CN201510536149.6A CN201510536149A CN105390143A CN 105390143 A CN105390143 A CN 105390143A CN 201510536149 A CN201510536149 A CN 201510536149A CN 105390143 A CN105390143 A CN 105390143A
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Abstract
The invention provides a voiceprint recognition-based intelligent program control method. The voiceprint recognition-based intelligent program control method includes the following steps: performing waveform recognition on acquired sound signals, performing voice signal amplitude and frequency characteristic extraction on the acquired sound signals, and converting the acquired sound signals to square signals; counting once in each rising edge of the square signals, and successively distributing the square signals to a movable arm control channel, a bucket control channel and a steering control channel; and comparing motion state feedbacks of controlled objects controlled by the three control channels with motion range limits of the controlled objects, and reversing the polarity of a sinusoidal signal when the motion state feedbacks of the controlled objects exceed the motion range limits, thereby allowing the controlled objects to move in the reverse direction. According to the invention, the acquired voiceprint signals are processed, the movable arm, the bucket, and steering of a loader can be controlled by a program which is generated by adoption of the processed voiceprint signals to perform composite operations, and the intelligent program control of the loader can be achieved.
Description
Technical field
The present invention relates to a kind of intelligent program control technology of Flying by wire, be specially a kind of method of intelligent Application on Voiceprint Recognition for shovel loader and control signal distribution.
Background technology
Shovel loader is the main force of engineering machinery field, be widely used in the restoration in earth-rock construction of the construction projects such as highway, railway, building, water power, harbour, mine, be mainly used to shovel, loading, unloading, muck haulage and building stones one class bulk material, also can carry out slight spading operation to rock, pan soil.Conventional load machine adopts the mode Non-follow control equipment of flexible axle or hydraulic pilot, entirely with the position of micro-judgment swing arm and the angle of scraper bowl of operator, this control mode control accuracy is low, energy consumption is high, maintenance difficulties is large, and application loader inside and outside information cannot carry out intellectual analysis and process.
The new and high technologies such as direct drive valve, computing machine, automatically control fully combine by integrated electric Ore-controlling Role, cancel in shovel loader original system: between control crank and apparatus for work and the contact of the room machine of bearing circle and deflecting roller (or hydraulic pressure), make the apparatus for work of shovel loader and steering mechanism's sensitivity can carry out regulating according to actual condition, provide comfortable impression for driver, thus raising operating efficiency, reduce the labour intensity of operating personnel, simplify assembling process, make the remote driving of shovel loader and Application on Voiceprint Recognition control to become possibility simultaneously.Be the gordian technique realizing shovel loader Based Intelligent Control based on the identification of vocal print and control method, the computing module taking full advantage of intelligent loading machine identifies vocal print signal and changes, to realize the Based Intelligent Control of vocal print signal to shovel loader.Further, domestic at present also do not have to apply Application on Voiceprint Recognition signal and carry out the programme controlled method of shovel loader, so theory and technology is also very weak in this respect, needs to further investigate further.Application on Voiceprint Recognition control system adds music control system on programmed control basis, computing machine is by the identification to sound signal, control signal conversion, control signal distributes to each control object the most at last, each control object is moved and music coordinate synchronization, brings people visual enjoyment.
Summary of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of intelligent loading machine control method based on Application on Voiceprint Recognition.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps:
(1) waveform recognition is carried out to the sound signal collected;
(2) by the waveform signal that identifies through low-pass filtering and amplitude thresholding operation, carry out voice signal amplitude and frequecy characteristic extracts, be converted to square-wave signal and export;
(3) count once at each rising edge of square-wave signal, successively square-wave signal is assigned to swing arm, scraper bowl, turns to three control channels;
(4) square-wave signal of input three control channels is converted to sinusoidal signal respectively;
(5) motion state of three control channel institute control objects feedback is limited with the range of movement of control object compare, the polarity of reversion sinusoidal signal when the motion state feedback of control object exceedes range of movement restriction, thus allow the reversing of motion of control object.
In described step (3), by count results to 3 remainder n distribute, during n=1, square wave is assigned to swing arm control channel, and during n=2, square wave is assigned to scraper bowl control channel, and during n=0, square wave is assigned to course changing control passage.
The invention has the beneficial effects as follows: the vocal print signal collected is processed, and apply its generator program and control swing arm, the scraper bowl of shovel loader and turn to and carry out composition operation, achieve and the intelligent program of shovel loader is controlled.
The present invention adopts based on the display of vocal print waveform and the method for filtering, achieves the extraction to the visualization processing of vocal print signal waveform and amplitude, frequecy characteristic; The present invention adopts based on the intelligent loading machine control method of Application on Voiceprint Recognition, by loading arm, scraper bowl and the programmed control that turns to, achieves the cooperation control of vocal print signal to intelligent loading machine.
Accompanying drawing explanation
The schematic diagram that Fig. 1 is sound signal conversion and identifies;
Fig. 2 is generation and the process block diagram of control signal;
Fig. 3 is original signal result schematic diagram;
Fig. 4 is signal assignment logic block diagram;
Fig. 5 is signal allocation result schematic diagram;
Fig. 6 is signal conversion logic scheme schematic diagram;
Fig. 7 is signal transformation result schematic diagram;
Fig. 8 is dipole inversion logic diagram;
Fig. 9 is swing arm input-output contrast schematic diagram.
Embodiment
Technical scheme of the present invention is a kind of intelligent loading machine control method based on Application on Voiceprint Recognition, comprise the collection of vocal print signal, identification, conversion and changeover control signal hyperchannel distribute, and the dipole inversion design of control signal input.Concrete scheme is as follows:
(1) carry out waveform recognition and visualization processing to the sound signal collected, designer can while in advance playing music, according to the key element such as waveform character, beat of audition impression and music, and the movement effects of Concept Control mechanism;
(2) by the waveform signal that identifies through low-pass filtering, amplitude thresholding operation, carry out voice signal amplitude and frequecy characteristic extracts, be converted to square-wave signal and export;
(3) square wave once, is assigned to swing arm, scraper bowl here, turns to three control channels by the square-wave signal inputted each rising edge counting sequentially successively.Concrete distribution method: by counter results to 3 remainder n distribute, during n=1, square wave is assigned to 1 passage, and during n=2, square wave is assigned to 2 passages, and during n=0, square wave is assigned to 3 passages;
(4) square-wave signal of each control channel of input is converted to sinusoidal signal;
(5) what limit with the range of movement of control object according to the motion state feedback of shovel loader three control channel control objects compares, the input signal of each passage is carried out to the conversion designs of polarity, to move to make control object reverse control signal polarity when exceeding restriction, thus allow the reversing of motion.
Below in conjunction with drawings and Examples, the present invention is further described, and the present invention includes but be not limited only to following embodiment, step is as follows:
(1) carry out waveform recognition and visualization processing to the sound signal collected, designer can while in advance playing music, according to the key element such as waveform character, beat of audition impression and music, and the movement effects of Concept Control mechanism.Embodiment is as follows:
Multimedia form switching software is adopted to be converted to wave file form (wav) audio file chosen.For " toll bar overture ", obtain the display of wave file as shown in Figure 1.
(2) by the waveform signal that identifies through low-pass filtering, amplitude thresholding operation, carry out voice signal amplitude and frequecy characteristic extracts, be converted to square-wave signal and export.Concrete implementation step is as follows:
Signal transacting completes under simulink software, implements block diagram as shown in Figure 2, and the effect of this module extracts characteristic signal from original audio signal, is converted to square-wave signal.Concrete steps are as follows:
1) audio file is loaded FromWaveFile module;
2) because audio file is stereo mode, the L channel of original audio is extracted as control inputs by channel selecting module;
3) choose filter threshold according to concrete sound signal, choose 0.45 herein;
4) in dotted line frame, original signal is converted to the square-wave signal that the duration is 0.2s by part.
Signal processing results as shown in Figure 3.
(3) square wave once, is assigned to three control channels here by the square-wave signal inputted each rising edge counting sequentially successively.Concrete distribution method: by counter results to 3 remainder n distribute, during n=1, square wave is assigned to 1 passage, and during n=2, square wave is assigned to 2 passages, and during n=0, square wave is assigned to 3 passages.Specific embodiments is as shown in Figure 4:
Final allocation result as shown in Figure 5.
(4) square-wave signal of each control channel of input is converted to sinusoidal signal.Specific embodiments as shown in Fig. 6 (a), wherein in module signal_transfer module as shown in Fig. 6 (b).
Time to peak is that the square wave of t is converted to the sine wave that the cycle is T=2t by this module, and the signal transformation result obtained as shown in Figure 7.
(5) what limit with the range of movement of control object according to the motion state feedback of shovel loader three control channel control objects compares, the input signal of each passage is carried out to the conversion designs of polarity, to move to make control object reverse control signal polarity when exceeding restriction, thus allow the reversing of motion.Specific embodiments as shown in Figure 8.
Because loading arm and scraper bowl adopt speed to control, need to make instruction reverse when actuator reaches extremely partially, extremely inclined modular converter design as shown in Figure 8.For swing arm, be dipole inversion logical scheme in dotted line frame in figure, if the range of movement that [-k, h] is swing arm, the position feedback currency dz and arsis value dz0 being input as swing arm of module, exports as the Polarity Control x to instruction, gets 1 or-1.As dz≤-k and dz0 >=-k time, x=-1; As dz >=h and dz0≤h time, x=1; As-k≤dz≤h and-k≤dz0≤h time, x keeps arsis value.Obtain the comparing result of swing arm control law constrained input as shown in Figure 9.
Claims (2)
1., based on an intelligent program control method for Application on Voiceprint Recognition, it is characterized in that comprising the steps:
(1) waveform recognition is carried out to the sound signal collected;
(2) by the waveform signal that identifies through low-pass filtering and amplitude thresholding operation, carry out voice signal amplitude and frequecy characteristic extracts, be converted to square-wave signal and export;
(3) count once at each rising edge of square-wave signal, successively square-wave signal is assigned to swing arm, scraper bowl, turns to three control channels;
(4) square-wave signal of input three control channels is converted to sinusoidal signal respectively;
(5) motion state of three control channel institute control objects feedback is limited with the range of movement of control object compare, the polarity of reversion sinusoidal signal when the motion state feedback of control object exceedes range of movement restriction, thus allow the reversing of motion of control object.
2. the intelligent program control method based on Application on Voiceprint Recognition according to claim 1, it is characterized in that: in described step (3), by count results to 3 remainder n distribute, during n=1, square wave is assigned to swing arm control channel, during n=2, square wave is assigned to scraper bowl control channel, and during n=0, square wave is assigned to course changing control passage.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106601216A (en) * | 2016-11-30 | 2017-04-26 | 宇龙计算机通信科技(深圳)有限公司 | Method and system for realizing electronic device control through music |
| CN113612738A (en) * | 2021-07-20 | 2021-11-05 | 深圳市展韵科技有限公司 | Voiceprint real-time authentication encryption method, voiceprint authentication equipment and controlled equipment |
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| CN106601216A (en) * | 2016-11-30 | 2017-04-26 | 宇龙计算机通信科技(深圳)有限公司 | Method and system for realizing electronic device control through music |
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Application publication date: 20160309 |