CN108053824A - A kind of patrol rescue unmanned plane and its method of work based on voice signal - Google Patents
A kind of patrol rescue unmanned plane and its method of work based on voice signal Download PDFInfo
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- G—PHYSICS
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
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- G—PHYSICS
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- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
- G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
- G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention discloses a kind of patrol rescue unmanned planes and its method of work based on voice signal, belong to unmanned plane technical field of security and protection.The noise reduction cover of patrol rescue unmanned plane is mounted below unmanned plane housing, wireless data transfer module, real-time locating module, flying power module are placed in unmanned plane enclosure interior, acoustical signal of seeking help identification module is mounted in noise reduction cover, wireless data transfer module, real-time locating module, acoustical signal of seeking help identification module, flying power module are electrically connected respectively with processor, and wireless data transfer module is used to communicate with the PC end datas of unmanned plane and security control center；Weak acoustic signal is analyzed and processed by voice identification module, acoustical signal coordinate calculates to seeking help.The present invention can work in the environment of the visions such as the region with a varied topography such as mountainous region, forest land and night, haze, cloudy day have obstacle, find person for help position in time, notify security control center staff rescue in time.
Description
Technical field
The invention belongs to unmanned plane technical field of security and protection, and in particular to a kind of patrol based on voice signal rescues nobody
Machine, voice localization method and method of work.
Background technology
The many scenic spots in China due to taking up a large area, it is with a varied topography, staff can not will patrol and salvaging accomplish
Comprehensive inspection, running into some emergencies can not implement to rescue in time.The security protection measure at scenic spot at present is by staff mostly
Walking is gone on patrol, and work efficiency is low, and when emergency occurs, staff can not go and find out what's going on rapidly and take rescue in time
Measure；And employ the expense of patrol staff also higher.Therefore, because unmanned plane miniaturization, quick landing and without airborne
The features such as personnel, has obtained quick development and has been widely applied in the wild in search field.Existing unmanned plane search system,
Mostly taken photo by plane using airborne high-definition camera, infrared imaging, image identification etc. equipment as way of search, search effect is by four chow rings
Border, accuracy of instrument, formula are affected, but unmanned plane is using taking photo by plane or infrared imaging is there are vision dead in patrol is searched and rescued
Angle, search efficiency are low.
It is 201710001046.9 through retrieval, such as Chinese Patent Application No., application is public to solve the technical issues of above-mentioned
Cloth day discloses a kind of rescue system for the patent application document on March 29th, 2017, which includes：It can be by using
The wearable device of family body worn, the wearable device have sign probe unit and/or environment detection unit, sign probe unit
To obtain user's vital sign information, environment detection unit is obtaining environmental information；Be arranged in wearable device or with
Rescue identifying unit in the associated server of wearable device, to be obtained according to sign probe unit and/or environment detection unit
The information taken judges to wear whether user needs to rescue, and sends rescue signal in the case where judging to need；Unmanned plane is rescued
Device in response to foregoing rescue signal, flies to wearing user and is rescued.The rescue system needs to coordinate wearable device that could reach
To rescue function, many times, accident is accident, can not it is anticipated that and be easily lost in the wild, using being limited
System.
For another example Chinese Patent Application No. is 201610047601.7, and data of publication of application is the patent Shen on June 29th, 2016
Please file disclose a kind of unmanned plane rescue system and its rescue mode, system includes unmanned plane, for collection site video
Environment information acquisition module, rescue execution module, control process module and rescue method memory module；Control process module includes
For searching for the scene Recognition list of the wounded by the progress image scene identification of secondary cascade model from the live video of acquisition
Member is found from rescue method memory module and is rescued with the matching unit of the matched rescue method of scene determination result and control
The control unit that execution module succours the wounded.The unmanned plane rescue system is still combined with image recognition technology to realize
On the one hand field rescue can not be broken away from during patrol is searched and rescued there are visual dead angle, search efficiency is low；On the other hand this rescue is base
In modular processing, the desired result of people's rescue is unable to reach.
The content of the invention
1. it to solve the problems, such as
There are visual dead angle in being gone on patrol for existing unmanned plane, Quick rescue can not be carried out and treat that rescue personnel can not
The problem of carrying rescue auxiliary device, the present invention provides a kind of combination voice signal, can position person for help position, can be
The rescue unmanned plane of the patrol based on voice signal and its work side of intercommunion platform are gone on patrol, built under visual environment harsh conditions
Method,.
2. technical solution
To solve the above-mentioned problems, the technical solution adopted in the present invention is as follows：
The rescue unmanned plane of the patrol based on voice signal of the present invention includes processor, wireless data transfer module and seeks help
Acoustical signal identification module, the wireless data transfer module, acoustical signal of seeking help identification module are electrically connected with processor, sound of seeking help letter
Number identification module feeds back to processor by picking up emergency sound, and processor passes through wireless data transfer module and security control
The PC end datas communication at center.
In a kind of possible embodiment of the present invention, the acoustical signal identification module of seeking help is received including weak acoustic signal
Device, voice locating module, voice identification module and semantics recognition module, these modules integrate an entirety, wherein faint sound is believed
Number receiver receives the weak acoustic signal below unmanned plane, and weak acoustic signal is transmitted to voice identification module, by amplifying, filtering
The emergency sound in preliminary identification weak acoustic signal is carried out, existing voice recognition technology may be employed in the present invention, and emergency sound is by language
After adopted identification module recognition and verification, voice locating module is positioned by real-time voice, and definite emergency sound orientation is transmitted to place
Manage device.
In a kind of possible embodiment of the present invention, which further includes unmanned plane housing, in real time noise reduction cover, positioning
Module and flying power module；The noise reduction cover is mounted below unmanned plane housing, wireless data transfer module, real-time positioning mould
Block, flying power module are placed in unmanned plane enclosure interior, and acoustical signal of seeking help identification module is mounted in noise reduction cover, real-time positioning mould
Block, flying power module are electrically connected respectively with processor, real-time locating module for determine unmanned plane real time position and by nobody
The relative position of machine is positioned and is transmitted to processor.
In a kind of possible embodiment of the present invention, the processor uses Artik5, supports that Wi-Fi, low-power consumption are blue
Tooth supports 802.11b/g/n wireless protocols.
In a kind of possible embodiment of the present invention, the wireless data transfer module uses IEEE802.11b, uses
The ISM band of 2.4GHz is modulated demodulation using direct sequence spreading DSSS technologies；The real-time locating module, using north
Struggle against satellite navigation system, and establishes correspondence with the system.
In a kind of possible embodiment of the present invention, the voice locating module uses MSP near fields moving sound status
System including two panels MSP430F149 processing chips, builds sound circuit and detection circuit, and sound circuit uses two panels NE555
Chip self-oscillation driving buzzer transmitting voice signal, detection circuit form array received by least three microphone sound pick-ups
With processing voice signal, pass through CC1101 wireless communication modes between circuit.It is used to receiving and handling sound in the voice locating module
The microphone sound pick-up array of sound signal is determined using a kind of three stage voices of the time delay estimation thought based on voice signal
Position formula is removed the potential noise in voice signal by a wave filter, obtains voice as pure as possible first；Then
Time delay estimation is done by a GCC-PHAT formula；The last spatial position for building geometrical relationship estimation voice again.
In a kind of possible embodiment of the present invention, the voice identification module is one mode identifying system, including
Feature extraction, pattern match, three, reference model storehouse elementary cell.
In a kind of possible embodiment of the present invention, the flying power module includes 4108 external rotor brushless power electrics
Machine (KV480), poly-lithium battery (15C 20000mAh 14.8V) and brushless electricity adjust brushless electricity to adjust and are mounted on polymer lithium electricity
Between pond, 4108 external rotor brushless power motors, the work of brushless electricity regulation and control 4108 external rotor brushless power motors of system, polymer
Lithium battery provides power supply for 4108 external rotor brushless power motors.
In a kind of possible embodiment of the present invention, the camera module for real time image collection is further included, mould of photographing
Block is electrically connected with processor.
In a kind of possible embodiment of the present invention, the communication module being made of loud speaker and microphone is further included, is led to
Letter module is electrically connected with processor.
In a kind of possible embodiment of the present invention, highlighted lamp source is further included, highlighted lamp source is electrically connected with processor.
On the basis of the technical solution of above-mentioned patrol rescue unmanned plane, a kind of patrol based on voice signal rescues nobody
The voice localization method of machine, including specific steps：It is removed first by the wave filter of a processor potential in voice signal
Noise obtains voice as pure as possible；Then time delay estimation is done by a GCC-PHAT formula；Finally geometry is built again
Relation estimates the spatial position of voice；Specifically GCC-PHAT formula are：：Voice reaches microphone sound pick-up i and microphone picks up
The range difference of sound device j=voice reaches the distance of distance-voice arrival microphone sound pick-up j of microphone sound pick-up i, i.e.,：
Definition voice reaches microphone sound pick-up i and the range difference of arrival microphone sound pick-up j is：
di,j=Di-Dj=c@tij (1)
Wherein tI, jRepresent that voice signal reaches the time difference of microphone sound pick-up i and microphone sound pick-up j, c is the velocity of sound；
The center that No. 0 microphone sound pick-up is array is made, then formula chooses it as reference, can then extend formula (1)
For：
By N-1 equation merger into matrix form：
On the basis of the technical solution of above-mentioned patrol rescue unmanned plane, a kind of patrol based on voice signal rescues nobody
The method of work of machine, including step in detail below：
Step S101：The weak acoustic signal receiver of patrol rescue unmanned plane receives weak acoustic signal；
Step S102：Voice identification module judges whether received signal is voice；
Step S103：If voice identification module judges signal for voice, semantics recognition module is started to work, and judges signal
Whether it is distress signal；
Step S104：If signal is distress signal, voice locating module carries out the relative position of signal and unmanned plane
It positions and this is transmitted to processor；
Step S105：Locating module positions the real time position of unmanned plane, and the real time position of unmanned plane is transmitted to processor；
Step S106：The real time position of the relative position and unmanned plane of signal and unmanned plane is used above-mentioned voice by processor
Localization method carries out comprehensive analysis, and the coordinate of the signal analyzed is sent to security control center, and in security control
It reminds at the PC ends of the heart；
Step S107：Processor controls flying power module, and unmanned plane is with flying to sound source；
Step S108：When flying to sound source, again perform step S101 to step S103, if distress signal is confirmed as to
The PC ends of security control center send alarm；
Step S109：Open image capture module and by the PC ends of image scene real-time Transmission to security control center.
In a kind of possible embodiment of the present invention, a kind of work side of the patrol rescue unmanned plane based on voice signal
Method, it is further comprising the steps of：
Step S110：The PC ends of security control center are by checking the live realtime graphic of unmanned plane transmission to field condition
Judged and take corresponding rescue measure；
Step S111：If scene there are the objects such as trees to block, surface state is not seen, then unmanned plane hovering, security control
Interim call mechanism is established in the PC ends at center by communication module and person for help；
Step S112：If person for help is hindered by animal, the PC ends of security control center pass through the loud speaker in communication module
The audio for dispersing animal is played, animal is dispersed；
Step S113：If being rescued at night, person for help's specific location is indicated for rescue personnel using highlighted lamp source.
3. advantageous effect
Compared with the prior art, beneficial effects of the present invention are：
(1) the rescue unmanned plane of the patrol based on voice signal of the invention, sets noise reduction cover below unmanned plane housing, subtracts
It makes an uproar and is covered with the influence that the noise and sound of the wind that unmanned plane is sent above effect decrease gather acoustical signal, pass through acoustical signal of seeking help and identify
Module can carry out work in the environment of the visions such as the region with a varied topography such as mountainous region, forest land and night, haze, cloudy day have obstacle
Make, find person for help position in time, notify security control center staff rescue in time, it is with a varied topography especially for scenic spot
And some hidden regions, the energy of the tourism accident rescue of scenic spot management department can be strengthened by accurately, timely detecting
Power, it is ensured that people's security of the lives and property；
(2) the rescue unmanned plane of the patrol based on voice signal of the invention, by adding taking the photograph for real time image collection
The situation picture for waiting for rescue people is sent to the PC ends of security control center, is arranged convenient for making suing and labouring in time by shadow module in time
It applies；
(3) the rescue unmanned plane of the patrol based on voice signal of the invention, the real-time locating module used use
OptiTrack realizes picture catching and is accurately positioned, frame rate：100hz captures unmanned plane with the capture rate of hundreds of frames per second
Upper fixed special mark point, can accurately construct mark point three-dimensional space position information, realize unmanned plane in real time
Position and the capture of attitude information；
(4) the rescue unmanned plane of the patrol based on voice signal of the invention, by adding communication module, if sound source have barrier
Object is hindered to block, hinders unmanned plane investigation surface state, the staff at PC ends is established by UAV Communication module and person for help
Interim call mechanism, understands person for help's situation, conveys effective rescue information；
(5) the rescue unmanned plane of the patrol based on voice signal of the invention, by adding communication module, if person for help is
Object is hindered, and PC can play the audio for dispersing animal by the loud speaker in communication module, and animal is dispersed；
(6) the rescue unmanned plane of the patrol based on voice signal of the invention, by adding highlighted lamp source, if being carried out at night
Highlighted lamp source can be used to indicate person for help's specific location for rescue personnel for rescue, this patrol rescue unmanned plane；
(7) the voice localization method of the patrol rescue unmanned plane based on voice signal of the invention, using at least eight wheats
Gram wind, can introduce more parameters by introducing more microphones, so as to reduce evaluated error, improve the essence of positioning
Degree；
(8) the rescue unmanned plane of the patrol based on voice signal of the invention is simple in structure, and design is reasonable, easily fabricated.
Description of the drawings
Technical scheme is described in further detail below with reference to drawings and examples, but should
To know, these attached drawings only design for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
It points out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is the structure diagram for the patrol rescue unmanned plane that the embodiment of the present invention is positioned based on voice；
Fig. 2 is the acoustical signal identification module schematic diagram of seeking help of the embodiment of the present invention；
Fig. 3 is the structure diagram of the noise reduction cover of the embodiment of the present invention.
Description of symbols in figure：
1st, real-time locating module；2nd, flying power module；3rd, processor；4th, camera module；5th, wireless data transfer module；
6th, lamp source is highlighted；7th, communication module；8th, acoustical signal of seeking help identification module；9th, weak acoustic signal receiver；10th, voice identification mould
Block；11st, semantics recognition module；12nd, voice locating module；13rd, noise reduction cover.
Specific embodiment
Hereafter to the detailed description of exemplary embodiment of the present invention with reference to attached drawing, which forms one of description
Point, in the figure the enforceable exemplary embodiment of the present invention is shown as example.Although these exemplary embodiment quilts
Fully describe in detail so that those skilled in the art can implement the present invention, it is to be understood that can realize other embodiment and
Can without departing from the spirit and scope of the present invention to the present invention various changes can be made.Hereafter to the embodiment of the present invention
More detailed description is not limited to required the scope of the present invention, and just to be illustrated and do not limit pair
The description of the features of the present invention and feature to propose to perform the best mode of the present invention, and is sufficient so that those skilled in the art
It can implement the present invention.Therefore, the scope of the invention is only defined by the appended claims.
Hereafter detailed description of the present invention and example embodiment can be more fully understood with reference to attached drawing, wherein the present invention
Element and feature are identified by reference numeral.
Embodiment 1
As shown in Figure 1 to Figure 3, in this embodiment, the patrol rescue unmanned plane based on voice signal includes unmanned plane
Housing, noise reduction cover 13, processor 3, wireless data transfer module 5, real-time locating module 1, acoustical signal of seeking help identification module 8 and fly
Action edge module 2, wireless data transfer module 5, real-time locating module 1, acoustical signal of seeking help identification module 8, flying power module 2
It is electrically connected respectively with processor 3；Noise reduction cover 13 is mounted below unmanned plane housing, wireless data transfer module 5, real-time positioning mould
Block 1, flying power module 2 are placed in unmanned plane enclosure interior, and acoustical signal of seeking help identification module 8 is mounted in noise reduction cover 13.
The processor 3 of the present embodiment uses Artik5, supports Wi-Fi, low-power consumption bluetooth, supports that 802.11b/g/n is wireless
Agreement.Wireless data transfer module 5 uses IEEE802.11b, using the ISM band of 2.4GHz, using direct sequence spreading
DSSS technologies are modulated demodulation, for unmanned plane and security control center data communication；Real-time locating module 1, using north
Struggle against satellite navigation system, and establishes correspondence with the system, for determining unmanned plane real time position.
The acoustical signal identification module 8 of seeking help of the present embodiment includes weak acoustic signal receiver 9, voice locating module 12, people
Sound identification module 10 and semantics recognition module 11, voice locating module 12 are positioned using the real-time voice based on microphone array,
Weak acoustic signal receiver 9 receives weak acoustic signal, and wherein weak acoustic signal receiver receives the faint sound letter below unmanned plane
Number, weak acoustic signal is transmitted to voice identification module, by amplifying, filtering the emergency carried out in preliminary identification weak acoustic signal
Existing voice recognition technology, such as method disclosed in patent CN201510977077.9 may be employed in sound, the present embodiment, emergency
For sound by 11 recognition and verification of semantics recognition module, semantics recognition module 11, which is known, confirms distress signal, and voice is sent to by sensor
Locating module 12 positions the relative position of voice signal and unmanned plane and is transferred to processor 3；
On the one hand the processor of the present embodiment is used to control each device of unmanned plane；On the other hand to acoustical signal coordinate of seeking help
It is calculated, the specific location of final definite deliverer, convenient for the expansion of rescue；Flying power module 2 includes 4108 outer rotors
Brushless power motor (KV480), poly-lithium battery (15C 20000mAh 14.8V) and brushless electricity are adjusted, and brushless electricity, which is adjusted, to be mounted on
Between poly-lithium battery, 4108 external rotor brushless power motors, brushless electricity regulation and control 4108 external rotor brushless power motors of system
Work, poly-lithium battery provide power supply for 4108 external rotor brushless power motors.
The voice locating module 12 of the present embodiment is using MSP near fields moving sound status system, including two panels
MSP430F149 processing chips, build sound circuit and detection circuit, and sound circuit is driven using the self-oscillation of two panels NE555 chips
Dynamic buzzer transmitting voice signal, detection circuit form array received and processing voice signal, electricity by eight microphone sound pick-ups
Pass through CC1101 wireless communication modes between road.It is used to receive and handle the microphone array of voice signal in the voice locating module 12
Row pass through a filter first using a kind of three stage voice ranging formulas of the time delay estimation thought based on voice signal
Potential noise in ripple device removal voice signal, obtains voice as pure as possible；Then by a GCC-PHAT formula come
Do time delay estimation；The last spatial position for building geometrical relationship estimation voice again.
The voice identification module 10 of the present embodiment is one mode identifying system, and the structure of voice identification module 10 can adopt
With presently disclosed technical solution, there is disclosure in Chinese patent CN201310429920.0, such as including feature extraction, pattern
Three elementary cells such as matching, reference model storehouse, can be well realized the identification of voice.
With a varied topography for current scenic spot, it is accurate and clear to be collected for the traditional unmanned plane in some hidden regions
Image, and traditional unmanned plane is difficult to effectively be worked in patrol by way of taking photo by plane.The present embodiment is based on voice
The patrol unmanned plane of signal can have the ring of obstacle in the visions such as the region with a varied topography such as mountainous region, forest land and night, haze, cloudy day
It works under border, the frequency of small-signal is 20Hz~1500Hz, can be with by unmanned plane patrol Technology application in tourist attractions
By accurately, timely detecting, strengthen the ability of the tourism accident rescue of scenic spot management department, it is ensured that people's lives and properties
Safety.
Embodiment 2
The substance of the present embodiment with embodiment 1, the difference is that：Further include the photography for real time image collection
Module 4, the communication module 7 being made of loud speaker and microphone and highlighted lamp source 6, camera module 4, communication module 7 and high bright light
Source 6 is electrically connected respectively with processor 3.
In actual use, after patrol rescue unmanned plane determines the position of person for help, controlled by camera module 4 for safety
The PC ends transmission live view at center processed, it is then determined that rescue method or measure, if but scene has the objects such as trees to block, see
Unclear surface state, then interim call is established in unmanned plane hovering, the PC ends of security control center by communication module 7 and person for help
Mechanism；
In addition, if person for help is hindered by animal, the PC ends of security control center are played by the loud speaker in communication module 7
The audio of animal is dispersed, animal is dispersed.
Further, since rescue work may carry out at tangible night, therefore emergency is indicated for rescue personnel using highlighted lamp source 6
Person's specific location.
Embodiment 3
On the basis of embodiment 1, this patrol rescue unmanned plane can largely monitor emergency case in time, avoid
Personnel death adjusts manually open rescue plan in time, substantially increases scenic spot patrol rescue ability safely.
A kind of method of work of the patrol rescue unmanned plane based on voice signal, including step in detail below：
Step S101：The weak acoustic signal receiver 9 of patrol rescue unmanned plane receives voice signal；
Step S102：Voice identification module 10 judges whether received signal is voice；
Step S103：If voice identification module 10 judges voice signal for voice, semantics recognition module 11 is started to work,
Judge whether voice signal is distress signal；
Step S104：If voice signal is distress signal, voice locating module 12 is to the phase of voice signal and unmanned plane
Position is positioned and this is transmitted to processor 3；
Step S105：Locating module positions the real time position of unmanned plane, and the real time position of unmanned plane is transmitted to processor
3；
Step S106：The real time position of the relative position and unmanned plane of voice signal and unmanned plane is used language by processor 3
Sound localization method carries out comprehensive analysis, and the coordinate of the voice signal analyzed is sent to security control center, and to safety
It reminds at the PC ends of control centre；
Step S107：Processor 3 controls flying power module 2, and unmanned plane is with flying to sound source；
Step S108：When flying to sound source, again perform step S101 to step S103, if distress signal is confirmed as to
The PC ends of security control center send alarm；
Step S109：Open image capture module and by the PC ends of image scene real-time Transmission to security control center；
Step S110：The PC ends of security control center are by checking the live realtime graphic of unmanned plane transmission to field condition
Judged and take corresponding rescue measure；
Step S111：If scene there are the objects such as trees to block, surface state is not seen, then unmanned plane hovering, security control
Interim call mechanism is established in the PC ends at center by communication module 7 and person for help；
Step S112：If person for help is hindered by animal, the PC ends of security control center pass through the loud speaker in communication module 7
The audio for dispersing animal is played, animal is dispersed；
Step S113：If being rescued at night, person for help's specific location is indicated for rescue personnel using highlighted lamp source 6.
Wherein, the voice localization method of the patrol rescue unmanned plane based on voice signal, specifically, by faint sound
The processing of signal improves the precision of positioning.
The concrete structure of patrol rescue unmanned plane based on voice signal, can refer to foregoing teachings, not repeat to retouch herein
It states.This method comprises the following specific steps that：It potential is made an uproar by what the wave filter of processor 3 removed in voice signal first
Sound obtains voice as pure as possible, and the course of work of the wave filter is existing sound filter；Then a GCC- is passed through
PHAT formula do time delay estimation；The last spatial position for building geometrical relationship estimation voice again；Specific GCC-PHAT formula
For：The distance of the range difference of voice arrival microphone sound pick-up i and microphone sound pick-up j=voice arrival microphone sound pick-up i-
Voice reaches the distance of microphone sound pick-up j, i.e.,：
Definition voice reaches microphone sound pick-up i and the range difference of arrival microphone sound pick-up j is：
di,j=Di-Dj=c@tij (1)
Wherein tI, jRepresent that voice signal reaches the time difference of microphone sound pick-up i and microphone sound pick-up j, c is the velocity of sound.
The center that No. 0 microphone sound pick-up is array is made, then formula chooses it as reference, can then extend formula (1)
For：
By N-1 equation merger into matrix form：
1 symbol description of table
In formula (3), there are two r for free variablesAnd D0, wherein D0 can be by rsAnd r0It represents, so needs the change solved
Amount just only has rsOne, therefore can be drawn from formula (3)：If necessary to estimate the two-dimensional coordinate of voice, then including with reference to wheat
Including gram wind sound pick-up, three microphone sound pick-ups are at least needed；And what is estimated if necessary is three-dimensional coordinate, then at least need
Four microphone sound pick-ups are wanted, and this four microphone sound pick-ups cannot be on same straight line, by introducing more wheats
Gram wind sound pick-up can introduce more parameters, so as to reduce evaluated error, improve the precision of positioning.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this field
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. a kind of patrol rescue unmanned plane based on voice signal, which is characterized in that including processor (3), wireless data transmission
Module (5) and acoustical signal identification module (8) of seeking help, the wireless data transfer module (5), acoustical signal of seeking help identification module (8)
It being electrically connected with the processor (3), acoustical signal of seeking help identification module (8) feeds back to processor (3) by picking up emergency sound,
Processor (3) is communicated by wireless data transfer module (5) with the PC end datas of security control center.
2. the patrol rescue unmanned plane according to claim 1 based on voice signal, which is characterized in that the sound letter of seeking help
Number identification module (8) includes weak acoustic signal receiver (9), voice locating module (12), voice identification module (10) and semanteme
Identification module (11), weak acoustic signal receiver (9) receive weak acoustic signal, and wherein weak acoustic signal receiver (9) receives nothing
The weak acoustic signal of man-machine lower section, weak acoustic signal are transmitted to voice identification module (10), are tentatively known by amplifying, filtering
Emergency sound in other weak acoustic signal, after emergency sound is by semantics recognition module (11) recognition and verification, voice locating module (12) is logical
Real-time voice positioning is crossed, definite emergency sound orientation is transmitted to processor (3).
3. the patrol rescue unmanned plane according to claim 1 or 2 based on voice signal, which is characterized in that further include nothing
Man-machine housing, noise reduction cover (13), real-time locating module (1) and flying power module (2)；Noise reduction cover (13) is mounted on unmanned casing
Below body, wireless data transfer module (5), real-time locating module (1), flying power module (2) are placed in unmanned plane enclosure interior,
Acoustical signal of seeking help identification module (8) be mounted on noise reduction cover (13) on, real-time locating module (1), flying power module (2) respectively with
Processor (3) is electrically connected, and real-time locating module (1) is used to determine unmanned plane real time position and carries out the relative position of unmanned plane
It positions and is transmitted to processor (3).
4. the patrol rescue unmanned plane according to claim 3 based on voice signal, which is characterized in that the voice positioning
Module (12) uses MSP near fields moving sound status system, including two panels MSP430F149 processing chips, structure sound circuit and
Detection circuit, sound circuit is using two panels NE555 chips self-oscillation driving buzzer transmitting voice signal, and detection circuit is by extremely
Few three microphone sound pick-ups form array received and processing voice signal, pass through CC1101 wireless communication modes between circuit.
5. the patrol rescue unmanned plane according to claim 4 based on voice signal, which is characterized in that the flying power
Module (2) includes 4108 external rotor brushless power motors, poly-lithium battery and brushless electricity and adjusts, and brushless electricity, which is adjusted, is mounted on polymer
Between lithium battery, 4108 external rotor brushless power motors, the work of brushless electricity regulation and control 4108 external rotor brushless power motors of system gathers
It closes object lithium battery and provides power supply for 4108 external rotor brushless power motors.
6. the patrol rescue unmanned plane according to claim 5 based on voice signal, which is characterized in that further include for real
When Image Acquisition camera module (4), the camera module (4) is electrically connected with processor (3).
7. the patrol rescue unmanned plane according to claim 6 based on voice signal, which is characterized in that further include by raising one's voice
The communication module (7) of device and microphone composition, the communication module (7) are electrically connected with processor (3)；Further include highlighted lamp source
(6), lamp source (6) is highlighted to be electrically connected with processor (3).
8. a kind of method of work of the patrol rescue unmanned plane based on voice signal, which is characterized in that including step in detail below：
Step S101：The weak acoustic signal receiver (9) of patrol rescue unmanned plane receives weak acoustic signal；
Step S102：Voice identification module (10) judges whether received signal is emergency sound；
Step S103：If voice identification module (10) judges signal for voice, semantics recognition module (11) is started to work, and is judged
Whether signal is distress signal；
Step S104：If signal is distress signal, voice locating module (12) is to the relative position of voice signal and unmanned plane
It is positioned and this is transmitted to processor (3)；
Step S105：The real time position of real-time locating module (1) positioning unmanned plane, processing is transmitted to by the real time position of unmanned plane
Device (3)；
Step S106：Processor (3) positions the real time position of the relative position and unmanned plane of signal and unmanned plane with voice
Method carries out comprehensive analysis, and the coordinate of the signal analyzed is sent to security control center, and to security control center
It reminds at PC ends；
Step S107：Processor (3) control flying power module (2), unmanned plane is with flying to sound source；
Step S108：When flying to sound source, step S101 to step S103 is performed again, to safety if distress signal is confirmed as
The PC ends of control centre send alarm；
Step S109：Open image capture module and by the PC ends of image scene real-time Transmission to security control center.
9. the method for work of the patrol rescue unmanned plane according to claim 8 based on voice signal, which is characterized in that institute
The voice localization method stated, including specific steps：It is removed first by the wave filter of a processor (3) in weak acoustic signal
Potential noise obtains voice as pure as possible；Then time delay estimation is done by a GCC-PHAT formula；Finally build again
Geometrical relationship estimates the spatial position of voice；Specifically GCC-PHAT formula are：Voice reaches microphone sound pick-up i and microphone
The range difference of sound pick-up j=voice reaches the distance of distance-voice arrival microphone sound pick-up j of microphone sound pick-up i.
10. the method for work of the patrol rescue unmanned plane according to claim 8 based on voice signal, which is characterized in that
It is further comprising the steps of：
Step S110：The PC ends of security control center are by checking that the live realtime graphic that unmanned plane is sent carries out field condition
Judge and take corresponding rescue measure；
Step S111：If scene there are the objects such as trees to block, surface state is not seen, then unmanned plane hovering, security control center
PC ends pass through communication module (7) and person for help and establish interim call mechanism；
Step S112：If person for help is hindered by animal, the PC ends of security control center are broadcast by the loud speaker in communication module (7)
The audio for dispersing animal is put, animal is dispersed；
Step S113：If being rescued at night, person for help's specific location is indicated for rescue personnel using highlighted lamp source (6).
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