JP2668450B2 - Voice recognition type ship handling device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a voice recognition type navigation device.

[Conventional technology]

For example, small fishing boats, such as kombu fishing and sea urchin fishing, generally have at most one or two crew members, and moreover, since there is no dedicated boat maneuvering person, fishing is often performed while operating the boat. In this case, maneuvering goes back and forth between the port and the fishing ground,
Unlike so-called navigational navigation, almost from a stopped state,
It is of the degree that it moves slowly within a few meters at most in any direction.

[Problems to be solved by the invention]

By the way, when fishing while maneuvering as described above, there is a problem that it is not possible to concentrate on maneuvering itself. In addition, the maneuvering posture is often unnatural, and there are many problems in terms of safety such as a fall accident. In addition, there is a problem that it is more and more difficult to have a full-time maneuverer on board due to a shortage of manpower.

The present invention has been made by focusing on the above problems, and in order to operate a ship while performing work such as fishing, it is possible to operate the ship by voice without being disturbed by noise, so It is an object of the present invention to provide a voice recognition type marine vessel maneuvering device that eliminates danger, secures safety, achieves labor saving and automation, and can add high added value to small ships.

[Means for solving the problem]

In order to achieve the above object, a voice recognition type maneuvering device according to the present invention is a ship maneuvering device for a small boat equipped with a thruster for slightly moving a hull in addition to a main propulsion device, comprising: a voice input unit; The voice input means comprises a bone conduction microphone, and the voice recognition means compares an input voice signal with a pre-stored voice signal for maneuvering, and determines a matching boat operation. A boat maneuvering signal corresponding to a voice signal is provided to the voice synthesizing unit and the control unit, and the voice synthesizing unit converts the signal into a synthesized voice signal corresponding to the provided boat maneuvering signal and outputs the synthesized voice signal to the speaker. A thruster angle signal and a drive signal corresponding to the boat maneuvering signal are calculated, the obtained angle signal is provided to the thruster propulsion direction control device, and the obtained drive signal is provided to the thruster drive device. The maneuvering signals speech recognition means recognizes at the same time as the thruster drive, and output from the speaker before the ship begins to move, is obtained by the so inform the rider.

As means for giving the voice signal to voice recognition means,
Either wired or wireless means can be used.

The voice-recognition-type maneuvering device of the present invention performs maneuvering in a dimensional manner in advance by setting the thruster to rotate only slightly according to a voice instruction in order to slightly move the ship in advance. It can also be done. Therefore, it is possible to provide a device in a boat maneuvering mode with a characteristic according to the purpose of the boat maneuver.

〔Example〕

 Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 2, the voice recognition type boat maneuvering device 1 of the present embodiment shown in FIG. 1 is mounted on a small fishing boat 4 on which a boat maneuver and a fisherman 2 who collects shellfish and sea urchin are mounted. Fisherman 2
Has a file 6 in one hand and a peep glass 8 in the other
A device integrated with an earphone (speaker) 10 and a bone conduction microphone 12 constituting the voice input means of the present embodiment is attached to the ear. The reason why the bone conduction microphone 12 is attached is that it is difficult to attach a microphone to the mouth in order to look into the viewing glass 8, and furthermore, a case where a voice is muffled inside the viewing glass 8 and a signal is not transmitted accurately is considered.
Note that reference numeral 13 in FIG. 1 denotes an emergency stop button, which is configured to turn off the power of the device 1.

In FIG. 1, a sound from a bone conduction microphone 12 is converted into an A / D converter 14 for converting a signal input by wire or wirelessly.
After being converted to digital signals by the
16 and is compared by the device 16 with a pre-input boat maneuvering audio signal. In the device 1 of the present embodiment, the ship maneuvering voice signal is “opened” (away from the quay), “yose” (approaches the quay), “tomo” (back), “front” (front), and “fast”. "(Fast)," To rare "(To rare)," Slightly "
(The thruster is rotated slightly). It should be noted that, depending on the correspondence at the design stage, the number of words can be increased or decreased, and the terms can be appropriately changed.

When the audio digital signal matches one of the ship maneuvering audio signals, the corresponding control signal is output to the audio synthesizer 18 and the controller 20.

The voice synthesizer 18 synthesizes a voice corresponding to the given control signal and outputs the synthesized voice to the speaker 10. When the voice from the speaker 10 is different from the command, the fisherman 2 may utter the command again.

As described above, the control signal input to the control device 20 is also input to the voice synthesizer 18 at the same time, and the synthesized voice signal corresponding to the control signal is output to the speaker 10, so that the fisherman 2 (the boat operator) can control the voice. It is possible to know whether the recognition device 16 has output an accurate control signal to the control device 20.
Therefore, if an erroneous control signal is output, a sound for a new boat maneuver is immediately issued to correct the malfunction, and the small fishing boat 4 is requested by the fisherman 2 (boat operator).
Can be maneuvered.

In this embodiment, a thruster detachable to the bow of a small fishing boat 4 is provided.
22 was mounted, and a detachable thruster 24 was mounted on the stern. The number of thrusters 22 and 24 can be arbitrarily changed according to the purpose and conditions. Each of the thrusters 22 and 24 includes a turning device 28 including a servo motor for rotating the direction of the propeller 26 in an arbitrary direction, an angle detector 30 for detecting the direction of the propeller 26, a propeller driving device 32, and a propeller 26.
The rotation speed detector 34 is attached, and the detection signals of the detectors 30 and 34 are output to the control device 20. Reference numeral 35 in FIG. 2 denotes a navigation propulsion device.

The device 1 of the present embodiment is provided with the adjusting device 36 so that the output adjustment can be performed by the position attached to the hull, and the data of the adjustment result is held in the storage device 38. The control device 20 composed of a microcomputer is
From the marine vessel maneuvering data previously input to the storage device 38, the marine vessel maneuvering data corresponding to the marine vessel maneuvering signal is read, the required control signal is calculated, and the arithmetic result is the driving device 32 including the rotating device 28 and the electric motor of each thruster 22, 24. Output to Incidentally, reference numeral 40 in FIG. 1 is a D / A converter, and 41 is a voltage regulator of the driving device 32. It should be noted that the device 1 of this embodiment is configured such that the control of the speech recognition device 16 and the speech synthesis device 20 is also controlled by the control device 18.

FIG. 3 is an explanatory view of the relationship with the auxiliary machine 42 when operating the device 1 of FIG. In FIG. 3, the device 1 is operated by a power supply stored in a battery 46. The switching device 48 is for switching between the device 1 and the joystick 50 for manual operation, and is provided in case of a boat operator getting on board or when the device 1 malfunctions.

Next, an example of the operation of the apparatus 1 will be described with reference to the flowchart shown in FIG. When the apparatus 1 is started and the voice v is input in step S1, the process proceeds to step S2, where it is determined whether or not the voice input last time is “rare”. If a positive result is obtained, the process proceeds to step S3. Then, it is determined whether or not the ship has stopped, and the determination operation of step S3 is repeated until a positive result is obtained. Then, when a positive result is obtained and when a negative result is obtained in step S2, the process proceeds to step S4.

In the present embodiment, by performing the above operation, "to rare", in any case, the ship is preferentially maneuvered,
The control device was configured to respond to the voice input after "stop" once after stopping. In this embodiment, the stoppage of the ship is detected by stopping the rotation of the propeller 26.

In step S4, one marine vessel maneuvering voice signal Vi (i = 1 to 7) stored in advance in the voice recognition device is read, and step S5
Then, the input voice v and Vi are compared, and if they do not match, the process returns to step S4, and if there is a determination of a match, or i = 7
It repeats reading and comparing the ship maneuvering voice signal until the following condition is reached, and if there is no match, the process returns to step S1 and the device 1
Maintain the status quo.

In steps S4 and S5, the rotation speed of the thrusters 22 and 24 is the low speed rotation except when "quickly" is input when the marine vessel maneuvering sound signal indicating the direction matches the input sound. , If "Choi" is entered,
In this embodiment, the initial setting for rotating the thruster in a dimensional manner is performed. Note that these initial settings are arbitrary, and initial settings different from the above can also be performed.

In step S5, when any one of the maneuvering signals is matched, in step S6, a maneuvering signal corresponding to the matched maneuvering sound signal Vi is provided to the speech synthesizer 20, and then in step S7, control of the propellers of the thrusters 22, 24 is performed. The angles (directions) α ₁ and α ₂ are calculated, and in step S8, the respective turning devices 28 of the thrusters 22 and 24 are driven, and in step S9
At, the detection angles A ₁ and A ₂ of the angle detector 30 are read,
In step S10, respectively to determine whether the alpha ₁ and A ₁ ,, _{α 2} and A ₂ are identical, unless a match is step S9
The process returns to step S11, and when it is determined that there is a match, the process proceeds to step S11.

In step S11, the control speeds n ₁ and n ₂ of the propeller
In step S12, the voltages E ₁ and E ₂ of the voltage regulator 41 are calculated in order to obtain the rotation speeds n ₁ and n ₂ , and in step S13 the thruster 22 outputs the voltage signal to the voltage regulator 41. , 24 drive. Next, in step S14, the detection values N ₁ and N ₂ of the rotation speed detector 34 are read, and in step S1
In 5, it is determined whether or not the detected rotational speed N ₁ and the control rotational speed n _1, and the detected rotation speed N ₂ and control the rotational speed n ₂ matches.
If it is determined that they do not match, the process returns to step S14, and if a positive result is obtained, the process returns.

By operating the control device 1 as described above, the fisherman 2 can freely operate the fishing boat 4 by himself, even when both hands are required for fishing. In this embodiment, the electric motor is used as the driving means, but an engine may be used.

〔The invention's effect〕

As described above, the voice recognition type ship maneuvering device of the present invention
The maneuvering device recognizes the sound of the maneuver by maneuvering through the bone conduction microphone, confirms the synthesized sound, and outputs the thrust required by the thruster in the required direction. The ship can be maneuvered even if there is no person on board and the hand is not available for work or is away from the place where the operating device is located. Since the hull can be checked before it actually starts moving, malfunction can be eliminated.

In addition, since the bone transmission microphone is used for voice input, even when fishing while using the sight glass, the actual sound becomes muffled due to the sight glass, or voices other than the boat operator This eliminates the risk of a malfunction caused when a normal microphone is used, such as the occurrence of a malfunction due to erroneous operation, and enables the ship to be maneuvered reliably.

Therefore, in particular, it is possible to safely operate a work boat such as a small fishing boat, which tends to have a shortage of manpower, and it is possible to save labor and increase the efficiency of various operations performed by the work boat.

[Brief description of the drawings]

FIG. 1 is an explanatory view of the configuration of a voice recognition type boat maneuvering device according to an embodiment, FIG. 2 is a plan view showing a small fishing boat equipped with the device of FIG. 1, and FIG. FIG. 4 is a flow chart for explaining the operation of the apparatus of FIG. 1 in combination with the machine. 1 ... Voice recognition type marine vessel manipulating device, 10 ... speaker, 12 ... bone conduction microphone, 16 ... speech recognition device, 18 ... speech synthesizing device, 20 ... control device, 22,24 ... thruster, 28 ... turning device (propulsion direction control device) ), 30: angle detection device, 32: drive device, 34: rotation speed detection device, 38: storage device.

Claims (2)

(57) [Claims] 1. A boat maneuvering device for a small boat equipped with a thruster for slightly moving a hull in addition to a main propulsion unit, comprising a voice input unit, a voice recognition unit, a voice synthesis unit, a control unit, and a speaker. Wherein the voice input means comprises a bone conduction microphone, and the voice recognition means compares the input voice signal with a pre-stored boat maneuver voice signal, and outputs a boat maneuver signal corresponding to a matching boat maneuver voice signal with the voice synthesis means. The voice synthesizing means converts the signal into a synthesized voice signal corresponding to the provided boat maneuvering signal and outputs the signal to the speaker.The control means comprises a thruster angle signal and a driving signal corresponding to the boat maneuvering signal. Then, the obtained angle signal is given to the thruster propulsion direction control device, the obtained drive signal is given to the thruster drive device, and the voice recognition means recognizes the thruster drive at the same time. The maneuvering signal, speech recognition type steering device which is outputted from the speaker, and to inform the rider before the ship begins to move. 2. A voice recognition type boat maneuvering device according to claim 1, wherein said means for providing said voice signal to voice recognition means is performed wirelessly.