CN210222569U - Unmanned aerial vehicle control device - Google Patents
Unmanned aerial vehicle control device Download PDFInfo
- Publication number
- CN210222569U CN210222569U CN201921603420.3U CN201921603420U CN210222569U CN 210222569 U CN210222569 U CN 210222569U CN 201921603420 U CN201921603420 U CN 201921603420U CN 210222569 U CN210222569 U CN 210222569U
- Authority
- CN
- China
- Prior art keywords
- wireless communication
- aerial vehicle
- communication module
- unmanned aerial
- voice recognition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The utility model discloses an unmanned aerial vehicle controlling means, the device includes: and the microcontroller is respectively electrically connected with the attitude sensor, the voice recognition module and the first wireless communication module, the first wireless communication module is wirelessly connected with the second wireless communication module, and the second wireless communication module is electrically connected with the flight control system. The utility model realizes foolproof operation by replacing the traditional remote controller operation with a voice recognition and somatosensory remote control mode, and creates a real aerial robot for the unmanned aerial vehicle, which is easy to control, and people can control the remote aerial vehicle through the voice and somatosensory, thereby greatly reducing the operation difficulty and having high recognition precision; and simultaneously the utility model discloses a pronunciation and body are felt and are carried out audio-visual operation, and the discernment instruction has adopted 2.4G wireless communication for communication distance increases.
Description
Technical Field
The utility model relates to an artificial intelligence equipment technical field, in particular to unmanned aerial vehicle controlling means.
Background
The major dilemma faced by the development of unmanned aerial vehicles is the lag between the high-speed development of the unmanned aerial vehicle industry and related supporting measures. To the numerous and diverse operation mode of traditional unmanned aerial vehicle, unmanned aerial vehicle operator and numerous unmanned aerial vehicle fly to feel and are being prepared for and are broken down, follow the unmanned aerial vehicle and develop the trend, solve unmanned aerial vehicle traditional complex operation problem, provide audio-visual efficient operation mode for unmanned aerial vehicle operation, fill the blank of intelligent human-computer interaction plate under the unmanned aerial vehicle market, make the unmanned aerial vehicle trade obtain more rapid development on this basis.
The traditional remote controller is high in operation difficulty, needs to reach a professional level, is long in training period and high in training cost, and becomes a main factor for restricting further expansion of the consumption market of the unmanned aerial vehicle. For the novice of unmanned aerial vehicle, do not have the operation experience, because misoperation often leads to dangerous incident such as the falling of unmanned aerial vehicle, the unmanned aerial vehicle of voice control that has existed on the market, voice command is less, and the recognition accuracy is lower to and the distance of discernment is only limited in several meters within ranges.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides an unmanned aerial vehicle controlling means can solve to exist among the prior art and only pass through voice control unmanned aerial vehicle, its discernment precision is low, the little problem of discernment scope.
An embodiment of the utility model provides an unmanned aerial vehicle controlling means, include: the system comprises a microcontroller, wherein the microcontroller is respectively and electrically connected with an attitude sensor, a voice recognition module and a first wireless communication module, the first wireless communication module is in wireless connection with a second wireless communication module, and the second wireless communication module is electrically connected with a flight control system.
Further, the microcontroller is also electrically connected with the intelligent terminal.
Further, a filter circuit is arranged between the microcontroller and the voice recognition module.
Further, the speech recognition module includes: the voice recognition device comprises a voice recognition chip, a D/A conversion circuit and a signal amplification circuit.
Further, the microcontroller employs an STM32F407 chip.
Further, the attitude sensor adopts an MPU6050 chip.
Further, the first wireless communication module and the second wireless communication module both adopt a combined system of an NRF24L01 chip and a 5bit gain antenna.
The embodiment of the utility model provides an unmanned aerial vehicle controlling means compares with prior art, and its beneficial effect as follows:
the utility model discloses a product of unmanned aerial vehicle's remote controller class is controlled to one set of artificial intelligence, overturns the form of the traditional remote controller operation of unmanned aerial vehicle, solves the difficult last hand of learning of unmanned aerial vehicle operator general reflection, controls loaded down with trivial details scheduling problem, promotes the popularization of individual unmanned aerial vehicle on market and the development of unmanned aerial vehicle amusement and recreation, industry consumer market. The utility model replaces the traditional remote controller operation by the voice recognition and body feeling remote control mode, realizes the 'fool' operation, makes the unmanned aerial vehicle into a real aerial robot, is easy to control, can control the human body by the voice and body feeling of the human body, greatly reduces the operation difficulty, and has high recognition precision; the utility model discloses a pronunciation and body are felt and are carried out audio-visual operation, and the recognition instruction has adopted 2.4G wireless communication for communication distance increases to 800 meters. And simultaneously, the utility model discloses greatly reduced cost, traditional remote controller's several hundred yuan to several thousand yuan of price vary, and our cost control has been about 110 yuan.
Drawings
Fig. 1 is a schematic block diagram of a principle of an unmanned aerial vehicle control device provided by an embodiment of the present invention;
fig. 2 is a schematic diagram and a frequency spectrum diagram of an aircraft noise signal provided by an embodiment of the present invention;
fig. 3 is a human body sound signal oscillogram and a spectrogram provided by the embodiment of the present invention;
fig. 4 is a four-rotor human voice mixed oscillogram and a spectrogram provided by the embodiment of the present invention;
fig. 5 is a waveform diagram and a frequency spectrum diagram of the filtered sound signal provided by the embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited by the following detailed description.
Referring to fig. 1, the embodiment of the utility model provides a pair of unmanned aerial vehicle controlling means, the device includes: and the microcontroller is respectively electrically connected with the attitude sensor, the voice recognition module and the first wireless communication module, the first wireless communication module is wirelessly connected with the second wireless communication module, and the second wireless communication module is electrically connected with the flight control system.
According to the technical scheme, the utility model replaces the traditional remote controller operation by the voice recognition and body feeling remote control mode, realizes the 'fool' operation, makes the unmanned aerial vehicle into a real aerial robot, is easy to control, can control the human body by the voice and body feeling of the human body, greatly reduces the operation difficulty, and has high recognition precision; the utility model discloses a pronunciation and body are felt and are carried out audio-visual operation, and the recognition instruction has adopted 2.4G wireless communication for communication distance increases to 800 meters.
Based on the above technical solution, an embodiment of the present invention provides an unmanned aerial vehicle control device, which is specifically described as follows:
the implementation method comprises the following steps:
1. the voice recognition of the user is converted into a remote control instruction by a voice intelligent recognition technology, and two recognition modes of an intelligent terminal and an APP are provided.
2. Body feeling intelligent control: and carrying out PID algorithm processing on the Euler angle calculated by the original data of the attitude sensor to convert the Euler angle into a control instruction.
3.2.4G wireless communication: by adopting the scheme of NRF24L01 wireless communication and a 5dbi gain antenna, 800m communication can be achieved.
4. A system processor: the microcontroller based on the ARM Cortex-M4 kernel is adopted, so that the performance is stable and efficient.
Voice control:
to control the four rotors, the minimum four channels are needed to realize the basic function of the four rotors, namely the self-stabilization function, and all channels are AIL, ELE, THR and RUD which respectively represent roll, pitch and throttle, and yaw, three attitude angles pitch, roll, yaw, representing the attitude of the aircraft, after speech recognition to take off, a digital 0X01 is sent through the serial port, the wireless communication module transmits the instruction to the receiving end, after the intelligent terminal is connected with a receiving end, the intelligent terminal can output PWM values, 4 channels of PWM values are output, the four most basic channels of the flight control are correspondingly inserted, the channels of the flight control are inserted, according to the remote controller protocol of flight control, the signal period is 2ms, a timer is configured, the duty ratio is adjusted to change the value of PWM, after receiving the forward command, sending a 0X02 command, and after receiving, changing the PWM value of the two channels, further changing the attitude of the pitch angle, and realizing the forward of the unmanned aerial vehicle.
Body feeling control:
the Euler angle is calculated by utilizing the dmp library for original data of the attitude sensor mpu6050, the Euler angle is processed by the PID algorithm and converted into a control instruction, the control instruction is in butt joint with a flight control instruction, linear data obtained by somatosensory motion can be used for controlling the unmanned aerial vehicle to different degrees. The method is characterized in that the four rotors are controlled by motion sensing, an mpu6050 attitude sensor settles out data, pitch, roll, yaw and angles, the angles are used as input and are converted into corresponding PWM values through PID processing to be output to flight control, the smoothness of the processed data is ensured in the processing process, otherwise, the airplane is greatly changed to cause so-called runaway.
Android APP:
the app for controlling the flight mode of the aircraft integrates a hundred-degree voice recognition function, when a button is pressed down, the app starts to receive voice data, the received voice data can be sent to a hundred-degree server for recognition, after the recognition is completed, a string of json character strings containing voice information and recognition results can be received by a monitor, the json character strings are analyzed inside the app, the content of voice input of a user is extracted, then the flight mode corresponding to the voice is found according to HashMap, and the flight mode is sent to the aircraft through an infinite transmission module, so that the effect of controlling the aircraft is achieved.
The key technology is as follows:
sound filtering: the realization of the filtering of the audio frequency can generate huge noises in the process of multi-rotor flight, the noises can have great influence on voice recognition, and the difference between the voice frequency of human speaking and the noise frequency generated by the four rotors in the flight process is larger.
And (3) voice recognition: after filtering, a voice recognition module is adopted for recognition, and the recognition is successfully sent to the single chip microcomputer through the serial port. The main function of the speech recognition module is to compare the re-collected standard speech feature vectors with speech models in a speech template library and judge the current speech command function, so the module mainly comprises two processes of vector comparison and parameter evaluation. The voice prompt module has the main functions of prompting a user to perform related operations or explaining the currently finished functions according to the voice recognition result, so that the module mainly comprises voice processing processes of calling and prompting a voice resource file, D/A conversion, signal amplification and the like.
And (3) attitude calculation: abandoning an official DMP library, adopting inertial navigation, carrying out attitude calculation by a quaternion method, and establishing an IMU inertial measurement unit, wherein the accelerometer is accurate in a long term and the gyroscope is accurate in a short term. And the accelerometer compensates the gyroscope for data calculation.
Wireless communication: and in the SPI communication protocol, a sending end packs data, a receiving end unpacks the data, and establishes a communication protocol of the receiving end, so that the rapidity and the safety of wireless communication are ensured.
The control part: the wireless receiving end receives the data and then processes the data through the stm32f407 chip, and outputs corresponding PWM waves after the data are processed to be connected with the flight control unit, so that the flight state of the unmanned aerial vehicle is controlled.
The main technical indexes are as follows:
referring to fig. 2-4, the success rate of speech recognition in a noisy environment. In the aspect of noise reduction, because the design is mainly voice control, but noise generated by friction between a quadrotor propeller and air has a certain influence on a voice recognition module, the design is mainly to filter the noise, a sound waveform obtained by performing fast fourier transform on sound through MATLAB, a time domain and a frequency domain of airplane noise obtained by analyzing MATLAB data, a time domain and a frequency domain of human body sound are reduced, the frequency resolution of frequency domain analysis is higher, the sampling frequency of the sound is reduced, the sampling frequency is 8 Khz, the number of sampling points is increased to 4096, the frequency resolution is about 2hz, the frequency of the noise generated by the quadrotor is about 2500hz through result analysis, the frequency of human body sound is about 3000hz, a simulation test is performed through MATLAB, the time domain is converted into the frequency domain for analysis, and a specific frequency domain is selected for local reinforcement, and then, playing the sound through inverse Fourier transform. The single chip microcomputer adopts a DSP base to realize 1024-point FFT conversion, and a floating point type operation unit is started. Success rate of speech recognition: through repeated tests, the probability of successful voice recognition under the normal condition is about 71%, noise generated by the four rotors in the flying process influences the voice recognition, and after sound filtering, the probability of successful voice recognition is about 92%, and basically meets the requirement.
Instantaneity and stability of the attitude sensor mpu6050 solution: the attitude calculation is carried out by adopting a quaternion method, the attitude angle and the three-dimensional space angle of the hand are calculated, the attitude angle and the three-dimensional space angle respectively correspond to the Pitch angle Pitch, the Roll angle Roll and the course angle Yaw of flight control, because the hand can not reach the absolute level when the flight is controlled by the hand, the level can slightly change, in order to better meet the requirement of somatosensory control, a dead zone is set, the value of the horizontal angle Roll is within +/-15 degrees, no flight control instruction is given, and the flight control is in a default flight state.
Security and rapidity of communication: in order to ensure the high efficiency and stability of over-the-air communication, an NRF24L01 wireless 2.4G wireless communication module is adopted, after the stm32f407 chip successfully recognizes voice, the stm32f407 chip sends an instruction through the NRF24L01 wireless 2.4G wireless communication module, and another wireless communication module connected with flight control is responsible for receiving the instruction, so as to ensure the communication safety, establish a data communication protocol, establish a frame header and a frame tail, and other check bits, as shown in table 1. Through testing, the success rate of communication reaches 98%. Completely meets the requirements.
TABLE 1
Communication distance: in order to increase the remote control distance, the scheme of NRF24L01 wireless communication and 5-bit gain antenna is adopted, through the sawing test, the transmission distance can reach about 400m under the general wide condition, the scheme of adding the 5-bit gain antenna can reach 800m, and the controllable distance is completely met.
To sum up, the utility model discloses in, unmanned aerial vehicle intelligence control system replaces traditional remote controller operation with speech recognition and body sense remote control mode, realizes that unmanned aerial vehicle pronunciation and body sense command control system technique are felt to the cell-phone APP has been developed, can carry out speech recognition and then control unmanned aerial vehicle's flight gesture through the cell-phone, through greatly having simplified the operation flow, provide succinct friendly operation for the user, have great meaning to promoting unmanned aerial vehicle's using value. The utility model discloses the product is based on speech recognition and the long distance that body sense control organically combines, high suitability, the unmanned aerial vehicle remote controller of high accuracy, and it includes supplementary APP's control system.
The above disclosure is only for the specific embodiments of the present invention, however, the embodiments of the present invention are not limited thereto, and any changes that can be considered by those skilled in the art should fall into the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle controlling means, its characterized in that includes: the system comprises a microcontroller, wherein the microcontroller is respectively and electrically connected with an attitude sensor, a voice recognition module and a first wireless communication module, the first wireless communication module is in wireless connection with a second wireless communication module, and the second wireless communication module is electrically connected with a flight control system.
2. The drone controlling device of claim 1, wherein the microcontroller is further electrically connected with a smart terminal.
3. The drone controlling device of claim 1, wherein a filter circuit is disposed between the microcontroller and the voice recognition module.
4. The drone controlling device of claim 1, wherein the voice recognition module comprises: the voice recognition device comprises a voice recognition chip, a D/A conversion circuit and a signal amplification circuit.
5. The drone controlling device of claim 1, wherein the microcontroller employs an STM32F407 chip.
6. The drone controlling device of claim 1, wherein the attitude sensor employs an MPU6050 chip.
7. The drone controlling device of claim 1, wherein the first wireless communication module and the second wireless communication module both employ a combined system of NRF24L01 chip and 5bit gain antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921603420.3U CN210222569U (en) | 2019-09-24 | 2019-09-24 | Unmanned aerial vehicle control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921603420.3U CN210222569U (en) | 2019-09-24 | 2019-09-24 | Unmanned aerial vehicle control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210222569U true CN210222569U (en) | 2020-03-31 |
Family
ID=69921358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921603420.3U Expired - Fee Related CN210222569U (en) | 2019-09-24 | 2019-09-24 | Unmanned aerial vehicle control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210222569U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022193153A1 (en) * | 2021-03-16 | 2022-09-22 | 深圳市大疆创新科技有限公司 | Control method and apparatus based on somatosensory remote controller, and storage medium |
-
2019
- 2019-09-24 CN CN201921603420.3U patent/CN210222569U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022193153A1 (en) * | 2021-03-16 | 2022-09-22 | 深圳市大疆创新科技有限公司 | Control method and apparatus based on somatosensory remote controller, and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11798531B2 (en) | Speech recognition method and apparatus, and method and apparatus for training speech recognition model | |
| CN112863547B (en) | Virtual resource transfer processing method, device, storage medium and computer equipment | |
| CN111179961B (en) | Audio signal processing method and device, electronic equipment and storage medium | |
| KR102369416B1 (en) | Speech signal recognition system recognizing speech signal of a plurality of users by using personalization layer corresponding to each of the plurality of users | |
| CN112099628A (en) | VR interaction method and device based on artificial intelligence, computer equipment and medium | |
| EP3992965A1 (en) | Voice signal processing method and speech separation method | |
| CN110598576B (en) | Sign language interaction method, device and computer medium | |
| CN203300127U (en) | Children teaching and monitoring robot | |
| CN105807925A (en) | Flexible electronic skin based lip language identification system and method | |
| CN107257996A (en) | The method and system of environment sensitive automatic speech recognition | |
| CN109885162B (en) | Vibration method and mobile terminal | |
| EP3349100A1 (en) | Three-dimensional simulation system | |
| CN108281138A (en) | Age discrimination model training and intelligent sound exchange method, equipment and storage medium | |
| CN210222569U (en) | Unmanned aerial vehicle control device | |
| CN108215585B (en) | Dynamics simulation writing device and method and intelligent writing pen | |
| CN202743179U (en) | Voice control device for automobile | |
| CN103501473B (en) | Based on multifunctional headphone and the control method thereof of MEMS sensor | |
| CN210667240U (en) | Multifunctional teaching robot | |
| CN113205569B (en) | Image drawing method and device, computer readable medium and electronic equipment | |
| EP3308840A1 (en) | Vibration feedback system and vibration feedback method | |
| CN112621715B (en) | Upper limb exoskeleton control method and control device based on voice input | |
| CN209460961U (en) | Split type intelligent language learner | |
| US20220055223A1 (en) | Electronic device for providing reaction on basis of user state and operating method therefor | |
| Lea | Establishing the value of voice communication with computers | |
| CN107146619B (en) | Intelligent voice interaction robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200331 Termination date: 20210924 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |