CN109143922A - A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled - Google Patents
A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled Download PDFInfo
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- CN109143922A CN109143922A CN201810855312.9A CN201810855312A CN109143922A CN 109143922 A CN109143922 A CN 109143922A CN 201810855312 A CN201810855312 A CN 201810855312A CN 109143922 A CN109143922 A CN 109143922A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
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Abstract
The present invention relates to a kind of, and the gondola based on speech recognition controlled promotes ship model steerable system and method, on the coast, driver says corresponding manipulation and control to wireless microphone and instructs first, speech control module acquires the instruction and is identified, with single chip communication on the bank after identifying successfully, the control data of control PODDED PROPULSOR revolving speed and steering are generated；Then by being communicated between wireless module and single-chip microcontroller on ship, the PWM wave signal of 3 tunnels control brshless DC motor rotation is generated through control algolithm, revolving speed and steering of the pwm signal through motor drive module control PODDED PROPULSOR, to realize the corresponding maneuvering motion of ship model.
Description
Technical field
The present invention relates to a kind of gondola promote ship model steerable system and method, it is especially a kind of based on speech recognition controlled
Gondola promotes ship model method of operating, belongs to ship control technical field.
Background technique
Turning quality, course changing quality and stopping ability are several important performances of ship during traveling, especially in ship
From going to dock, under the operating condition that entering and leaving port etc. is run at a low speed, the accuracy of its operation is improved, simplicity has very important meaning
Justice.For conventional helical oar, the behaviour that flexible operating characteristics is not satisfactory, and paddle and rudder cooperate is carried out under the low speed
Make difficulty also ten/height.
Control panel (idler wheel) and keyboard are depended on to the operation of Ship Controling control method at present, driver needs
Pass through its application method of training and learning.Manual manipulation mode is not very convenient, needs sailor to disperse energy in use and protects
The correctness of operation is demonstrate,proved, this brings some potential safety problems to ship's navigation.
With the fast development of nautical science technology and Naval Architecture and Ocean Engineering, gondola, which promotes, is used as a kind of novel propulsion skill
Art is increasingly appearing in the visual field of people, by the characteristic and excellent maneuverability of its 360 ° of full circle swingings, so that ship
From go to dock, access to the ports, the mobility of motor-driven operation and safety greatly increase.Studies have shown that gondola propelling ship has
Compared with high maneuverability and maneuverability, there is the ability for realizing the movement of the complex manipulations such as advance, reversing, left-hand rotation, right-hand rotation, cast.
In recent years, domestic speech recognition technology is developed rapidly, and is applied successfully in many fields.At present at home,
The research institution for providing core intelligence speech recognition technology is essentially divided into three classes, and one kind is the University of Science and Technology for relying on Chinese University of Science and Technology
News fly, furthermore it is some research institutions of the Peking University and Qinghua University that one kind, which is to rely on the middle section letter benefit of Institute of Automation, CAS,.
Intelligence, humanization level for raising Ship Controling method, by speech recognition controlled technology and gondola boat
Mould manipulation combines, and is conducive to the accuracy of ship-lifting manipulation, reduces ship complex operations movement difficulty.Research achievement can be
Domestic independent development provides technical support based on the gondola propelling ship product of speech recognition controlled, has preferable promotional value
And application prospect.
Summary of the invention
Technical problems to be solved
In order to solve the problems, such as that the manual manipulation mode complexity of the prior art, operation are easy to appear fault, the present invention is proposed
A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled.
Technical solution
A kind of gondola based on speech recognition controlled promotes ship model steerable system, including wireless microphone, control system on the bank
Control system on system and ship；Control system includes speech recognition module, on the bank STM32 microcontroller development board and wireless transmission on the bank
Module, speech recognition module, STM32 microcontroller development board and wireless sending module are sequentially connected by wire on the bank；It is controlled on ship
System processed includes wireless receiving module, STM32 microcontroller development board and motor drive module on ship, on wireless receiving module, ship
STM32 microcontroller development board and motor drive module are sequentially connected by wire.
A kind of gondola propulsion ship model method of operating based on speech recognition controlled, steps are as follows: phonetic order passes through wireless
Microphone is transferred to speech recognition module, and speech recognition module is filtered enhanced processing, wiping out background noise first；AD turns again
Corresponding text instruction is generated after changing digital signal into, compares with preset instruction, if identical, is identified as
Function, otherwise identifies mistake, and waiting identifies next time；Pass through UART serial ports and STM32 microcontroller development board on the bank after identifying successfully
Communication, STM32 microcontroller development board generates the control data of control PODDED PROPULSOR revolving speed and steering on the bank, passes through wireless transmission
Module is sent, and wireless receiving module receives control data, and control data are led to STM32 microcontroller development board on ship
Believe, STM32 microcontroller development board generates the PWM wave signal of 3 tunnels control brshless DC motor rotation on ship, and PWM wave signal is through electricity
Machine drive module controls revolving speed and the steering of PODDED PROPULSOR, and three PODDED PROPULSORs cooperate, and realizes that gondola promotes ship model
Corresponding maneuvering motion.
Beneficial effect
A kind of gondola based on speech recognition controlled proposed by the present invention promotes ship model steerable system and method, the manipulation side
Method directly can say voice command control gondola by driver and ship model is promoted to complete the maneuvering motion of various complexity, greatly drop
The difficulty of low ship model manipulation, improves the intelligence and humanization level of ship model manipulation.The method of operating may be used on gondola
The ship-related products of propulsion have important engineering significance for the maneuvering performance of ship-lifting.It has the beneficial effect that:
(1) using the voice collecting of speech recognition module, broadcasting, speech recognition resources, voice control ship model behaviour is realized
Vertical motion state；
(2) after ship model receives wireless speech control instruction, according to control algolithm, multiple PODDED PROPULSORs is realized and are cooperateed with
The ship model maneuvering motion of various complexity is completed in work；
(3) it realizes that one kind can be designed by the intelligent ship model of speech recognition controlled, has convenient, accurate, more intelligent
Change the feature with hommization.
Detailed description of the invention
Fig. 1 is technical solution of the present invention flow chart.
Fig. 2 is voice recognition processing flow chart.
Fig. 3 is maneuvering motion control principle drawing.
In Fig. 1: 1- wireless microphone, 2- speech recognition module, 3- STM32 single-chip microcontroller, 4- wireless transport module, 5- on the bank
Wireless receiving module, STM32 single-chip microcontroller, 7- motor drive module, 8- gondola promote ship model on 6- ship.
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
As shown in Figure 1-3, a kind of gondola based on speech recognition controlled promotes ship model steerable system, composition includes voice
Control command input, speech recognition and control system, gondola promote three parts of ship model.
Voice manipulation input mainly has operator directly to say control command to wireless microphone, such as " positive Chinese herbaceous peony into ",
" reversing retreats ", " turning left 30 ° ", " turning right 45 ° " etc., are directly passed by wireless transmission and receiving module (wireless microphone)
It is defeated to be identified to speech recognition module input terminal.
Control system is divided into control system two parts on control system on the bank and ship.Control system component units packet on the bank
Include: speech recognition module, STM32 microcontroller development board, wireless sending module, power module, speech recognition module, STM32 are mono-
Piece machine development board, wireless sending module are sequentially connected by wire, and power module is opened to speech recognition module, STM32 single-chip microcontroller
Send out plate, wireless sending module power supply；Control system component units include: wireless receiving module, STM32 microcomputer development on ship
Plate, motor drive module, power module, wireless receiving module, STM32 microcontroller development board, motor drive module pass sequentially through
Conducting wire connection, power module are powered to wireless receiving module, STM32 microcontroller development board, motor drive module.
Gondola promote ship model symmetrical two PODDED PROPULSORs of stern, can 360 ° rotation, generate any level direction
On thrust；Bow is installed a bow side and is pushed away, and the thrust of a vertical hull center line can only be generated；All PODDED PROPULSORs are equal
Support positive and negative rotation.
It is powered first with power module to control system；On the coast, driver says phase to wireless microphone first
The manipulation and control instruction answered, speech control module acquires the instruction and identified, after identify successfully and on the bank single chip communication,
Generate the control data of control PODDED PROPULSOR revolving speed and steering；Then by being led between single-chip microcontroller on wireless module and ship
Letter, the PWM wave signal of 3 tunnels control brshless DC motor rotation is generated through control algolithm, and pwm signal is controlled through motor drive module
The revolving speed of PODDED PROPULSOR and steering, to realize the corresponding maneuvering motion of ship model.
Embodiment:
Wherein voice manipulation input mainly has operator directly to say control command to wireless microphone, such as " positive Chinese herbaceous peony
Into ", " reversing retreat ", " turning left 30 ° ", " turning right 45 ° " etc., after sound A D sampling (wireless microphone) is at digital signal
It is wirelessly transmitted to wireless microphone receiving end, analog signal is reduced into after DA, into the speech recognition mould of control system on the bank
Block is handled.
After speech recognition module receives manipulation and control instruction, it is filtered enhanced processing, wiping out background noise first；Again
AD conversion generates text instruction at speech recognition is carried out after digital signal, compares with preset instruction, if phase
Together, then it identifies success, otherwise identifies mistake, waiting identifies next time；Pass through UART serial ports and single-chip microcontroller on the bank after identifying successfully
Communication generates the control data of control PODDED PROPULSOR revolving speed and steering；Then by single on wireless transmission receiving module and ship
Piece machine is communicated, and the PWM wave signal of 3 tunnels control brshless DC motor rotation is generated through control algolithm, and pwm signal drives through motor
Dynamic model block controls revolving speed and the steering of PODDED PROPULSOR, and three PODDED PROPULSORs cooperate, and realizes that ship model manipulates fortune accordingly
It is dynamic.
Above it is exactly specific implementation method of the invention, skill is promoted by advanced speech recognition technology, ship gondola
Art, Digital Signal Processing achieve the purpose that promote ship model maneuvering motion by voice control gondola.It is driven with traditional ship model
It sails maneuverability pattern to compare, improves maneuvering performance and the intelligence, humanization level of ship model, reduce operating difficulty.
It is extensive using ship type simultaneously present embodiments can apply on gondola propelling ship, it is equal in civilian, military and scientific research field
With boundless application prospect, there is very strong practicability and promotional value.
Claims (2)
1. a kind of gondola based on speech recognition controlled promotes ship model steerable system, it is characterised in that including wireless microphone (1),
Control system on control system and ship on the bank；Control system includes speech recognition module (2) on the bank, STM32 single-chip microcontroller is opened on the bank
Send out plate (3) and wireless sending module (4), speech recognition module (2), on the bank STM32 microcontroller development board (3) and wireless transmission mould
Block (4) is sequentially connected by wire；Control system includes wireless receiving module (5), STM32 microcontroller development board on ship on ship
(6) and motor drive module (7), STM32 microcontroller development board (6) and motor drive module on wireless receiving module (5), ship
(7) it is sequentially connected by wire.
2. the gondola based on speech recognition controlled that system according to claim 1 is realized promotes ship model method of operating,
Be characterized in that steps are as follows: phonetic order is transferred to speech recognition module (2), speech recognition module by wireless microphone (1)
(2) it is filtered enhanced processing, wiping out background noise first；AD conversion is at generating corresponding text instruction again after digital signal,
It is compared with preset instruction, if identical, identifies success, otherwise identify mistake, waiting identifies next time；Identification
It is communicated by UART serial ports with STM32 microcontroller development board (3) on the bank after success, STM32 microcontroller development board (3) generates on the bank
The control data for controlling PODDED PROPULSOR revolving speed and steering, are sent by wireless sending module (4), and wireless receiving module (5) connects
Control data are received, and control data are communicated with STM32 microcontroller development board (6) on ship, STM32 microcomputer development on ship
Plate (6) generates the PWM wave signal of 3 tunnels control brshless DC motor rotation, and PWM wave signal is hung through motor drive module (7) control
The revolving speed of cabin propeller and steering, three PODDED PROPULSORs cooperate, and realize that gondola promotes ship model (8) manipulation fortune accordingly
It is dynamic.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810855312.9A CN109143922A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810855312.9A CN109143922A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled |
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| CN109143922A true CN109143922A (en) | 2019-01-04 |
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| CN201810855312.9A Pending CN109143922A (en) | 2018-07-31 | 2018-07-31 | A kind of gondola propulsion ship model steerable system and method based on speech recognition controlled |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109920423A (en) * | 2019-03-19 | 2019-06-21 | 山东省水利勘测设计院 | A kind of automatic rescue device based on speech recognition module |
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| CN104648645A (en) * | 2015-03-04 | 2015-05-27 | 武汉理工大学 | Jet-propelled boat capable of realizing boat motion vector control |
| CN106888266A (en) * | 2017-03-22 | 2017-06-23 | 天津大学 | A kind of supervision of ships system and its method for interchanging data based on multi-internet integration |
| CN207052081U (en) * | 2016-12-06 | 2018-02-27 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system |
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| US8397988B1 (en) * | 2002-08-09 | 2013-03-19 | Britesmart Llc | Method and system for securing a transaction using a card generator, a RFID generator, and a challenge response protocol |
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| CN104648645A (en) * | 2015-03-04 | 2015-05-27 | 武汉理工大学 | Jet-propelled boat capable of realizing boat motion vector control |
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Effective date of registration: 20190408 Address after: 518000 Guangdong Province Nanshan District Yuehai Street High-tech Industrial Park South District Virtual University Park Applicant after: SHENZHEN INSTITUTE, NORTHWESTERN POLYTECHNICAL UNIVERSITY Applicant after: Northwestern Polytechnical University Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Applicant before: Northwestern Polytechnical University |
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Application publication date: 20190104 |