CN110720123A - Control method and control equipment for mobile platform - Google Patents
Control method and control equipment for mobile platform Download PDFInfo
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- G10L17/00—Speaker identification or verification techniques
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Abstract
A control method and a control device of a mobile platform are provided, wherein the method is applied to the control device and comprises the following steps: processing voice input by a user to obtain a voice control signal (S201); performing voiceprint recognition on the voice control signal, and verifying the identity of the user (S202); if the user passes the identity authentication, performing voice recognition processing on the voice control signal to obtain a control instruction (S203); and sending a control command to the mobile platform to control the mobile platform (S204). The voice control of the mobile platform can be realized through the embodiment, and the convenience of the mobile platform control is improved.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a control method and control equipment of a mobile platform.
Background
At present, mobile platforms (for example, Unmanned Aerial Vehicles (UAVs), Unmanned vehicles and other Unmanned devices) have abundant functions, and are widely used in various industries. In industrial or consumer applications, the way a user controls a mobile platform is generally: the user controls the mobile platform to execute corresponding actions through a rocker or a key and the like, for example, controls the mobile platform to execute actions such as forward movement, backward movement, photographing or video recording and the like. However, when the user is busy with other operations with both hands and cannot perform operations such as remote sensing or key pressing using both hands, the user cannot control the mobile platform.
Disclosure of Invention
The embodiment of the invention discloses a control method and control equipment of a mobile platform, which can realize voice control of the mobile platform.
The first aspect of the embodiment of the invention discloses a control method of a mobile platform, which is applied to control equipment and comprises the following steps:
processing voice input by a user to obtain a voice control signal;
performing voiceprint recognition on the voice control signal, and verifying the identity of the user;
if the user passes the identity authentication, carrying out voice recognition processing on the voice control signal to obtain a control instruction;
and sending the control instruction to a mobile platform to control the mobile platform.
A second aspect of an embodiment of the present invention discloses a control apparatus, including: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor to execute the memory-stored program instructions, the processor to, when executed:
processing voice input by a user to obtain a voice control signal;
performing voiceprint recognition on the voice control signal, and verifying the identity of the user;
if the user passes the identity authentication, carrying out voice recognition processing on the voice control signal to obtain a control instruction;
and sending the control instruction to a mobile platform to control the mobile platform.
A third aspect of the present invention discloses a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method according to the first aspect.
In the embodiment of the invention, the voice input by the user is processed to obtain the voice control signal, then the voice control signal is subjected to voiceprint recognition to verify the identity of the user, the voice control signal is subjected to voice recognition processing to obtain the control instruction when the identity of the user is verified, and finally the control instruction is sent to the mobile platform to control the mobile platform, so that the voice control of the mobile platform can be realized, and the convenience of the control of the mobile platform is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1a is a schematic diagram of a mobile platform control system according to a first embodiment of the present invention;
FIG. 1b is a block diagram of a mobile platform control system according to a second embodiment of the present invention;
fig. 2 is a flowchart illustrating a control method for a mobile platform according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a control method for a mobile platform according to a second embodiment of the present invention;
fig. 4 is a flowchart illustrating a control method for a mobile platform according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the invention discloses a control method and control equipment for a mobile platform, wherein the mobile platform can be unmanned equipment such as an unmanned aerial vehicle and an unmanned trolley; the control device is an intelligent device with voice interaction, voiceprint recognition, voice recognition and voice control functions, and can be an intelligent remote controller. By adopting the control method and the control device of the mobile platform provided by the embodiment of the invention, the voice control of the mobile platform can be realized, and the convenience of the mobile platform control is improved, so that the hands of the user are released, and the problem that the user cannot control the mobile platform when the hands are busy in other operations is solved, which is respectively described in detail below.
Referring to fig. 1a, fig. 1a is a schematic structural diagram of a mobile platform control system according to a first embodiment of the present invention. As shown in fig. 1a, the mobile platform control system includes a control device 100 and a mobile platform 200, and a communication connection is established between the control device 100 and the mobile platform 200. The control apparatus 100 is provided with a sound pickup apparatus 101, and the sound pickup apparatus 101 may be built in the control apparatus 100 or may be externally connected to the control apparatus 100. The control device 100 collects the voice input by the user through the sound pickup device 101, and processes the voice input by the user to obtain a voice control signal; then, carrying out voiceprint recognition on the voice control signal, and verifying the identity of the user; when the user passes the authentication, the control device 100 performs voice recognition processing on the voice control signal to obtain a control instruction; and sends the control command to the mobile platform 200. Accordingly, the mobile platform 200 receives the control instruction sent by the control device 100 and performs a corresponding action in response to the control instruction, thereby implementing voice control of the mobile platform.
Referring to fig. 1b, fig. 1b is a schematic diagram illustrating an architecture of a mobile platform control system according to a second embodiment of the present invention. As shown in fig. 1b, the mobile platform control system includes a control device 100, a mobile platform 200, and a peer device 300; a communication connection is established between the control device 100 and the mobile platform 200, and a communication connection is established between the control device 100 and the peer device 300. The opposite-end equipment is intelligent equipment with a sound pickup function, such as a smart phone, a tablet computer and the like. The control device 100 may be provided with a sound pickup device 101. The opposite-end device 300 collects the voice input by the user and transmits the collected voice input by the user to the control device 100. After receiving the voice input by the user sent by the peer device 300, the control device 100 processes the voice input by the user to obtain a voice control signal; then, carrying out voiceprint recognition on the voice control signal, and verifying the identity of the user; when the user passes the authentication, the control device 100 performs voice recognition processing on the voice control signal to obtain a control instruction; and sends the control command to the mobile platform 200. Accordingly, the mobile platform 200 receives the control instruction sent by the control device 100 and performs a corresponding action in response to the control instruction, thereby implementing voice control of the mobile platform. It should be noted that the mobile platform 200 in fig. 1a and fig. 1b is illustrated by taking an unmanned aerial vehicle (e.g., a drone) as an example. Mobile platform 200 includes, but is not limited to, unmanned aerial devices.
Referring to fig. 2, fig. 2 is a flowchart illustrating a control method for a mobile platform according to a first embodiment of the present invention. The control method of the mobile platform described in the embodiment of the present invention is applied to the mobile platform control system shown in fig. 1a or fig. 1b, and the control method of the mobile platform may include:
s201, the control device processes voice input by a user to obtain a voice control signal.
In the embodiment of the invention, the control equipment firstly acquires the voice input by the user and then processes the voice input by the user to obtain the voice control signal. Wherein, processing the voice input by the user comprises: the voice input by the user is subjected to voice enhancement processing to increase the signal-to-noise ratio of the voice, reduce the distortion of the voice and the like. Processing the voice input by the user may further include: converting the analog voice signal acquired by the control equipment into a digital voice signal, amplifying, filtering and the like.
In one embodiment, the control device is provided with a sound pickup device inside, the control device can collect voice input by a user through the sound pickup device inside, and the collected voice is voice input by the user of the control device. The sound pickup equipment built in the control equipment can be a microphone sound pickup module, and the microphone sound pickup module comprises one or more microphones. If the microphone pickup module comprises a plurality of microphones, the plurality of microphones may be configured in an array manner, including but not limited to a linear array, a circular array, an irregular array, or the like.
In one embodiment, the control device is externally connected with a pickup device, and a communication connection is established between the control device and the pickup device externally connected with the control device. Collecting voice input by a user by pickup equipment externally connected with the control equipment, wherein the collected voice is the voice input by the user of the control equipment; and then the collected voice input by the user is sent to the control equipment. Accordingly, the control apparatus receives the voice of the user input transmitted from its external sound pickup apparatus. Wherein, the external pickup equipment of controlgear can include bluetooth headset, wired earphone or intercom etc.. In one embodiment, the sound pickup device externally connected to the control device further has a voice processing function. After the voice input by the user is collected by the external pickup equipment, processing the voice input by the user to obtain a voice control signal; the voice control signal is then sent to the control device. Accordingly, the control device receives the voice control signal transmitted from its external sound pickup device.
In one embodiment, the control device establishes a communication connection with the peer device. And the opposite terminal equipment collects the voice input by the user through the configured pickup equipment and then sends the collected voice input by the user to the control equipment. Correspondingly, the control equipment receives the voice input by the user and sent by the opposite-end equipment. The voice received by the control device is the voice input by the user of the opposite terminal device. In an embodiment, both the peer device and the control device are provided with a communication application, for example, an instant communication application. And after the opposite terminal equipment collects the voice input by the user, the voice input by the user is sent to the control equipment through the communication application of the opposite terminal equipment. After the communication application of the control equipment acquires the voice input by the user and sent by the opposite terminal equipment, the voice input by the user is sent to a processor of the control equipment. In one embodiment, the communication application set by the peer device and the control device has a voice or video call function. After a user of the opposite-end equipment establishes voice or video call with the communication application of the control equipment through the communication application of the opposite-end equipment, the opposite-end equipment collects voice input by the user in the voice or video call process; and then the voice input by the user is sent to the control equipment through the communication application of the opposite terminal equipment. After the communication application of the control equipment acquires the voice input by the user and sent by the opposite terminal equipment, the voice input by the user is sent to a processor of the control equipment.
S202, the control equipment performs voiceprint recognition on the voice control signal and verifies the identity of the user.
In the embodiment of the invention, the control equipment carries out voiceprint recognition on the voice control signal to acquire voiceprint characteristic information corresponding to the user; and then comparing the acquired voiceprint characteristic information with voiceprint characteristic information prestored by the control equipment. If the voiceprint feature information prestored by the control device exists, the voiceprint feature information with the similarity between the acquired voiceprint feature information and a preset similarity threshold value exists; the user identity authentication is confirmed to be passed, which indicates that the user has the voice control authority.
In an embodiment, if the similarity between the voiceprint feature information prestored in the control device and the obtained voiceprint feature information is smaller than the preset similarity threshold, it is determined that the user identity authentication fails. Further, the control device outputs prompt information for prompting that the user does not have the voice control authority.
In one embodiment, the control device acquires voiceprint feature information of a user with voice control authority in advance. Specifically, the control device obtains a training voice input by a user, the user is a user with a voice control authority, and the training voice can be a word or a sentence. The control equipment then carries out voiceprint recognition training aiming at the training voice to obtain voiceprint characteristic information corresponding to the user; and finally storing the voiceprint characteristic information of the user. Therefore, the control equipment can subsequently perform voiceprint recognition on the voice control signal corresponding to the voice input by the user according to the stored voiceprint characteristic information, so that the identity of the user is verified.
S203, if the user passes the identity authentication, the control equipment performs voice recognition processing on the voice control signal to obtain a control instruction.
In the embodiment of the invention, the control equipment stores the mapping relation between the configuration voice and the control instruction. And when the user identity authentication corresponding to the voice control signal is detected to pass, the control equipment inquires and obtains the control instruction corresponding to the control voice signal according to the mapping relation between the configured voice and the control instruction.
In one embodiment, the control device acquires a mapping relationship between the configuration voice and the control instruction in advance. Specifically, the control equipment acquires a control instruction input by a user through a rocker and acquires configuration voice input by the user; then, the configuration voice is associated with the control instruction to obtain a mapping relation between the configuration voice and the control instruction; and finally storing the mapping relation. In one embodiment, the control device acquires configuration voice input by a user, and performs voice recognition on the configuration voice to obtain a control instruction corresponding to the configuration voice; then, the configuration voice is associated with the control instruction to obtain a mapping relation between the configuration voice and the control instruction; and finally storing the mapping relation. Therefore, the control device can subsequently perform voice recognition processing on the voice control signal corresponding to the voice input by the user according to the stored mapping relation between the configured voice and the control instruction to obtain the control instruction. By adopting the mode, the user can define the corresponding relation between the voice and the control instruction according to the requirement and the habit of the phrase.
In one embodiment, if the control device cannot obtain a control instruction corresponding to the voice input by the user according to the stored mapping relation between the configured voice and the control instruction; the voice input by the user is transmitted to the server. The server receives the voice input by the user and sent by the control equipment, and carries out voice recognition processing on the voice input by the user to obtain a control instruction; and transmits the control command back to the control device. The control device receives the control instruction and performs subsequent operations. By adopting the mode, the problem that the control equipment cannot recognize the voice of the user can be solved.
In one embodiment, if the voice input by the user is collected by an external pickup device of the control device, after the voice input by the user is collected, the pickup device externally connected with the control device processes the voice input by the user to obtain a voice control signal; then carrying out voice recognition processing on the voice control signal to obtain a control instruction corresponding to the voice control signal; and finally, sending the control instruction to the control equipment. Accordingly, the control device receives the control instruction corresponding to the voice control signal sent by the external sound pickup device. It should be noted that the sound pickup device externally connected to the control device may also perform voiceprint recognition on the voice control signal to verify the identity of the user, and the specific verification method may refer to the foregoing description and is not described herein again.
In one embodiment, the control device may convert a voice input by a user into a text and output the text corresponding to the voice on a display device of the control device. The control device can convert the operation corresponding to the control instruction into a text and output the text, so that the user can confirm whether the voice instruction input by the user is wrong.
And S204, the control device sends the control instruction to a mobile platform to control the mobile platform.
In the embodiment of the invention, the control equipment sends the control instruction corresponding to the voice control signal to the mobile platform. Correspondingly, the mobile platform receives the control instruction sent by the control equipment and responds to the control instruction to execute corresponding action, thereby realizing the voice control of the mobile platform. By adopting the above mode, only the user with the voice control authority can carry out voice control on the mobile platform through the control equipment, so that the control equipment supports the personal voice control mode, is not easily interfered by other external voices, and can improve the accuracy and the safety of the voice control mobile platform to a certain extent.
In one embodiment, before the mobile platform is started, whether a voice control function of the control equipment works normally is detected; if the voice control function of the control equipment is detected to work abnormally, prompt information is output, and the prompt information is used for prompting a user that the voice control function is abnormal and prompting the user to manually control the mobile platform through the control equipment.
In one embodiment, the control device receives an override instruction input by an override user during voice control of the mobile platform by the user or users. Wherein, the override instruction is a preset instruction with a specific form, and only a user with override authority can input the override instruction; the override instruction is used to instruct the control device not to respond to the voice input by the user other than the override user corresponding to the override instruction, that is, the control device can only respond to the voice input by the override user currently. Further, the control device acquires the voice input by the deprivation user and processes the voice input by the deprivation user to obtain a voice control signal; then carrying out voice recognition processing on the voice control signal to obtain a control instruction; and finally, sending the control instruction to the mobile platform to control the mobile platform. By adopting the mode, the voice control authority of the mobile platform can be captured at any time in the process that one or some users control the mobile platform by controlling the equipment through voice, and the mode of controlling the mobile platform through voice can be increased.
In one embodiment, after receiving a control instruction sent by a control device, a mobile platform responds to the control instruction to execute corresponding operation and generate feedback information; the feedback information is then sent to the control device. The feedback information is used to indicate the action currently performed by the drone. After the control equipment receives the feedback information sent by the mobile platform, the feedback information is output on the display equipment of the control equipment, so that the user can check the action of the unmanned aerial vehicle.
In the embodiment of the invention, the control equipment firstly processes the voice input by the user to obtain the voice control signal, then carries out voiceprint recognition on the voice control signal to verify the identity of the user, carries out voice recognition processing on the voice control signal when the identity of the user passes the verification to obtain the control instruction, and finally sends the control instruction to the mobile platform to control the mobile platform, thereby realizing the voice control on the mobile platform and improving the convenience of the control on the mobile platform.
Referring to fig. 3, fig. 3 is a flowchart illustrating a control method for a mobile platform according to a second embodiment of the present invention. The control method of the mobile platform described in the embodiment of the present invention is applied to the mobile platform control system shown in fig. 1a, and the control method of the mobile platform may include:
s301, the control equipment acquires voice input by a user, wherein the voice input by the user comprises first voice input by the first user and second voice input by the second user, and the first voice and the second voice are collected by the configured sound pickup equipment.
In the embodiment of the invention, the users of the control equipment at least comprise a first user and a second user. The voice input by the user acquired by the control device at least comprises a first voice and a second voice. The first voice is the voice input by the first user and collected by the control equipment through the configured sound pickup equipment, and the second voice is the voice input by the second user and collected by the control equipment through the configured sound pickup equipment. The first voice and the second voice may be collected by the sound pickup apparatus within a preset time interval, for example, 3 s. The sound pickup equipment may be built-in control equipment or externally connected with the control equipment, and the embodiment of the invention is not limited. It should be noted that the second user may be one or more users.
S302, the control device processes a first voice input by the first user to obtain a first voice control signal, and processes a second voice input by the second user to obtain a second voice control signal.
And S303, the control equipment performs voiceprint recognition on the first voice control signal to verify the identity of the first user, performs voiceprint recognition on the second voice control signal to verify the identity of the second user.
S304, if the first user and the second user both pass the identity authentication, the control device performs voice recognition processing on the first voice control signal to obtain a first control instruction, and performs voice recognition processing on the second voice control signal to obtain a second control instruction.
In the embodiment of the present invention, the detailed implementation manner of step S302 to step S305 may refer to the foregoing description, and is not repeated herein.
S305, the control device sends the first control instruction and the second control instruction to a mobile platform to control the mobile platform.
In the embodiment of the present invention, the control device may send the first control instruction corresponding to the first voice control signal and the second control instruction corresponding to the second voice control signal to the mobile platform together. The control device may also send the first control instruction and the second control instruction to the mobile platform in sequence. The control instruction obtained first in the first control instruction and the second control instruction may be sent to the mobile platform first, and the control instruction obtained later in the first control instruction and the second control instruction may be sent to the mobile platform later. The control device can utilize the first control instruction and the second control instruction to respectively and independently control the mobile platform, and also can utilize the first control instruction and the second control instruction to control the mobile platform in a combined manner. By adopting the mode, the control equipment can respond to the voice control of at least two users to the mobile platform.
In an embodiment, after the control device processes the first control instruction and the second control instruction, it detects whether the first control instruction and the second control instruction conflict with each other, specifically, when the control device simultaneously obtains a first voice input by a first user and a second voice input by a second user, after the control device processes the first control instruction and the second control instruction, it detects whether the first control instruction and the second control instruction conflict with each other. For example, if the first control instruction is used to instruct the mobile platform to move forward, the second control instruction is used to instruct the mobile platform to move backward; since the mobile platform cannot perform the forward and backward operations at the same time, the first control instruction and the second control instruction conflict at this time. If the first control instruction is used for indicating the moving platform to advance, the second control instruction is used for indicating the moving platform to shoot; since the mobile platform can simultaneously execute the forward and shooting operations, the first control instruction and the second control instruction do not conflict at this time.
And if the first control instruction and the second control instruction are detected not to conflict, the control equipment sends the first control instruction and the second control instruction to the mobile platform. The first control instruction and the second control instruction may be sent to the mobile platform simultaneously, or the first control instruction and the second control instruction may be sent to the mobile platform successively. In an embodiment, the control device may not send the first control instruction and the second control instruction to the mobile platform if a conflict between the first control instruction and the second control instruction is detected. The control equipment outputs prompt information which is used for prompting the user to instruct conflict and prompting the user to input the voice again. In another embodiment, if a conflict between the first control instruction and the second control instruction is detected, the control device may send the first control instruction and the second control instruction to the mobile platform in sequence, so that the mobile platform may execute operations indicated by the first control instruction and the second control instruction in sequence. The control device may combine the first control instruction and the second control instruction to generate a combined control instruction. The combined control instruction is used for instructing the mobile platform to execute the sequence of the operations indicated by the first control instruction and the second control instruction. The sequence of execution of the various operations may be pre-set. For example, if the first control instruction is used to instruct the mobile platform to move forward, the second control instruction is used to instruct the mobile platform to move backward; the generated combined control instruction may be used to instruct the mobile platform to perform a forward operation first and then a backward operation. By adopting the mode, the accuracy and the safety of the voice control mobile platform can be ensured.
In one embodiment, the control device stores in advance a priority relationship between users having voice control authority. The method comprises the steps that if the control equipment detects that both the first user and the second user pass identity authentication, priority between the first user and the second user is determined firstly, and a voice control signal corresponding to the user with the highest priority in the first user and the second user is determined as a target voice control signal, specifically, if the control equipment simultaneously obtains first voice input by the first user and second voice input by the second user, if the control equipment detects that both the first user and the second user pass identity authentication, priority between the first user and the second user is determined firstly, and a voice control signal corresponding to the user with the highest priority in the first user and the second user is determined as a target voice control signal. And if the priority of the first user is higher than that of the second user, determining the first voice control signal corresponding to the first user as the target voice control signal. Otherwise, the same principle is applied. Further, the control equipment performs voice recognition processing on the target voice control signal to obtain a target control instruction; and sending the target control instruction to the mobile platform so as to control the mobile platform by using the target control instruction. By adopting the mode, aiming at the condition that a plurality of users input voice, only the user with the highest priority can respond to the voice control of the mobile platform, so that the accuracy and the safety of the voice control of the mobile platform are ensured.
In the embodiment of the invention, the voice input by the user comprises first voice input by a first user and second voice input by a second user, which are collected by a configured sound pickup device, the control device firstly processes the first voice and the second voice respectively to obtain a first voice control signal and a second voice control signal, then when the identities of the first user and the second user are verified, respectively performs voice recognition processing on the first voice control signal and the second voice control signal to obtain a first control instruction and a second control instruction, and finally sends the first control instruction and the second control instruction to the mobile platform to control the mobile platform, so that the voice control of the mobile platform by a plurality of users can be realized, the control convenience of the mobile platform is improved, and the mode of controlling the mobile platform by voice is increased.
Referring to fig. 4, fig. 4 is a flowchart illustrating a control method for a mobile platform according to a third embodiment of the present invention. The control method of the mobile platform described in the embodiment of the present invention is applied to the mobile platform control system shown in fig. 1b, and the control method of the mobile platform may include:
s401, the control device obtains voice input by a user, wherein the voice input by the user comprises first voice input by the first user and collected through the configured sound pickup device, and second voice input by the second user and sent by the opposite-end device which has established communication connection.
In the embodiment of the present invention, the voice input by the user, which is acquired by the control device, at least includes the first voice and the second voice. The first voice may be a voice of a first user input collected by the control device through a sound pickup device configured therewith. The sound pickup equipment may be built-in control equipment or externally connected with the control equipment, and the embodiment of the invention is not limited. The second voice may be voice input by the second user transmitted by the peer device having established the communication connection and received by the control device. The first voice and the second voice may be obtained by the control device within a preset time interval, for example, 2s or 3 s. It should be noted that the first user is a user of the control device, and may be one or more users. The second user is a user of the peer device, and may also be one or more users.
S402, the control device processes a first voice input by the first user to obtain a first voice control signal, and processes a second voice input by the second user to obtain a second voice control signal.
And S403, the control equipment performs voiceprint recognition on the first voice control signal to verify the identity of the first user, performs voiceprint recognition on the second voice control signal to verify the identity of the second user.
S404, if the first user and the second user both pass the identity authentication, the control device performs voice recognition processing on the first voice control signal to obtain a first control instruction, and performs voice recognition processing on the second voice control signal to obtain a second control instruction.
S405, the control device sends the first control instruction and the second control instruction to a mobile platform to control the mobile platform.
In the embodiment of the present invention, the specific implementation manner of steps S402 to S405 may refer to the foregoing description, and is not described herein again.
In an embodiment, if the control device detects that both the first user and the second user pass the authentication, the control device determines the priority between the first user and the second user first, specifically, if the control device simultaneously obtains a first voice input by the first user and a second voice input by the second user, the control device determines the priority between the first user and the second user first if both the first user and the second user pass the authentication; and determining the voice control signal corresponding to the user with the highest priority in the first user and the second user as the target voice control signal. The priority between the first user and the second user can be determined by the control device according to a pre-stored priority relationship between users with voice control authority. The priority between the first user and the second user may also be determined based on the source of the first speech and the second speech. The priority of a user corresponding to the voice sent by the opposite terminal equipment is assumed to be higher than the priority of the user corresponding to the voice collected by the sound pickup equipment configured by the control equipment; a first voice corresponding to a first user is collected by the sound pickup equipment configured by the control equipment, and a second voice corresponding to a second user is sent to the control equipment by the opposite terminal equipment; it may be determined that the second user has a higher priority than the first user and a voice control signal corresponding to the second voice is determined as a target voice control signal. Further, the control equipment performs voice recognition processing on the target voice control signal to obtain a target control instruction; and sending the target control instruction to the mobile platform so as to control the mobile platform by using the target control instruction. By adopting the mode, aiming at the condition that a plurality of users input voice, the priority of the users can be determined according to the voice source, and only the user with the highest priority is responded to the voice control of the mobile platform, so that the accuracy and the safety of the voice control of the mobile platform are ensured.
In the embodiment of the invention, the voice input by the user comprises the first voice input by the first user and collected by the configured sound pickup equipment, and the received second voice input by the second user and sent by the opposite terminal equipment, the control equipment firstly processes the first voice and the second voice respectively to obtain a first voice control signal and a second voice control signal, then when the identities of the first user and the second user are verified, respectively carrying out voice recognition processing on the first voice control signal and the second voice control signal to obtain a first control instruction and a second control instruction, finally sending the first control instruction and the second control instruction to the mobile platform to control the mobile platform, therefore, the voice control of a plurality of users on the mobile platform can be realized, the convenience of the mobile platform control is improved, and the mode of controlling the mobile platform by voice is increased.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention. The control apparatus described in the embodiment of the present invention includes: a processor 501, a communication interface 502, and a memory 503. The processor 501, the communication interface 502, and the memory 503 may be connected by a bus or in other manners, and the embodiment of the present invention is exemplified by being connected by a bus.
The processor 501 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP. The processor 501 may also be a core in a multi-core CPU or a multi-core NP for implementing the communication identification binding.
The processor 501 may be a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
The communication interface 502 may be used for transceiving information or signaling interactions, as well as receiving and transferring signals. The memory 503 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, and a storage program required by at least one function (such as a text storage function, a location storage function, etc.); the storage data area may store data (such as image data, text data) created according to the use of the device, etc., and may include an application storage program, etc. Further, the memory 503 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The memory 503 is also used to store program instructions. The processor 501 is configured to execute the program instructions stored in the memory 503, and when the program instructions are executed, the processor 501 is configured to:
processing voice input by a user to obtain a voice control signal;
performing voiceprint recognition on the voice control signal, and verifying the identity of the user;
if the user passes the identity authentication, carrying out voice recognition processing on the voice control signal to obtain a control instruction;
the control command is sent to the mobile platform through the communication interface 502 to control the mobile platform.
The method executed by the processor in the embodiment of the present invention is described from the perspective of the processor, and it is understood that the processor in the embodiment of the present invention needs to cooperate with other hardware structures to execute the method. The embodiments of the present invention are not described or limited in detail for the specific implementation process.
In an embodiment, the processor 501 is configured to, when processing a voice input by a user to obtain a voice control signal, specifically:
acquiring voice input by a user;
and carrying out voice enhancement processing on the voice to obtain a voice control signal.
In one embodiment, the control device is provided with a pickup device, and the pickup device is a pickup device which is arranged in or externally connected with the control device; when the processor 501 obtains the voice input by the user, it is specifically configured to:
collecting voice input by a user through the pickup equipment;
the built-in sound pickup equipment of the control equipment comprises a microphone sound pickup module, wherein the microphone sound pickup module comprises one or more microphones; the pickup equipment externally connected with the control equipment comprises a Bluetooth earphone, a wired earphone or an interphone.
In an embodiment, the processor 501 is configured to, when processing a voice input by a user to obtain a voice control signal, specifically:
receiving voice sent by the opposite-end device which has established communication connection through the communication interface 502;
and processing the voice sent by the opposite terminal equipment to obtain a voice control signal.
In one embodiment, the speech input by the user comprises a first speech input by a first user and a second speech input by a second user; if the user identity authentication passes, the processor 501 performs voice recognition processing on the voice control signal to obtain a control instruction, and is specifically configured to:
if the first user and the second user pass identity authentication, performing voice recognition processing on a first voice control signal to obtain a first control instruction, and performing voice recognition processing on a second voice control signal to obtain a second control instruction;
the processor 501 sends the control instruction to a mobile platform to control the mobile platform, and is specifically configured to:
sending the first control instruction and the second control instruction to a mobile platform through the communication interface 502 to control the mobile platform;
wherein the first voice control signal is obtained according to a first voice input by the first user, and the second voice control signal is obtained according to a second voice input by the second user.
In one embodiment, the processor 501 is further configured to:
if the first user and the second user both pass the identity authentication, determining the priority between the first user and the second user;
determining a voice control signal corresponding to a user with the highest priority level in the first user and the second user as a target voice control signal;
carrying out voice recognition processing on the target voice control signal to obtain a target control instruction;
the processor 501 sends the control instruction to a mobile platform to control the mobile platform, and is specifically configured to:
the target control instruction is sent to the mobile platform through the communication interface 502 to control the mobile platform.
In an embodiment, when the processor 501 sends the first control instruction and the second control instruction to a mobile platform to control the mobile platform, the processor is specifically configured to:
detecting whether the first control instruction conflicts with the second control instruction;
if not, the first control instruction and the second control instruction are sent to a mobile platform through the communication interface 502 to control the mobile platform.
In one embodiment, the first voice is the voice of the first user input collected by a configured sound pickup device, and the second voice is the voice of the second user input collected by a configured sound pickup device.
In one embodiment, the first voice is the voice input by the first user and collected by the configured sound pickup device, and the second voice is the received voice input by the second user and sent by the opposite-end device with the established communication connection.
In one embodiment, the priority between the first user and the second user is determined based on the source of the first speech and the second speech.
In one embodiment, the processor 501 is further configured to:
receiving an override instruction input by a user, wherein the override instruction is used for instructing the control equipment not to respond to the voice input by the user except the user corresponding to the override instruction;
processing the voice input by the user corresponding to the override instruction to obtain a third voice control signal;
performing voice recognition processing on the third voice control signal to obtain a third control instruction;
the third control instruction is sent to the mobile platform through the communication interface 502 to control the mobile platform.
In one embodiment, the processor 501 is further configured to:
acquiring training voice input by the user;
performing voiceprint recognition training on the training voice to obtain voiceprint characteristic information corresponding to the user;
and storing the voiceprint characteristic information so as to carry out voiceprint recognition on the voice control signal according to the voiceprint characteristic information and verify the identity of the user.
In one embodiment, the processor 501 is further configured to:
acquiring a control instruction input by the user through a rocker and acquiring configuration voice input by the user;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
In one embodiment, the processor 501 is further configured to:
acquiring configuration voice input by the user;
carrying out voice recognition on the configuration voice to obtain a control instruction corresponding to the configuration voice;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
In one embodiment, the processor 501 is further configured to:
before starting the mobile platform, detecting whether a voice control function of the control equipment works normally;
and if the abnormal work of the voice control function of the control equipment is detected, outputting first prompt information, wherein the first prompt information is used for prompting the user to manually control the mobile platform through the control equipment.
In one embodiment, the processor 501 is further configured to:
and if the user does not pass the authentication, outputting second prompt information, wherein the second prompt information is used for prompting that the user does not have the voice control authority.
In a specific implementation, the processor 501, the communication interface 502, and the memory 503 described in the embodiment of the present invention may execute an implementation manner described in the control method for a mobile platform provided in the embodiment of the present invention, and are not described herein again.
In the embodiment of the invention, the voice input by the user is processed to obtain the voice control signal, then the voice control signal is subjected to voiceprint recognition to verify the identity of the user, the voice control signal is subjected to voice recognition processing to obtain the control instruction when the identity of the user is verified, and finally the control instruction is sent to the mobile platform to control the mobile platform, so that the voice control of the mobile platform can be realized, and the convenience of the control of the mobile platform is improved.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the method for controlling a mobile platform according to the above-mentioned method embodiment.
Embodiments of the present invention further provide a computer program product containing instructions, which when run on a computer, cause the computer to perform the control of the mobile platform according to the above method embodiments.
It should be noted that, for simplicity of description, the above-mentioned embodiments of the method are described as a series of acts or combinations, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The foregoing describes in detail a control method and a control device for a mobile platform according to an embodiment of the present invention, and a specific example is applied in the description to explain the principle and the implementation of the present invention, and the description of the foregoing embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (33)
1. A control method of a mobile platform is applied to control equipment, and is characterized by comprising the following steps:
processing voice input by a user to obtain a voice control signal;
performing voiceprint recognition on the voice control signal, and verifying the identity of the user;
if the user passes the identity authentication, carrying out voice recognition processing on the voice control signal to obtain a control instruction;
and sending the control instruction to a mobile platform to control the mobile platform.
2. The method of claim 1, wherein processing the user-input speech to obtain the speech control signal comprises:
acquiring voice input by a user;
and carrying out voice enhancement processing on the voice to obtain a voice control signal.
3. The method of claim 2, wherein the control device is configured with a pickup device, the pickup device is a pickup device built in or externally connected to the control device, and the obtaining the voice input by the user comprises:
collecting voice input by a user through the pickup equipment;
the built-in sound pickup equipment of the control equipment comprises a microphone sound pickup module, wherein the microphone sound pickup module comprises one or more microphones; the pickup equipment externally connected with the control equipment comprises a Bluetooth earphone, a wired earphone or an interphone.
4. The method of claim 1, wherein processing the user-input speech to obtain the speech control signal comprises:
receiving voice sent by opposite terminal equipment which has established communication connection;
and processing the voice sent by the opposite terminal equipment to obtain a voice control signal.
5. The method of claim 1, wherein the user-entered speech comprises a first speech entered by a first user and a second speech entered by a second user;
if the user passes the authentication, performing voice recognition processing on the voice control signal to obtain a control instruction, including:
if the first user and the second user pass identity authentication, performing voice recognition processing on a first voice control signal to obtain a first control instruction, and performing voice recognition processing on a second voice control signal to obtain a second control instruction;
the sending the control instruction to the mobile platform to control the mobile platform includes:
sending the first control instruction and the second control instruction to a mobile platform to control the mobile platform;
wherein the first voice control signal is obtained according to a first voice input by the first user, and the second voice control signal is obtained according to a second voice input by the second user.
6. The method of claim 5, further comprising:
if the first user and the second user both pass the identity authentication, determining the priority between the first user and the second user;
determining a voice control signal corresponding to a user with the highest priority level in the first user and the second user as a target voice control signal;
carrying out voice recognition processing on the target voice control signal to obtain a target control instruction;
the sending the control instruction to the mobile platform to control the mobile platform includes:
and sending the target control instruction to a mobile platform to control the mobile platform.
7. The method of claim 5, wherein sending the first control instruction and the second control instruction to a mobile platform to control the mobile platform comprises:
detecting whether the first control instruction conflicts with the second control instruction;
and if not, sending the first control instruction and the second control instruction to a mobile platform so as to control the mobile platform.
8. The method of any of claims 5 to 7, wherein the first voice is the first user input voice captured via a configured sound pickup device, and the second voice is the second user input voice captured via a configured sound pickup device.
9. The method according to any one of claims 5 to 7, wherein the first voice is the voice of the first user input collected by a configured sound pickup device, and the second voice is the voice of the second user input sent by a received opposite device with an established communication connection.
10. The method of claim 9, wherein the priority between the first user and the second user is determined based on the source of the first speech and the second speech.
11. The method according to any one of claims 1 to 10, further comprising:
receiving an override instruction input by a user, wherein the override instruction is used for instructing the control equipment not to respond to the voice input by the user except the user corresponding to the override instruction;
processing the voice input by the user corresponding to the override instruction to obtain a third voice control signal;
performing voice recognition processing on the third voice control signal to obtain a third control instruction;
and sending the third control instruction to the mobile platform to control the mobile platform.
12. The method according to any one of claims 1 to 11, further comprising:
acquiring training voice input by the user;
performing voiceprint recognition training on the training voice to obtain voiceprint characteristic information corresponding to the user;
and storing the voiceprint characteristic information so as to carry out voiceprint recognition on the voice control signal according to the voiceprint characteristic information and verify the identity of the user.
13. The method according to any one of claims 1 to 12, further comprising:
acquiring a control instruction input by the user through a rocker and acquiring configuration voice input by the user;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
14. The method according to any one of claims 1 to 12, further comprising:
acquiring configuration voice input by the user;
carrying out voice recognition on the configuration voice to obtain a control instruction corresponding to the configuration voice;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
15. The method according to any one of claims 1 to 14, further comprising:
before starting the mobile platform, detecting whether a voice control function of the control equipment works normally;
and if the abnormal work of the voice control function of the control equipment is detected, outputting first prompt information, wherein the first prompt information is used for prompting the user to manually control the mobile platform through the control equipment.
16. The method according to any one of claims 1 to 15, further comprising:
and if the user does not pass the authentication, outputting second prompt information, wherein the second prompt information is used for prompting that the user does not have the voice control authority.
17. A control apparatus, characterized by comprising: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor to execute the memory-stored program instructions, the processor to, when executed:
processing voice input by a user to obtain a voice control signal;
performing voiceprint recognition on the voice control signal, and verifying the identity of the user;
if the user passes the identity authentication, carrying out voice recognition processing on the voice control signal to obtain a control instruction;
and sending the control instruction to a mobile platform to control the mobile platform.
18. The control device of claim 17, wherein the processor processes the voice input by the user to obtain the voice control signal, and is specifically configured to:
acquiring voice input by a user;
and carrying out voice enhancement processing on the voice to obtain a voice control signal.
19. The control device of claim 18, wherein the control device is configured with a pickup device, the pickup device being either built-in to the control device or external to the control device;
when the processor acquires the voice input by the user, the processor is specifically configured to:
collecting voice input by a user through the pickup equipment;
the built-in sound pickup equipment of the control equipment comprises a microphone sound pickup module, wherein the microphone sound pickup module comprises one or more microphones; the pickup equipment externally connected with the control equipment comprises a Bluetooth earphone, a wired earphone or an interphone.
20. The control device of claim 17, wherein the processor processes the voice input by the user to obtain the voice control signal, and is specifically configured to:
receiving voice sent by opposite terminal equipment which has established communication connection;
and processing the voice sent by the opposite terminal equipment to obtain a voice control signal.
21. The control device of claim 17, wherein the user-input speech includes a first speech of a first user input and a second speech of a second user input;
if the user passes the authentication, the processor performs voice recognition processing on the voice control signal to obtain a control instruction, and is specifically configured to:
if the first user and the second user pass identity authentication, performing voice recognition processing on a first voice control signal to obtain a first control instruction, and performing voice recognition processing on a second voice control signal to obtain a second control instruction;
the processor sends the control instruction to a mobile platform to control the mobile platform, and is specifically configured to:
sending the first control instruction and the second control instruction to a mobile platform to control the mobile platform;
wherein the first voice control signal is obtained according to a first voice input by the first user, and the second voice control signal is obtained according to a second voice input by the second user.
22. The control device of claim 21, wherein the processor is further configured to:
if the first user and the second user both pass the identity authentication, determining the priority between the first user and the second user;
determining a voice control signal corresponding to a user with the highest priority level in the first user and the second user as a target voice control signal;
carrying out voice recognition processing on the target voice control signal to obtain a target control instruction;
the processor sends the control instruction to a mobile platform to control the mobile platform, and is specifically configured to:
and sending the target control instruction to a mobile platform to control the mobile platform.
23. The control device according to claim 21, wherein the processor is configured to send the first control instruction and the second control instruction to a mobile platform, so as to control the mobile platform, and specifically configured to:
detecting whether the first control instruction conflicts with the second control instruction;
and if not, sending the first control instruction and the second control instruction to a mobile platform so as to control the mobile platform.
24. The control apparatus of any one of claims 21 to 23, wherein the first voice is the voice of the first user input captured by a configured sound pickup apparatus, and the second voice is the voice of the second user input captured by a configured sound pickup apparatus.
25. The control device according to any one of claims 21 to 23, wherein the first voice is a voice of the first user input collected by a sound pickup device configured, and the second voice is a voice of a second user input transmitted from a peer device that has established a communication connection and received.
26. The control device of claim 25, wherein the priority between the first user and the second user is determined based on the source of the first voice and the second voice.
27. The control device of any one of claims 17 to 26, wherein the processor is further configured to:
receiving an override instruction input by a user, wherein the override instruction is used for instructing the control equipment not to respond to the voice input by the user except the user corresponding to the override instruction;
processing the voice input by the user corresponding to the override instruction to obtain a third voice control signal;
performing voice recognition processing on the third voice control signal to obtain a third control instruction;
and sending the third control instruction to the mobile platform to control the mobile platform.
28. The control device of any one of claims 17 to 27, wherein the processor is further configured to:
acquiring training voice input by the user;
performing voiceprint recognition training on the training voice to obtain voiceprint characteristic information corresponding to the user;
and storing the voiceprint characteristic information so as to carry out voiceprint recognition on the voice control signal according to the voiceprint characteristic information and verify the identity of the user.
29. The control device of any one of claims 17 to 28, wherein the processor is further configured to:
acquiring a control instruction input by the user through a rocker and acquiring configuration voice input by the user;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
30. The control device of any one of claims 17 to 28, wherein the processor is further configured to:
acquiring configuration voice input by the user;
carrying out voice recognition on the configuration voice to obtain a control instruction corresponding to the configuration voice;
associating the configuration voice with the control instruction to obtain a mapping relation between the configuration voice and the control instruction;
and storing the mapping relation so as to perform voice recognition processing on the voice control signal according to the mapping relation to obtain a control instruction.
31. The control device of any one of claims 17 to 30, wherein the processor is further configured to:
before starting the mobile platform, detecting whether a voice control function of the control equipment works normally;
and if the abnormal work of the voice control function of the control equipment is detected, outputting first prompt information, wherein the first prompt information is used for prompting the user to manually control the mobile platform through the control equipment.
32. The control device of any one of claims 17 to 31, wherein the processor is further configured to:
and if the user does not pass the authentication, outputting second prompt information, wherein the second prompt information is used for prompting that the user does not have the voice control authority.
33. A computer-readable storage medium having a computer program stored therein, characterized in that: the computer program when executed by a processor implementing the steps of the method according to any one of claims 1 to 16.
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| CN107729433A (en) * | 2017-09-29 | 2018-02-23 | 联想(北京)有限公司 | A kind of audio-frequency processing method and equipment |
| CN108062107A (en) * | 2017-11-30 | 2018-05-22 | 中国航空工业集团公司沈阳飞机设计研究所 | A kind of unmanned aerial vehicle (UAV) control weighs variation |
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| CN111627437A (en) * | 2020-05-07 | 2020-09-04 | 深圳力维智联技术有限公司 | Intelligent equipment management method and system based on voice interaction |
| CN114333812A (en) * | 2020-09-30 | 2022-04-12 | 青岛海尔洗衣机有限公司 | Voice interaction method and device, intelligent sound box and storage medium |
| CN114795789A (en) * | 2022-04-29 | 2022-07-29 | 四川大学华西第二医院 | Operating table with voice control system and control method thereof |
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