JPH04185597A - Speech recognition type shifting and mooring device - Google Patents

Abstract

PURPOSE:To safely shift and moor a work barge such as a small fishing boat by recogniziing a speech generated by a shifting and mooring person by a device, performing confirmation by synthetic voice and outputting the required driving force to a thruster in the required direction. CONSTITUTION:A device integral with an ear phone (speaker) 10 and a bone conduction microphone 12 is fitted to a fisherman 2 who shifts and moors a boat and takes shells and Echinoidea by himself. Voice from the bone conduction microphone 12 is given to a speech recognition device 16 through an A/D converter 14 to be compared with a previously input shifting and mooring voice signal. When a voice digital signal matches one of shifting and mooring voice signals, an appropriate control signal is output to a voice synthesizing device 18 and a control device 20, and voice corresponding to the control signal is synthesized by the voice synthesizing device 18 to be output to the speaker 10. On the other hand, the control device 20 reads shifting and mooring data corresponding to the shifting and mooring signal, and operates a required control signal to be output to a rotating device and a driving device 32 of the respective thrusters 22, 24, thereby shifting and mooring a boat.

Description

[Detailed description of the invention] [Industrial application field] The present invention relates to a voice recognition type ship maneuvering device.

[Prior art] For example, small fishing boats for kelp fishing and sea urchin fishing generally have a crew of one or two people at most, and there is no dedicated boat operator on board, so fishing is carried out while operating the boat. Often done. The maneuvering in this case is different from the so-called navigational maneuvering in which the vessel travels back and forth between a port and a fishing ground, and involves slowly moving the vessel within a few meters in any direction from a nearly stopped state.

[Problem to be solved by the invention]

By the way, when fishing while maneuvering the boat as described above, there is a problem in that the user cannot concentrate on maneuvering the boat itself.

In addition, the posture of maneuvering the ship is often unnatural.
There are also many safety issues such as falling accidents. Moreover, due to a shortage of manpower, it is becoming increasingly difficult to have a dedicated ship operator on board.

The present invention has been made focusing on the above problems,
In order to operate the vessel while fishing or other tasks, we have made it possible to operate the vessel by voice, eliminating the dangers caused by errors in vessel operation, ensuring safety, and achieving labor-saving and automation.
The objective is to provide a voice recognition type ship maneuvering device that can add high added value to small ships.

[Means for Solving the Problems] In order to achieve the above object, the voice recognition type ship maneuvering device of the present invention provides a voice signal inputted to the voice input means to the voice recognition means, and the voice recognition means receives the inputted voice signal. The voice signal is compared with a pre-stored vessel maneuvering voice signal, and a vessel maneuvering signal corresponding to the matched vessel maneuvering voice signal is given to the voice synthesis means and the control means, and the voice synthesis means generates a synthesized voice corresponding to the given vessel maneuvering signal. The control means calculates a thruster angle signal and a drive signal corresponding to the given vessel maneuvering signal, gives the angle signal to a thruster propulsion direction control device, and outputs the drive signal to a speaker. to the thruster drive device.

The voice recognition type ship maneuvering device of the present invention allows the ship to move slightly by setting the rotation of the thruster so that the thruster rotates slightly and then stops in accordance with the voice instruction. It can also be used to maneuver ships. therefore,
It is possible to provide devices with distinctive ship maneuvering modes to suit the purpose of ship maneuvering.

〔Example〕

Hereinafter, the present invention will be specifically explained with reference to the accompanying drawings.

The voice recognition type ship maneuvering device 1 of this embodiment shown in FIG.
As shown in the figure, it is attached to a small fishing boat 4 carrying a fisherman 2 who manually operates the boat and collects shellfish, sea urchins, etc. A fisherman 2 holds a spear 6 in one hand, a viewing glass 8 in the other, and listens to the device integrated with an earphone (speaker) 10 and a bone conduction microphone 12 that constitutes the audio input means of this embodiment. It is attached to. The reason for attaching the bone conduction microphone 12 is to attach a microphone to the mortar for looking through the viewing glass 8 ((), and also to take into consideration the case where the voice becomes muffled inside the viewing glass 8 and the signal is not transmitted accurately. Therefore, a normal microphone can also be used. Note that 13 in the figure is an emergency stop button, which is configured to turn off the power of the device 1.

In FIG. 1, audio from a bone conduction microphone 12 is converted into a digital signal by an A/D converter 14 that converts a wired or wirelessly input signal, and then provided to a audio recognition device 16. Then, the signal is compared with a pre-input ship maneuvering audio signal. In the device 1 of this embodiment, the ship maneuvering audio signals are set to "Ake" (leave the quay), "Away" (approach the quay), "Tomo" (backward), "Omote" (forward), and "Hurry up". There are six types: ``(fast)'', ``stop'' (stop), and ``slightly'' (the thruster rotates minutely).

Note that these can be changed as appropriate, such as increasing or decreasing the number of words, terminology, etc., by taking measures at the design stage.

When the audio digital signal matches any of the ship maneuvering audio signals, a corresponding control signal is output to the audio synthesizer 18 and the control device W20.

The speech synthesizer 18 synthesizes speech corresponding to the given control signal and outputs it to the speaker 10.

If the voice from the speaker 10 is different from the command, the fisherman 2 only has to speak the command again.

This embodiment uses a thruster 2 that can be attached and detached to the bow of a small fishing boat 4.
2, and a removable thruster 24 was attached to the stern. Note that the number of thrusters 22 and 24 can be changed arbitrarily depending on the purpose and conditions. The thrusters 22 and 24 each include a recirculation device 28 consisting of a servo motor for rotating the propeller 26 in an arbitrary direction, an angle detector 30 for detecting the direction of the propeller 26, a propeller drive device 32, and a propeller 26 drive device 32. A rotational speed detector 34 is attached, and the detection signals of each of the detectors 30 and 34 are transmitted to the control device 20.
It was configured to output to . Note that 35 in FIG. 2 is a navigation propulsion device.

The device 1 of this embodiment is equipped with an adjustment device 36 and is capable of adjusting the output depending on the position attached to the hull, and the data of the adjustment results is stored in the storage device 38. The control device 20 consisting of a microcomputer reads the ship maneuvering data corresponding to the ship maneuvering signal from the ship maneuvering data previously input into the storage device 38, calculates the necessary control signals, and applies the calculation results to each thruster 22, 24. It outputs to a drive device 32 consisting of a rotating device 28 and an electric motor.

Note that 40 in FIG. 1 is a D/A converter, and 41 is a voltage regulator of the drive device 32. Note that the device 1 of this embodiment
is configured such that the control device 18 also controls the speech recognition device 16 and the speech synthesis device 20.

FIG. 3 is an explanatory diagram of the relationship with the auxiliary equipment 42 when the device 1 shown in FIG. 2 is operated.9 In FIG. .

Further, the switching device 48 is used to switch between the device 1 and the joystick 50 for manual operation, and is provided in case a boat operator gets on board or the device 1 malfunctions.

Next, an example of the operation of the device 1 will be described with reference to the flowchart shown in FIG. When the device 1 starts and the voice V is input in step S1, the process moves to step S2, and it is determined whether or not the previously input voice was "tomare". If a positive result is obtained, the process proceeds to step S3Q. It is determined whether the ship has moved or stopped, and the determination operation in step S3 is repeated until a positive result is obtained. Then, if a positive result is obtained or if a negative result is obtained in step S2, the process moves to step S4.

In this embodiment, by performing the above operations, the ship will be maneuvered preferentially to "stop" in any case, and -
After the ship had stopped, the control device was configured to respond to the voice input after "Stop". In this embodiment, stopping of the ship was detected by stopping the rotation of the propeller 26.

In step S4, one ship maneuvering voice signal Vi (i.1 to 7) stored in advance in the voice recognition device is read, and in step S
In step S5, the input voices V and Vi are compared, and if they do not match, the process returns to step S4, and sequentially reads and compares the ship maneuvering voice signals until a match is found or i=7. If there is no match, the process returns to step S1 and the equipment engineer maintains the current state.

In addition, in steps S4 and S5, the rotational speed of the thrusters 22 and 24 is set to an initial low rotational speed, except when "fast" is input as soon as the ship maneuvering audio signal instructing the direction matches the input audio. settings, and if “a little” is input, the initial setting to rotate the thruster inch by inch.
This was done in this example. Note that these initial settings are arbitrary, and initial settings different from those described above can also be performed.

In step S5, when a match occurs with any of the ship maneuvering signals, in step S6, a ship maneuvering signal corresponding to the matched ship maneuvering audio signal Vi is given to the voice synthesizer 20, and then, in step S7, the control angle of the propeller of each of the thrusters 22 and 240 is determined. (Direction) α,.

α2 is calculated, and in step S8 the thruster 22°2
In step S9, the detected angles A, , A2 of the angle detector 30 are read, and in step SIO, α and A + are respectively driven.
,, It is determined whether or not α2 and A2 match, and if they do not match, the process returns to step S9, and if a match is determined,
The process moves to step Sll.

In step Sll, propeller control rotation speed n1.
n2 is calculated, and in step 512, the rotation speed n
1. The voltage E, , E2 of the voltage regulator 41 to obtain n2
is calculated, and in step 513, a voltage signal is output to the voltage regulator 41 to drive the thrusters 22 and 24. Next, in step 514, the detection values N+ and N2 of the rotation speed detector 34 are read, and in step 515, it is determined whether the detected rotation speed N+ and the control rotation speed n9 and the detection rotation speed N2 and the control rotation speed n2 match. Determine whether If it is determined that they do not match, the process returns to step 514, 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 if he uses both hands to fish. In addition, in this example,
Although an electric motor is used as the driving means, an engine can also be used.

[Effects of the Invention] As explained above, the voice recognition type ship maneuvering device of the present invention recognizes the voice emitted by the ship operator when maneuvering the ship, performs confirmation using synthesized voice, and transmits the propulsive force required for the thruster.
Since the output is output in the required direction, it is possible to operate the vessel even when there is no dedicated vessel operator on board, who is free for work, or who is far away from the operating device. Since the operation of the ship maneuvering device can be confirmed by voice, malfunctions can be eliminated.

Therefore, it is possible to safely operate a work boat such as a small fishing boat, which tends to be in short supply of manpower, and it is possible to save labor and improve the efficiency of various operations carried out on a work boat.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the configuration of a voice recognition type ship maneuvering device according to an embodiment, Fig. 2 is a plan view showing a small fishing boat equipped with the device shown in Fig. 1, and Fig. 3 is a diagram showing the device shown in Fig. 1 and its supplement. FIG. 4 is a flowchart for explaining the operation of the apparatus shown in FIG. 1. I...Voice recognition type ship maneuvering device, 1o...Speaker,
12... Bone conduction microphone, 16... Voice recognition device, 1
8... Speech synthesis device, 20... Control device, 22.2
4... Thruster, 28... Turning device (propulsion direction control device), 3o... Angle detection device, 32... Drive device, 34... Rotation speed detection device, 3B... Storage device. Agent Patent Attorney Shin Ogawa ~

Claims (1)

[Claims] The voice signal input to the voice input means is given to the voice recognition means, and the voice recognition means compares the input voice signal with a pre-stored vessel maneuvering voice signal and synthesizes a vessel maneuvering signal corresponding to the matched vessel maneuvering voice signal. and the control means, the voice synthesis means converts the given ship maneuvering signal into a synthesized sound signal and outputs it to the speaker, and the control means converts the given ship maneuvering signal into a synthesized sound signal and outputs it to the speaker. A voice recognition type ship maneuvering device that calculates a drive signal, gives the angle signal to a thruster propulsion direction control device, and gives the drive signal to the thruster drive device.