CN111845751A - Control terminal capable of switching and controlling multiple agricultural tractors - Google Patents
Control terminal capable of switching and controlling multiple agricultural tractors Download PDFInfo
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Abstract
The invention provides a control terminal capable of switching and controlling a plurality of agricultural tractors. The agricultural tractor comprises a control host, wherein a wireless signal transceiver is arranged in the control host, and the wireless signal transceiver is connected to an agricultural tractor through a wireless network; the control main board is arranged in the control host and is used for connecting a plurality of agricultural tractors, sending out control instructions and receiving instruction feedback information; the control mainboard is provided with: a signaling generator, a signal recognizer, a speech recognizer and a multimode switch. The invention has the beneficial effects that: the invention realizes the voice control of the agricultural tractors by collecting the voice of the user and automatically carrying out voice recognition. The signaling signal and the signaling information are sent in a signaling mode, so that the single-to-single comprehensive control of the agricultural tractor is realized, and the one-to-many mass control of the agricultural tractor can be realized.
Description
Technical Field
The invention relates to the technical field, in particular to a control terminal capable of switching and controlling a plurality of agricultural tractors.
Background
At present, in the traditional agricultural machinery, people sit in a cab, and a machine is controlled to complete related functions. However, when people drive, many problems exist, for example, after long-time work, the working efficiency of people is reduced, and the labor intensity of workers is greatly increased after long-time work, and the physical strength of people is also greatly tested. With the development of communication, the traditional agricultural machinery, artificial intelligence and automatic driving can free the constraint of the agricultural machinery to people, and the working efficiency is improved. However, the existing tractor control equipment can only control a single tractor, and cannot realize the combination of one-to-many control and single-to-single control at one time so as to realize the large-batch control of the tractor.
Disclosure of Invention
The invention provides a control terminal capable of switching and controlling a plurality of agricultural tractors, which is used for solving the situation that the combination of one-time one-to-many control and one-to-one control can not be realized at any time and the large-batch control of tractors is realized.
A control terminal for switchably controlling a plurality of agricultural tractors, comprising: the control host is internally provided with a wireless signal transceiver, and the wireless signal transceiver is connected to the agricultural tractor through a wireless network;
the control main board is arranged in the control host and is used for connecting a plurality of agricultural tractors, sending out control instructions and receiving instruction feedback information;
the control mainboard is provided with: a signaling generator, a signal recognizer, a voice recognizer and a multimode switcher;
the voice recognizer is used for receiving voice of a user and determining a regulation keyword;
the signaling generator is connected with the voice recognizer and used for generating a signaling signal according to the regulation and control keyword;
the signal identifier is connected with the signaling generator and is used for receiving a signaling signal and determining signaling information;
the multimode switcher is connected with the signal identifier and used for switching a control mode according to the signaling information; wherein,
the control modes include: multiple synchronous agricultural tractor control modes and single recognition agricultural tractor control modes.
As an embodiment of the present invention, the control main board is further provided with:
a positioning member: the positioning antenna is used for being connected with the positioning antenna on the agricultural tractor to determine the position information of the agricultural tractor; wherein,
the positioning component is a GPS communication module or a Beidou positioning module;
a processor: connected with the signaling generator, the signal recognizer, the voice recognizer, the multimode switcher and the positioning component; wherein,
the processor is used for detecting the signaling signal of the signaling generator and controlling the signaling generator to send out the signaling signal;
the processor is used for detecting the signal information of the signal identifier and determining the integrity of the signal information;
the processor is used for carrying out normalization processing on the keywords of the voice recognizer and determining the regulation and control keywords;
the processor is used for generating a mode control instruction according to the regulation and control keyword and sending the mode control instruction to the multimode switcher;
the processor is used for processing the position information of the positioning component and determining the position of the implementation object of the control mode.
As an embodiment of the present invention, the determining, by the speech recognizer, a regulation keyword includes:
step 1: receiving voice of a user and generating a spectrogram;
step 2: based on frame windowing of the image, processing the spectrogram, and determining the spectrogram in different time domains through Fourier transform;
and step 3: and constructing a pixel matrix H according to the spectrogram under different time domains:
wherein, the (x)ij,yij) Representing the coordinates of the jth pixel point of the ith frame of spectrogram; 1,2,3, … … n; j is 1,2,3, … … m
And 4, step 4: thus, the distance d between two different pixel points is calculated;
wherein, the (x)i±l,j±l,yi±l,j±l) Representing the coordinates of the jth +/-l pixel point of the ith +/-l frame spectrogram, wherein i +/-l is less than n; j +/-l is less than m;
and 5: and according to the distance between the two different pixel points, constructing a normalization function F between the different pixel points:
wherein, the
Representing the transverse weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
Expressing the longitudinal weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
The position parameter of the jth pixel point of the ith frame of spectrogram is represented;
step 6: determining the priority value P of each pixel point in the spectrogram according to the normalization function:
wherein k represents a weight coefficient of the keyword;
and 7: determining the maximum priority value according to the priority value of each pixel point in the spectrogram, determining the coordinate of the corresponding pixel point according to the maximum priority value, and determining the key word of the coordinate position according to the coordinate of the pixel point.
As an embodiment of the present invention, the signaling generator is further connected with an encryption MCU; wherein,
the encryption MCU is configured with an AES encryption protocol and a WPA encryption protocol;
the keywords are subjected to homomorphic encryption through the AES encryption protocol in the process of being converted into signaling signals;
and after the signaling signal is generated, carrying out transmission encryption through the WPA encryption.
As an embodiment of the invention, a clock chip is further arranged on the control mainboard, and the clock chip determines the control state of the agricultural tractor through a preset time control strategy; wherein,
the recognition time management strategy is used for setting recognition of the voice recognizer frequently and judging the recognition accuracy of the voice recognizer frequently according to the actual recognition;
the feedback time strategy is used for setting a time threshold value for the control mainboard to receive the instruction feedback information and judging whether the control instruction is implemented or not according to the time threshold value;
and the accumulated time length management strategy is used for setting the accumulated control time of the agricultural tractor under each control mode, judging the working time length of the agricultural tractor according to the accumulated control time length and sending out a working warning.
As an embodiment of the present invention, a gateway router is further disposed on the control motherboard; wherein,
the gateway router is used for connecting the agricultural tractor to form an internet of things; wherein,
the process of the gateway router forming the Internet of things is as follows:
reading the SSID of the farm tractors and determining the number of the farm tractors;
determining a wireless networking mode according to the number of the agricultural tractors; wherein,
the wireless networking mode comprises distributed networking, cellular networking and single-channel networking;
calling a wireless control function according to the distributed wireless networking;
and connecting the agricultural tractors through a gateway router according to the wireless control function to form an internet of things.
As an embodiment of the present invention, the control motherboard is further configured with:
a RAM memory: the structure body is used for defining control signals and establishing and maintaining a dynamic database of the agricultural tractor capable of being remotely controlled; wherein,
an interrupt function is configured in the RAM storage;
and the interrupt function is used for updating the data of the dynamic database and screening the state data of the agricultural tractor under different control modes by combining the processor.
As an embodiment of the present invention, the interrupt function includes:
the timer interrupt PIT is used for sending and storing data through the control mainboard at regular time;
controlling bus interrupt: the device is used for realizing local long-term storage, disconnection reconnection and reissue of control data or control instructions;
the serial communication interface SCI is interrupted: the device is used for realizing the acquisition of positioning data from the control mainboard, the sending of configuration instructions, and the exchange and analysis of data and the automatic and wait-free data transceiving with the signaling generator, the signal recognizer and the voice recognizer.
As an embodiment of the invention, the processor is provided with a data bit port and a GPIO port; wherein,
the data bit port is electrically connected with the signal identifier;
the GPIO port is electrically connected with the multi-mode switcher; wherein,
when the GPIO port receives the high level of the multi-mode switcher, the data bit port receives the signaling information of the signal identifier, and judges whether the control mode is a multi-item synchronous agricultural tractor control mode or a single identification agricultural tractor control mode according to the number of character bits in the signaling information; wherein,
when the control mode is a single-item identification agricultural tractor control mode, the character bit number lambda is obtained;
when the control mode is a multinomial synchronous agricultural tractor control mode, the character bit number eta; wherein,
λ < η;
the character bit number lambda is unchanged;
the number η of said character bits varies.
As an embodiment of the invention, the signaling generator is further connected with a first timing interrupter, wherein,
when the first timing interrupter senses that the regulating and controlling keywords continuously received by the signaling generator are different, interrupting the first regulating and controlling keywords to generate signaling signals, and controlling the second regulating and controlling keywords to generate the signaling signals;
the signal identifier is also connected to a second timed interrupter, wherein,
when the second timing interrupter senses that the signaling signal received by the signal recognizer is incomplete, the second timing interrupter controls the signal recognizer to interrupt recognition and sends an interrupt response to the processor;
the voice recognizer is also connected with a third timing interrupter, the third timing interrupter is also connected with a voice alarm, wherein,
and when the third timing interrupter senses that the speech recognizer does not determine the regulation and control keyword, the third timing interrupter controls the speech recognizer to interrupt recognition and sends an alarm response to the speech alarm.
The invention has the beneficial effects that: the invention realizes the voice control of the agricultural tractors by collecting the voice of the user and automatically carrying out voice recognition. The signaling signal and the signaling information are sent in a signaling mode, so that the single-to-single comprehensive control of the agricultural tractor is realized, and the one-to-many mass control of the agricultural tractor can be realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a block diagram illustrating a control terminal for switchably controlling a plurality of agricultural tractors according to an embodiment of the present invention;
fig. 2 is a block diagram of a control terminal for switchably controlling a plurality of agricultural tractors according to an embodiment of the present invention;
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1, a control terminal for switchably controlling a plurality of agricultural tractors includes: the control host is internally provided with a wireless signal transceiver, and the wireless signal transceiver is connected to the agricultural tractor through a wireless network; the control host machine is an equipment wireless signal transceiver with an information interaction function, and is mainly used for receiving a state signal of the agricultural tractor, receiving a control instruction of a user, sending the control instruction to the agricultural tractor and controlling the agricultural tractor to implement the control instruction of the user.
The control main board is arranged in the control host and is used for connecting a plurality of agricultural tractors, sending out control instructions and receiving instruction feedback information; the control mainboard has feedback response after sending the control command to agricultural tractor, and feedback response embodies in the form of pulse signal.
The control mainboard is provided with: a signaling generator, a signal recognizer, a voice recognizer and a multimode switcher;
the voice recognizer is used for receiving voice of a user and determining a regulation keyword; the voice recognizer is provided with a built-in voice keyword library, instruction keywords are stored in the keyword library, and whether instruction information exists in the voice of the user is determined according to the voice of the user so as to implement instructions.
The signaling generator is connected with the voice recognizer and used for generating a signaling signal according to the regulation and control keyword; the signaling generator is internally provided with an instruction conversion comparison table, namely a conversion table corresponding to a keyword-instruction.
The signal identifier is connected with the signaling generator and is used for receiving a signaling signal and determining signaling information; and analyzing the signaling signals, and determining the number, the type and the service behavior of the agricultural tractor to be controlled.
The multimode switcher is connected with the signal identifier and used for switching a control mode according to the signaling information; wherein,
the control modes include: multiple synchronous agricultural tractor control modes and single recognition agricultural tractor control modes.
When the control mode in the invention is a single agricultural tractor identification control mode, the control terminal only controls one agricultural tractor, and when the control mode in the invention is a multi-item synchronous agricultural tractor control mode, the control terminal controls a plurality of agricultural tractors, and the plurality of agricultural tractors realize synchronous operation.
The beneficial effects of the above technical scheme are that: the invention realizes the voice control of the agricultural tractors by collecting the voice of the user and automatically carrying out voice recognition. The signaling signal and the signaling information are sent in a signaling mode, so that the single-to-single comprehensive control of the agricultural tractor is realized, and the one-to-many mass control of the agricultural tractor can be realized.
As an embodiment of the present invention, the control main board is further provided with:
a positioning member: the positioning antenna is used for being connected with the positioning antenna on the agricultural tractor to determine the position information of the agricultural tractor; the positioning component is used for receiving the position information of the agricultural tractor, and the position information can be determined based on the GPS positioning, the Beidou positioning and other modes of satellite positioning, so that dynamic comprehensive control can be realized when the agricultural tractor is controlled.
The positioning component is a GPS communication module or a Beidou positioning module;
a processor: connected with the signaling generator, the signal recognizer, the voice recognizer, the multimode switcher and the positioning component; wherein,
the processor is used for detecting the signaling signal of the signaling generator and controlling the signaling generator to send out the signaling signal; the signaling signal is an encrypted machine instruction and can be prevented from being too confidential or from being mistakenly sent by the processor for detection.
The processor is used for detecting the signal information of the signal identifier and determining the integrity of the signal information; the signal identifier is used for analyzing and processing the signaling signal to obtain signaling information, namely how to control the agricultural tractors, in which mode to control the agricultural tractors, and the number and the unique identification number of the controlled agricultural tractors.
The processor is used for carrying out normalization processing on the keywords of the voice recognizer and determining the regulation and control keywords; the user may send back a command many times, so the invention obtains only one keyword through normalization processing.
The processor is used for generating a mode control instruction according to the regulation and control keyword and sending the mode control instruction to the multimode switcher; the multi-mode switcher is mainly used for realizing single-pair single control and single-pair multi-control of the agricultural tractor.
The processor is used for processing the position information of the positioning component and determining the position of the implementation object of the control mode. After the position information of the agricultural tractor is determined, the agricultural tractor can be conveniently controlled in different modes.
As an embodiment of the present invention, the determining, by the speech recognizer, a regulation keyword includes:
step 1: receiving voice of a user and generating a spectrogram;
step 2: based on frame windowing of the image, processing the spectrogram, and determining the spectrogram in different time domains through Fourier transform;
and step 3: and constructing a pixel matrix H according to the spectrogram under different time domains:
wherein, the (x)ij,yij) Representing the coordinates of the jth pixel point of the ith frame of spectrogram; 1,2,3, … … n; j is 1,2,3, … … m
And 4, step 4: thus, the distance d between two different pixel points is calculated;
wherein, the (x)i±l,j±l,yi±l,j±l) Representing the coordinates of the jth +/-l pixel point of the ith +/-l frame spectrogram, wherein i +/-l is less than n; j +/-l is less than m;
and 5: and according to the distance between the two different pixel points, constructing a normalization function F between the different pixel points:
wherein, the
Representing the transverse weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
Expressing the longitudinal weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
The position parameter of the jth pixel point of the ith frame of spectrogram is represented;
step 6: determining the priority value P of each pixel point in the spectrogram according to the normalization function:
wherein k represents a weight coefficient of the keyword;
and 7: determining the maximum priority value according to the priority value of each pixel point in the spectrogram, determining the coordinate of the corresponding pixel point according to the maximum priority value, and determining the key word of the coordinate position according to the coordinate of the pixel point.
The principle and the beneficial effects of the technical scheme are as follows: according to the invention, the spectrogram is generated through the cloud hiding of the user, the spectrogram can embody the audio information of the user, and after framing and windowing, the spectrogram, namely the spectrogram of different frames, can be determined under the condition of different time domains under the condition of Fourier transform. The pixel matrix is a matrix of pixel points, i.e., a display image of each character mood and language state in the user voice. The method and the device realize comprehensive statistical analysis on the characteristics of the user voice, further determine the relation between different keywords according to the self-established distances of different pixel points, then determine the optimal pixel point according to a normalization function, further determine the keyword at the position corresponding to the optimal pixel point, and further determine the instruction corresponding to the keyword.
As an embodiment of the present invention, the signaling generator is further connected with an encryption MCU; wherein,
the encryption MCU is configured with an AES encryption protocol and a WPA encryption protocol;
the keywords are subjected to homomorphic encryption through the AES encryption protocol in the process of being converted into signaling signals; AES is a process encryption that prevents bias from the signaling generator generation process.
And after the signaling signal is generated, carrying out transmission encryption through the WPA encryption. WPA encryption is signal transmission encryption and is encrypted in a wireless network connection process to prevent errors in the wireless network connection process.
As an embodiment of the invention, a clock chip is further arranged on the control mainboard, and the clock chip determines the control state of the agricultural tractor through a preset time control strategy; wherein,
the recognition time management strategy is used for setting recognition of the voice recognizer frequently and judging the recognition accuracy of the voice recognizer frequently according to the actual recognition; for example: the market of the voice setting is 2 seconds, when the voice recognition time exceeds two seconds, the recognition accuracy is not strong, and when the voice recognition time does not exceed two seconds, the recognition accuracy is strong. The recognition time management strategy can prevent the recognition time from being too long, so that the voice recognition is wrong, and the voice recognition is inaccurate.
The feedback time strategy is used for setting a time threshold value for the control mainboard to receive the instruction feedback information and judging whether the control instruction is implemented or not according to the time threshold value; and when the control main board exceeds the time threshold and does not receive the feedback response, judging that the control instruction is not implemented. The feedback time strategy is used for preventing the control terminal from sending a signal and the agricultural tractor from not receiving the signal, so that the control instruction is wrongly implemented, is not implemented or is implemented with deviation.
And the accumulated time length management strategy is used for setting the accumulated control time of the agricultural tractor under each control mode, judging the working time length of the agricultural tractor according to the accumulated control time length and sending out a working warning. The accumulated frequent management is used for judging the frequent work of the agricultural tractor, and any machine has certain limit, so that the frequent work management is convenient for switching and controlling the agricultural tractor.
As an embodiment of the present invention, a gateway router is further disposed on the control motherboard; wherein,
the gateway router is used for connecting the agricultural tractor to form an internet of things; wherein,
the process of the gateway router forming the Internet of things is as follows:
reading the SSID of the farm tractors and determining the number of the farm tractors; the SSID is the address ID number of each farm tractor, and the number of tractors is the number of SSID addresses.
Determining a wireless networking mode according to the number of the agricultural tractors; wherein,
the wireless networking mode comprises distributed networking, cellular networking and single-channel networking;
different networking modes determine different working modes and mode implementation modes, and the invention is optimally used for controlling the agricultural tractor through distributed networking.
Calling a wireless control function according to the distributed wireless networking;
and connecting the agricultural tractors through a gateway router according to the wireless control function to form an internet of things. After the Internet of things is constructed, the agricultural tractor can be monitored independently, and the sending speed of control instructions can be increased.
As an embodiment of the present invention, the control motherboard is further configured with:
a RAM memory: the structure body is used for defining control signals and establishing and maintaining a dynamic database of the agricultural tractor capable of being remotely controlled; wherein,
an interrupt function is configured in the RAM storage; the RAM storage is used for constructing a dynamic database, and the dynamic database is used for continuously and dynamically storing and monitoring the whole control process of the agricultural tractor.
And the interrupt function is used for updating the data of the dynamic database and screening the state data of the agricultural tractor under different control modes by combining the processor.
As an embodiment of the present invention, the interrupt function includes:
the timer interrupt PIT is used for sending and storing data through the control mainboard at regular time;
controlling bus interrupt: the device is used for realizing local long-term storage, disconnection reconnection and reissue of control data or control instructions;
the serial communication interface SCI is interrupted: the device is used for realizing the acquisition of positioning data from the control mainboard, the sending of configuration instructions, and the exchange and analysis of data and the automatic and wait-free data transceiving with the signaling generator, the signal recognizer and the voice recognizer.
The interrupt function is used for processing the data exchange analysis, storage and receiving and sending efficiency, and further, the data is comprehensively controlled.
As an embodiment of the invention, the processor is provided with a data bit port and a GPIO port; wherein,
the data bit port is electrically connected with the signal identifier; the GPIO port is a level port, the data is an I/O port after programming, and the GPIO port is mainly used for judging the character bit number of the data.
The GPIO port is electrically connected with the multi-mode switcher; wherein,
when the GPIO port receives the high level of the multi-mode switcher, the data bit port receives the signaling information of the signal identifier, and judges whether the control mode is a multi-item synchronous agricultural tractor control mode or a single identification agricultural tractor control mode according to the number of character bits in the signaling information; wherein,
when the control mode is a single-item identification agricultural tractor control mode, the character bit number lambda is obtained;
when the control mode is a multinomial synchronous agricultural tractor control mode, the character bit number eta; wherein,
λ < η;
the character bit number lambda is unchanged;
the number η of said character bits varies.
In the technical scheme, the character digit eta is continuously increased along with the increase of the agricultural tractors to be controlled in the control modes of the multiple synchronous agricultural tractors. When the control mode of the agricultural tractor is identified in a single item, the number digits of the agricultural tractor are not changed, and the character digit lambda is not changed; two different control modes are perfectly distinguished, and control instructions are conveniently implemented.
As an embodiment of the present invention, as shown in fig. 2, the signaling generator is further connected with a first timing interrupter, wherein,
when the first timing interrupter senses that the regulating and controlling keywords continuously received by the signaling generator are different, interrupting the first regulating and controlling keywords to generate signaling signals, and controlling the second regulating and controlling keywords to generate the signaling signals; when the regulation and control keywords are continuously received, the regulation and control instructions are continuously received and can be replaced, the user also indicates that the instructions are misspoken, and then the rapid switching of the regulation and control instructions is realized through the first timing interrupter.
The signal identifier is also connected to a second timed interrupter, wherein,
when the second timing interrupter senses that the signaling signal received by the signal recognizer is incomplete, the second timing interrupter controls the signal recognizer to interrupt recognition and sends an interrupt response to the processor; the signaling signal is incomplete, which means that the regulation and control information contained in the signaling signal is incomplete, and then the porrigo hole signaling generator resends the signaling signal to the signal recognizer by sending an interrupt response to the processor.
The voice recognizer is also connected with a third timing interrupter, the third timing interrupter is also connected with a voice alarm, wherein,
and when the third timing interrupter senses that the speech recognizer does not determine the regulation and control keyword, the third timing interrupter controls the speech recognizer to interrupt recognition and sends an alarm response to the speech alarm. The voice recognizer indicates that when the language spoken by the user is dialect or unclear, the voice alarm can be preset alarm voice by controlling the voice alarm to send a voice alarm to the user. The warning voice indicates that the instruction is unclear to the user, so that the user can give out the voice instruction again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A control terminal for switchably controlling a plurality of agricultural tractors, comprising: the control host is internally provided with a wireless signal transceiver, and the wireless signal transceiver is connected to the agricultural tractor through a wireless network;
the control main board is arranged in the control host and is used for connecting a plurality of agricultural tractors, sending out control instructions and receiving instruction feedback information;
the control mainboard is provided with: a signaling generator, a signal recognizer, a voice recognizer and a multimode switcher;
the voice recognizer is used for receiving voice of a user and determining a regulation keyword;
the signaling generator is connected with the voice recognizer and used for generating a signaling signal according to the regulation and control keyword;
the signal identifier is connected with the signaling generator and is used for receiving a signaling signal and determining signaling information;
the multimode switcher is connected with the signal identifier and used for switching a control mode according to the signaling information; wherein,
the control modes include: multiple synchronous agricultural tractor control modes and single recognition agricultural tractor control modes.
2. The control terminal for switching and controlling a plurality of agricultural tractors according to claim 1, wherein the control main board is further provided with:
a positioning member: the positioning antenna is used for being connected with the positioning antenna on the agricultural tractor to determine the position information of the agricultural tractor; wherein,
the positioning component is a GPS communication module or a Beidou positioning module;
a processor: connected with the signaling generator, the signal recognizer, the voice recognizer, the multimode switcher and the positioning component; wherein,
the processor is used for detecting the signaling signal of the signaling generator and controlling the signaling generator to send out the signaling signal;
the processor is used for detecting the signal information of the signal identifier and determining the integrity of the signal information;
the processor is used for carrying out normalization processing on the keywords of the voice recognizer and determining the regulation and control keywords;
the processor is used for generating a mode control instruction according to the regulation and control keyword and sending the mode control instruction to the multimode switcher;
the processor is used for processing the position information of the positioning component and determining the position of the implementation object of the control mode.
3. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 1, wherein the voice recognizer determines a regulation keyword, comprising the steps of:
step 1: receiving voice of a user and generating a spectrogram;
step 2: based on frame windowing of the image, processing the spectrogram, and determining the spectrogram in different time domains through Fourier transform;
and step 3: and constructing a pixel matrix H according to the spectrogram under different time domains:
wherein, the (x)ij,yij) Representing the coordinates of the jth pixel point of the ith frame of spectrogram; 1,2,3, … … n; j is 1,2,3, … … m
And 4, step 4: thus, the distance d between two different pixel points is calculated;
wherein, the (x)i±l,j±l,yi±l,j±l) Representing the coordinates of the jth +/-l pixel point of the ith +/-l frame spectrogram, wherein i +/-l is less than n; j +/-l is less than m;
and 5: and according to the distance between the two different pixel points, constructing a normalization function F between the different pixel points:
wherein, the
Representing the transverse weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
Expressing the longitudinal weight of the jth pixel point of the ith frame of spectrogram; the above-mentioned
The position parameter of the jth pixel point of the ith frame of spectrogram is represented;
step 6: determining the priority value P of each pixel point in the spectrogram according to the normalization function:
wherein k represents a weight coefficient of the keyword;
and 7: determining the maximum priority value according to the priority value of each pixel point in the spectrogram, determining the target coordinates of the corresponding pixel point according to the maximum priority value, and determining the target keywords according to the target coordinates.
4. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 1, wherein the signaling generator is further connected with a cryptographic MCU; wherein,
the encryption MCU is configured with an AES encryption protocol and a WPA encryption protocol;
the keywords are subjected to homomorphic encryption through the AES encryption protocol in the process of being converted into signaling signals;
and after the signaling signal is generated, carrying out transmission encryption through the WPA encryption.
5. The control terminal switchable and controllable to a plurality of agricultural tractors according to claim 1, wherein a clock chip is further arranged on the control main board, and the clock chip determines the control state of the agricultural tractors through a preset time management and control strategy; wherein,
the recognition time management strategy is used for setting recognition of the voice recognizer frequently and judging the recognition accuracy of the voice recognizer frequently according to the actual recognition;
the feedback time strategy is used for setting a time threshold value for the control mainboard to receive the instruction feedback information and judging whether the control instruction is implemented or not according to the time threshold value;
and the accumulated time length management strategy is used for setting the accumulated control time of the agricultural tractor under each control mode, judging the working time length of the agricultural tractor according to the accumulated control time length and sending out a working warning.
6. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 1, wherein a gateway router is further disposed on the control main board; wherein,
the gateway router is used for connecting the agricultural tractor to form an internet of things; wherein,
the process of the gateway router forming the Internet of things is as follows:
reading the SSID of the farm tractors and determining the number of the farm tractors;
determining a wireless networking mode according to the number of the agricultural tractors; wherein,
the wireless networking mode comprises distributed networking, cellular networking and single-channel networking;
calling a wireless control function according to the distributed wireless networking;
and connecting the agricultural tractors through a gateway router according to the wireless control function to form an internet of things.
7. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 1, wherein the control main board is further configured with:
a RAM memory: the structure body is used for defining control signals and establishing and maintaining a dynamic database of the agricultural tractor capable of being remotely controlled; wherein,
an interrupt function is configured in the RAM storage;
and the interrupt function is used for updating the data of the dynamic database and screening the state data of the agricultural tractor under different control modes by combining the processor.
8. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 7, wherein the interrupt function includes:
the timer interrupt PIT is used for sending and storing data through the control mainboard at regular time;
controlling bus interrupt: the device is used for realizing local long-term storage, disconnection reconnection and reissue of control data or control instructions;
the serial communication interface SCI is interrupted: the device is used for realizing the acquisition of positioning data from the control mainboard, the sending of configuration instructions, and the exchange and analysis of data and the automatic and wait-free data transceiving with the signaling generator, the signal recognizer and the voice recognizer.
9. The control terminal for switchably controlling a plurality of agricultural tractors according to claim 2, wherein the processor is provided with a data bit port and a GPIO port; wherein,
the data bit port is electrically connected with the signal identifier;
the GPIO port is electrically connected with the multi-mode switcher; wherein,
when the GPIO port receives the high level of the multi-mode switcher, the data bit port receives the signaling information of the signal identifier, and judges whether the control mode is a multi-item synchronous agricultural tractor control mode or a single identification agricultural tractor control mode according to the number of character bits in the signaling information; wherein,
when the control mode is a single-item identification agricultural tractor control mode, the character bit number lambda is obtained;
when the control mode is a multinomial synchronous agricultural tractor control mode, the character bit number eta; wherein,
λ < η;
the character bit number lambda is unchanged;
the number η of said character bits varies.
10. A control terminal for switchable control of a plurality of agricultural tractors according to claim 2, characterised in that a first timing interrupter is further connected to the signalling generator, wherein,
when the first timing interrupter senses that the regulating and controlling keywords continuously received by the signaling generator are different, interrupting the first regulating and controlling keywords to generate signaling signals, and controlling the second regulating and controlling keywords to generate the signaling signals;
the signal identifier is also connected to a second timed interrupter, wherein,
when the second timing interrupter senses that the signaling signal received by the signal recognizer is incomplete, the second timing interrupter controls the signal recognizer to interrupt recognition and sends an interrupt response to the processor;
the voice recognizer is also connected with a third timing interrupter, the third timing interrupter is also connected with a voice alarm, wherein,
and when the third timing interrupter senses that the speech recognizer does not determine the regulation and control keyword, the third timing interrupter controls the speech recognizer to interrupt recognition and sends an alarm response to the speech alarm.
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| CN202110035347.XA CN112721933B (en) | 2020-07-28 | 2020-07-28 | Agricultural tractor's control terminal based on speech recognition |
| CN202010737884.4A CN111845751B (en) | 2020-07-28 | 2020-07-28 | Control terminal capable of switching and controlling multiple agricultural tractors |
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| CN118366448A (en) * | 2024-04-11 | 2024-07-19 | 盐城工业职业技术学院 | Vehicle-mounted voice recognition method and device for agricultural vehicle |
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