KR101949796B1 - Method for controlling drone of using speech recognition, apparatus and system for executing the same - Google Patents

Abstract

A drones control method using speech recognition and an apparatus and a system for performing the method are disclosed. The drones control system according to the exemplary embodiment acquires the user's voice associated with the drones control, performs user authentication by comparing the voice feature extracted from the acquired voice with the previously stored voice feature, Receives a drone control terminal and a drone control packet for wirelessly transmitting the generated drone control packet, acquires initial state information of the corresponding drone, and generates initial state information and a drone control packet based on Lt; RTI ID = 0.0 > a < / RTI >

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a drones control method using speech recognition,

Embodiments of the invention relate to drone control techniques.

Drone is a flight system that is operated by remote control or autonomous flight along a designated route. It has been mainly used for military purposes, but recently it has been used in various fields such as transportation field and security field, It is also used for personal use.

Generally, although the drone is operated by using the RC controller, a lot of efforts are required for the user to learn how to operate the drones, and the user must use both hands to operate the drones. In addition, since the movement of the drone depends on the slope of the stick of the RC controller, it is difficult to control based on the numerical data.

Korean Patent Registration No. 10-1617411 (2016.05.18)

An embodiment of the present invention is to provide a dron control method using speech recognition capable of easily operating a dron and an apparatus and system for performing the dron control method.

A drones control system according to an embodiment of the present invention acquires a voice of a user associated with a dron control, performs a user authentication by comparing a voice feature extracted from the acquired voice with a previously stored voice feature, A drone control terminal for generating a drone control packet based on the acquired voice and transmitting the generated drone control packet by radio; And a dron for receiving the dron control packet, obtaining initial state information of the dron, and controlling operation based on the initial state information and the dron control packet.

The drones control terminal comprises: a voice acquiring unit acquiring a voice of a user associated with the drones control and generating a voice signal; A voice authentication unit for extracting a voice feature from the generated voice signal and comparing the extracted voice feature with a previously stored voice feature to perform user authentication; A character string conversion unit for converting the generated voice signal into a character string when the user authentication is completed; An instruction analyzer for analyzing the converted character string and extracting a direction control element and a numerical control element of the dron from the character string; A packet generator for generating a drone control packet based on the extracted direction control element and the numerical control element; And a first communication unit for wirelessly transmitting the generated drones control packet to the drones.

The voice authentication unit may transmit the user authentication non-authentication signal to the drones through the first communication unit when the extracted voice feature and the previously stored voice feature do not match.

The user unauthorized signal may be a signal for changing the operation mode of the drones from the voice control mode to the hovering mode.

Wherein the string converter compares a waveform corresponding to the generated speech signal with pre-stored speech signal waveforms to extract a speech signal waveform most similar to a waveform corresponding to the generated speech signal among the pre-stored speech signal waveforms, And convert the extracted voice signal into a character string corresponding to the extracted voice signal waveform.

Wherein the direction control element includes at least one of a leftward movement, a rightward movement, a forward movement, a backward movement, an upward movement, a downward movement, a leftward rotation, and a rightward rotation of the dron, A rotation angle, a movement time, and a movement speed.

Wherein the drones include: a second communication unit for receiving the dron control packet; A sensor unit for obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones; And information on the final state of the drones is reflected on the initial state information of the dron by reflecting the direction control element and the numerical control element included in the dron control packet, and the posture, altitude, And a flight control unit for calculating the position target values and controlling the operation of the drones based on the calculated target values.

The flight control unit may check whether the final state of the drones is in a dangerous state, and may transmit a dangerous state notification to the drones control terminal through the second communication unit in the dangerous state.

A computing device according to an embodiment of the present invention includes: one or more processors; Memory; And one or more programs configured to be stored in the memory and configured to be executed by the one or more processors, wherein the one or more programs acquire a voice of a user associated with the drones control, An instruction to generate the command; A command for extracting a voice feature from the generated voice signal and comparing the extracted voice feature with a previously stored voice feature to perform user authentication; A command for converting the generated voice signal into a character string when the user authentication is completed; Analyzing the converted string to extract a direction control element and a numerical control element of the drone from the character string, respectively; And generating a dron control packet based on the extracted directional control element and numerical control element, and wirelessly transmitting the generated dron control packet to the drones.

The one or more programs may further comprise instructions for transmitting a user unauthorized signal to the drones if the extracted voice feature and the pre-stored voice feature do not match.

The user unauthorized signal may be a signal for changing the operation mode of the drones from the voice control mode to the hovering mode.

Wherein the one or more programs compares a waveform corresponding to the generated speech signal with pre-stored speech signal waveforms in an instruction for converting the speech signal waveform into a waveform according to the generated speech signal, Instructions for extracting a similar speech signal waveform; And a command for converting the generated voice signal into a character string corresponding to the extracted voice signal waveform.

Wherein the direction control element includes at least one of a leftward movement, a rightward movement, a forward movement, a backward movement, an upward movement, a downward movement, a leftward rotation, and a rightward rotation of the dron, A rotation angle, a movement time, and a movement speed.

A computing device according to another embodiment of the present invention includes: one or more processors; Memory; And one or more programs are stored in the memory and are configured to be executed by the one or more processors, wherein the one or more programs are extracted from a converted string in a user's voice signal, Instructions for wirelessly receiving a drones control packet including a direction control element and a numeric control element of the drones from a drones control terminal;

Instructions for obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones; Instructions for obtaining information on a final state of the drones by reflecting the direction control element and the numerical control element in the initial state information of the drones; An altitude, and a position target value for reaching a final state of the drones; And instructions for controlling the operation of the drones based on the calculated target values.

The one or more programs comprising: instructions for receiving a user unauthorized signal from the drones control terminal; And an instruction to change the operation mode of the drones from the voice control mode to the hovering mode in accordance with the user unauthorized signal.

The one or more programs further comprising: instructions for determining whether the final state of the drones is in a critical state; And if the final state of the drones is in the critical state, sending a risk status notification to the drones control terminal.

A method of controlling a drones in accordance with an embodiment of the present invention is a method performed in a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors, Acquiring a voice of a user to generate a voice signal; Extracting a voice feature from the generated voice signal, comparing the extracted voice feature with a previously stored voice feature to perform user authentication; Converting the generated voice signal into a character string when the user authentication is completed; Extracting a direction control element and a numerical control element of the drone from the character string by analyzing the converted character string; And generating a dron control packet based on the extracted direction control element and the numerical control element, and wirelessly transmitting the generated dron control packet to the drones.

A method of controlling a drones in accordance with another embodiment of the present invention is a method performed in a computing device having one or more processors and a memory storing one or more programs executed by the one or more processors, Wirelessly receiving a drones control packet including a direction control element and a numerical control element of the drones extracted from the converted string from the drone control terminal; Obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones; Obtaining information on the final state of the drones by reflecting the direction control element and the numerical control element in the initial state information of the drones; Calculating an attitude, an altitude, and a position target value to arrive at the final state of the drones, respectively; And controlling the operation of the drones based on the calculated target values.

According to the embodiment of the present invention, it is not necessary to learn a separate operation method by operating the drone through the voice of the user, so that anyone can easily operate the drone. And, since the user manipulates the drones through voice, the drones are not subject to any physical constraints.

1 is a diagram showing a configuration of a drone control system according to an embodiment of the present invention;
2 is a block diagram illustrating the configuration of a drones control terminal according to an embodiment of the present invention.
3 is a block diagram illustrating a configuration of a drones according to an embodiment of the present invention.
4 is a flowchart for explaining a dron control method according to an embodiment of the present invention.
5 is a block diagram illustrating and illustrating a computing environment including a computing device suitable for use in the exemplary embodiments.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to provide a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely an example and the present invention is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification. The terms used in the detailed description are intended only to describe embodiments of the invention and should in no way be limiting. Unless specifically stated otherwise, the singular forms of the expressions include plural forms of meanings. In this description, the expressions "comprising" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, Should not be construed to preclude the presence or possibility of other features, numbers, steps, operations, elements, portions or combinations thereof.

In the following description, terms such as " transmission ", "transmission "," transmission ", "reception ", and the like, of a signal or information refer not only to the direct transmission of signals or information from one component to another But also through other components. In particular, "transmitting" or "transmitting" a signal or information to an element is indicative of the final destination of the signal or information and not a direct destination. This is the same for "reception" of a signal or information. Also, in this specification, the fact that two or more pieces of data or information are "related" means that when one piece of data (or information) is acquired, at least a part of the other data (or information) can be obtained based thereon.

FIG. 1 is a block diagram of a drone control system according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating a configuration of a drone control terminal according to an embodiment of the present invention. Fig. 7 is a block diagram showing a configuration of a drones according to an embodiment.

Referring to Figures 1-3, the drones control system 100 may include a drones control terminal 102 and a drones 104. The drones control terminal 102 is communicatively coupled to the drones 104 via the communications network 150. [ In some embodiments, the communications network 150 may include one or more of the Internet, one or more local area networks, wire area networks, cellular networks, mobile networks, other types of networks, As shown in FIG.

The drones control terminal 102 is a terminal of a main body that operates the drones 104. In an exemplary embodiment, the drones control terminal 102 may be the user's terminal operating the drones 104. [ The drones control terminal 102 may comprise a computer readable storage medium, such as a processor and a memory accessible by the processor. The computer-readable storage medium may be internal or external to the processor, and may be coupled to the processor by any of a variety of well-known means. Computer-readable storage media may store computer-executable instructions. The instructions stored on the computer readable storage medium may cause the processor to perform operations in accordance with the illustrative embodiments, when executed by the processor. For example, an application may reside on a computer-readable storage medium. The application includes a predetermined set of instructions executable by the processor.

The application may include a set of instructions for controlling the drones 104 with the user's voice. That is, the application may be an application for controlling the drones with the user's voice (which may hereinafter be referred to as a drones control application). The application may be downloaded by a user of the drones control terminal 102 from a server computing device to which the application has been uploaded and stored in a computer readable storage medium. The computer-readable storage medium also includes components (not shown) of the operating system for executing a set of instructions, such as an application, on the drones control terminal 102. For example, such an operating system could be Apple's iOS or Google's Android.

The drones control terminal 102 may include a voice analysis module 111 and a wireless communication module 113. The voice analysis module 111 may extract the user's voice related to the operation control of the drones 104 and then extract the drones control elements (directional control elements and numerical control elements, etc.) from the user's voice. The voice analysis module 111 may include a voice acquisition unit 121, a voice authentication unit 123, a character string conversion unit 125, and an instruction analysis unit 127. The user may run the drones control application installed on the drones control terminal 102 and speak the instructions for controlling the drones 104 by voice.

The voice acquiring unit 121 can acquire the voice of the user. The voice acquiring unit 121 may acquire the voice of the user for controlling the operation of the drones 104. [ The voice acquisition unit 121 may include a microphone. The voice acquisition unit 121 can generate a voice signal according to the vibration of the user's voice.

The voice authentication unit 123 extracts a voice characteristic (e.g., Mel Frequency Cepstral Coefficients) from the voice signal generated by the voice acquiring unit 121, and extracts the extracted voice characteristic and pre-stored voice characteristic (i.e., The voice characteristic extracted from the voice signal of the user) to authenticate the user. When the voice characteristic of the voice signal generated by the voice acquisition unit 121 coincides with the previously stored voice characteristic, the voice authentication unit 123 transmits the voice signal generated by the voice acquisition unit 121 to the character string conversion unit 125 .

When the voice characteristic of the voice signal generated by the voice acquisition unit 121 does not match the previously stored voice characteristic, the voice authentication unit 123 transmits the user authentication non-authentication signal to the drones 104 through the wireless communication module 113 . The user unauthorized signal may be a signal for changing the operation mode of the drone 104 from the voice control mode to the hovering mode. That is, the operation mode of the drone 104 may be changed from the voice control mode to the hovering mode so that the user who speaks voice is not a legitimate user (i.e., a registered user), so that the drones 104 can not be controlled. Then, the voice authentication unit 123 can change the drones control application to the locked state until a voice of a legitimate user is obtained.

The string conversion unit 125 can convert the user's voice into a character string. Specifically, the string conversion unit 125 compares a waveform (hereinafter, referred to as a speech signal waveform) according to the user's speech signal generated by the speech acquisition unit 121 with the pre-stored speech signal waveform, The signal waveform can be converted into a character string corresponding thereto. Here, the pre-stored speech signal waveforms may be stored for each phoneme unit. The drones control terminal 102 may pre-store speech signal waveforms for commands used to control the drones 104. [ In this case, the time required by the string conversion unit 125 is minimized, and the delay time according to the voice command can be reduced.

The string conversion unit 125 extracts a voice signal waveform most similar to a voice signal waveform of the user among the voice signal waveforms previously stored by comparing the voice signal waveform of the user with the previously stored voice signal waveform on a phoneme basis, The waveforms can be respectively converted into a character string corresponding to the extracted voice signal waveform.

The command analysis unit 127 analyzes the converted character string to extract a direction control element and a numerical control element, respectively. Here, the directional control element may refer to a control element on how to orient the drones 104. Specifically, the direction control element may include leftward movement, rightward movement, forward movement, backward movement, upward movement, downward movement, leftward rotation, rightward rotation, and the like. The numerical control element may refer to a control element as to how much to control the drones 104 in association with the directional control element. Specifically, the numerical control element may include a movement distance, a rotation angle, a movement time, and a movement speed.

For example, when the character string converted by the character string conversion unit 125 is "5m raised ", the command analysis unit 127 extracts a direction control element called an upward movement through a character string" . Further, the command analyzing unit 127 can extract the numerical control element of the moving distance of 5m through the character string "5m " in the converted character string.

As another example, when the character string converted by the character string conversion unit 125 is "moved 30 degrees to the left and then moved 10 meters forward", the command analysis unit 127 converts the character string "rotation to the left" The first direction control element called the left turn can be extracted and the first numerical control element having the rotation angle 30 can be extracted through the character string "30 degrees rotated" Further, the command analysis unit 127 extracts the second direction control element called the forward movement through the character string "forward" of the converted character string, The numerical control element can be extracted.

The wireless communication module 113 may generate the drones control packet based on the information of the drones control elements (direction control elements, numerical control elements, etc.) extracted by the voice analysis module 111, and then transmit the dron control packet to the drones 104. The wireless communication module 113 may include a packet generation unit 131 and a communication unit 133.

The packet generation unit 131 may generate the dron control packet based on the dron control element information (direction control element, numerical control element, etc.) extracted by the voice analysis module 111. The drones control packet may include a header and a payload. The header of the drone control packet may include the packet number, the payload length, and the ID of the drone control terminal 102, and the like. The payload of the drone control packet may include information on the direction control element and the numerical control element, respectively. Here, the direction control element and the numerical control element associated with the direction control element may be included in one dron control packet. When there are a plurality of numerical control elements associated with the directional control element and the directional control element, the packet generator 131 may generate the drone control packet for each numeric control element associated with the directional control element and the directional control element.

The communication unit 133 is communicably connected to the drones 104 via the communication network 150. [ The communication unit 133 can wirelessly transmit the drones control packet generated by the packet generation unit 131 to the drones 104. [ In an exemplary embodiment, the communication unit 133 may transmit the dron control packet to the drones 104 through a UDP (User Datagram Protocol) scheme. In this case, it is possible to quickly transmit the drone control packet to minimize the delay time.

The drones 104 may be referred to as an unmanned aerial vehicle (UAV), which is a vehicle flying by remote control or autonomously flying along a designated route without a person on board, but may be operated by a remote control But may include any type of aircraft capable of autonomous flight along a specified path, and is not limited to a specific name and form. The drones 104 may be used for various purposes such as military, transportation, crime prevention, observation, and photographing. The drones 104 may be used for various purposes such as a camera, an infrared sensor, a thermal sensor, a posture sensor, And the like can be mounted.

In an exemplary embodiment, the drones 104 may be quad rotor drones. That is, the drone 104 includes four rotors, two diagonally opposed rotors can be rotated clockwise, and the remaining two diagonally opposite rotors can be rotated counterclockwise. However, the kind of the drones 104 is not limited to this, and various other kinds of drones may be used.

The drones 104 may include a communication unit 141, a sensor unit 143, and a flight control unit 145. The communication unit 141 is communicably connected to the drone control terminal 102 via the communication network 150. [ The communication unit 141 can wirelessly receive the drone control packet from the drone control terminal 102. [

The sensor unit 143 can measure the position of the drones 104, the height of the drones 104, and the position of the drones 104, respectively. In an exemplary embodiment, the sensor portion 143 may include an attitude sensor that measures the attitude (e.g., Roll, Pitch, Yaw, etc.) of the drones 104. In addition, the sensor unit 143 may include an altitude sensor for measuring the height of the drones 104 from the ground. In addition, the sensor unit 143 may include a position sensor for measuring the position of the drones 104. As the position sensor, a GPS sensor can be used.

The flight control unit 145 may control the operation of the drone 104 based on the sensor measurement information measured by the sensor unit 143 and the drone control packet received by the communication unit 141. [ Here, the sensor measurement information may include attitude measurement information of the drone 104, altitude measurement information, and position measurement information.

Specifically, the flight control unit 145 can set the initial state of the drones 104 through the sensor measurement information. That is, the initial state of the drones 104 can be set based on the current attitude, altitude, and position of the drones 104. The flight control unit 145 extracts the dron control element information from the drones control packet received by the communication unit 141 and then transmits the posture, altitude and position of the drones 104 according to the extracted dronon control element information to the final State. The flight control unit 145 may calculate the target value to reach the final state in the initial state of the dron 104 and then operate the dron 104 according to the calculated target value.

That is, the flight control unit 145 may extract the direction control element and the numerical control element from the drone control packet, respectively. The flight control unit 145 may set the final state of the drones 104 by reflecting the direction control element and the numerical control element to the initial state information of the drones 104. [ Altitude and position values of the drones 104 according to the posture, altitude, and position values of the drones 104 and the final state of the drones 104 according to the initial state of the drones 104, Can be calculated as a target value (i.e., a posture target value, an altitude target value, and a position target value). The flight control unit 145 may control the four rotors according to the target value so that the drones 104 reach the final state.

Meanwhile, the flight control unit 145 can check whether the final state of the drones 104 is in a dangerous state. For example, if the final attitude of the drones 104 is out of a predetermined critical attitude, the flight control unit 145 may determine that the final state of the drones 104 is in a dangerous state. It is also contemplated that the height and position of the drones 104 in the final state of the drones 104 may be varied in a collision state with an obstacle (e.g., a state where the final altitude and position of the drones 104 are within the obstacle, (E.g., within a predetermined distance from the obstacle, etc.), it can be determined that the final state of the drones 104 is in a dangerous state. The drone 104 may be equipped with an ultrasonic sensor or the like in order to detect the presence or absence of an obstacle around the drone.

The flight control unit 145 may determine that the final state of the drones 104 is in a dangerous state when the altitude and the position of the drones 104 belong to the restricted travel zone in the final state of the drones 104. [ Restricted areas may be restricted from legally prohibited areas such as military areas, areas where flight altitudes are above or below a certain altitude, areas where there are obstacles that may cause conflicts, such as high-rise buildings, And the like. Information about the restricted area can be stored in the memory of the drone 104. [

When the final state of the drones 104 is in a dangerous state, the flight control unit 145 may be put in a dangerous state if it operates according to the drones control packet through the communication unit 141 without performing an operation according to the corresponding dron control packet May inform the drone control terminal 102 of the fact (i. E., Send a critical status notification).

The flight control unit 145 may change the operation mode of the drone 104 from the voice control mode to the hovering mode when the user unauthorized signal is transmitted from the drones control terminal 102. [

According to the embodiment of the present invention, it is not necessary to learn a separate operation method by operating the drone through the voice of the user, so that anyone can easily operate the drone. And, since the user manipulates the drones through voice, the drones are not subject to any physical constraints.

4 is a flowchart illustrating a dron control method according to an embodiment of the present invention. In the illustrated flow chart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in reverse order, combined with other steps, performed together, omitted, divided into detailed steps, One or more steps may be added and performed.

Referring to FIG. 4, the drones control terminal 102 obtains the user's voice for controlling the operation of the drones 104 (S101). The user may speak the command for control of the drones 104 after running the drones control application.

Next, the drone control terminal 102 compares the voice feature extracted from the acquired voice of the user with the previously stored voice feature to check whether the user authentication is completed (S 103). Here, for example, Mel Frequency Cepstral Coefficients (MFCC) can be used as a speech feature.

If it is determined in step S 103 that the user authentication is completed (that is, if the extracted voice feature matches the pre-stored voice feature), the drones control terminal 102 converts the user's voice into a character string (S 105). In the exemplary embodiment, the drones control terminal 102 extracts the user's voice signal waveform and the signal waveform most similar to the user's voice signal waveform among the pre-stored voice signal waveforms, and outputs the voice signal waveform of the user to the extracted voice signal It can be converted into a character string corresponding to the waveform.

If it is determined in step S 103 that the user authentication is not performed (that is, if the extracted voice feature does not coincide with the previously stored voice feature), the drones control terminal 102 transmits a user unauthorized signal to the drones 104 Thereby changing the operation mode of the drone 104 from the voice control mode to the hovering mode (S 107).

Next, the drone control terminal 102 analyzes the converted character string to extract a direction control element and a numerical control element, respectively (S 109). Here, the direction control element may include, for example, leftward movement, rightward movement, forward movement, backward movement, upward movement, downward movement, leftward rotation, rightward rotation, and the like. And, the numerical control element may include, for example, a moving distance, a rotating angle, a moving time, and a moving speed.

Next, the drone control terminal 102 generates a drone control packet based on the extracted direction control element and the numerical control element, and transmits the generated drone control packet to the drone 104 (S 111).

Next, the drones 104 acquire initial state information of the drones 104 (S113). The drones 104 can acquire initial state information of the drones 104 including attitude measurement information, altitude measurement information, and position measurement information of the drones 104 using an attitude sensor, an altitude sensor, have.

Next, the dron 104 acquires information on the final state of the drones 104 (S 115) by reflecting the direction control element and the numerical control element included in the dron control packet to the initial state information of the dron 104, .

Next, the drones 104 confirm whether the final state of the drones 104 is in a dangerous state (S 117). The drones 104 can determine that the drones 104 are in a dangerous state if the final state of the drones 104 is in a collision or crash state with an obstacle or when the altitude and location of the drones 104 belong to a restricted area have.

If it is determined in step S117 that the final state of the drones 104 is in a dangerous state, the drones 104 transmit a dangerous state notification to the drones control terminal 102 (S119). If it is determined in step S117 that the final state of the drones 104 is not a dangerous state, the drones 104 calculate a target value to reach the final state of the drones 104 (S121) And the drones 104 are operated according to the control signals (S123).

5 is a block diagram illustrating and illustrating a computing environment 10 including a computing device suitable for use in the exemplary embodiments. In the illustrated embodiment, each of the components may have different functions and capabilities than those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, the computing device 12 may be an apparatus (e. G., A drones control terminal 102) for controlling an unmanned aerial vehicle. In addition, the computing device 12 may be an unmanned aerial vehicle device (e.g., a drone 104).

The computing device 12 includes at least one processor 14, a computer readable storage medium 16, The processor 14 may cause the computing device 12 to operate in accordance with the exemplary embodiment discussed above. For example, processor 14 may execute one or more programs stored on computer readable storage medium 16. The one or more programs may include one or more computer-executable instructions, which when executed by the processor 14 cause the computing device 12 to perform operations in accordance with the illustrative embodiment .

The computer-readable storage medium 16 is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. The program 20 stored in the computer-readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer-readable storage medium 16 may be any type of storage medium such as a memory (volatile memory such as random access memory, non-volatile memory, or any suitable combination thereof), one or more magnetic disk storage devices, Memory devices, or any other form of storage medium that can be accessed by the computing device 12 and store the desired information, or any suitable combination thereof.

Communication bus 18 interconnects various other components of computing device 12, including processor 14, computer readable storage medium 16.

The computing device 12 may also include one or more input / output interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more input / output devices 24. The input / output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input / output device 24 may be connected to other components of the computing device 12 via the input / output interface 22. The exemplary input and output device 24 may be any type of device, such as a pointing device (such as a mouse or trackpad), a keyboard, a touch input device (such as a touch pad or touch screen), a voice or sound input device, An input device, and / or an output device such as a display device, a printer, a speaker, and / or a network card. The exemplary input and output device 24 may be included within the computing device 12 as a component of the computing device 12 and may be coupled to the computing device 12 as a separate device distinct from the computing device 12 It is possible.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, . Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

100: Drone control system
102: Drone control terminal
104: Drones
111: Voice analysis module
113: Wireless communication module
121:
123: Voice authentication unit
125: String conversion unit
127: command analysis section
131:
133:
141:
143:
145:

Claims (18)

The user authentication is performed by comparing the voice feature extracted from the acquired voice with the pre-stored voice feature, and a drone control packet is generated based on the acquired user-authenticated voice, A drone control terminal for wirelessly transmitting the generated drone control packet; And
A dron for receiving the dron control packet, obtaining initial state information of the dron, and controlling operation based on the initial state information and the dron control packet,
The drones control terminal is equipped with a drones control application for controlling the drones with the voice of the user,
A voice acquiring unit acquiring a voice of a user associated with the drones control and generating a voice signal;
A voice authentication unit for extracting a voice feature from the generated voice signal and comparing the extracted voice feature with a previously stored voice feature to perform user authentication;
A character string conversion unit for converting the generated voice signal into a character string when the user authentication is completed;
An instruction analyzer for analyzing the converted character string and extracting a direction control element and a numerical control element of the dron from the character string;
A packet generator for generating a drone control packet based on the extracted direction control element and the numerical control element; And
And a first communication unit for wirelessly transmitting the generated drones control packet to the drones,
The voice authentication unit,
Transmitting the user unauthenticated signal to the drones through the first communication unit when the extracted voice feature and the previously stored voice feature do not match,
The drones change the operation mode of the drones from the voice control mode to the hovering mode upon reception of the user unauthorized signal,
Wherein the dron controlling terminal changes the drones control application to a locked state upon occurrence of the user unauthorized signal, and when the voice characteristic of the voice acquired by the voice acquisition unit matches the pre-stored voice characteristic, Releasing, drones control system.
delete delete delete The method according to claim 1,
Wherein the string conversion unit comprises:
Extracting a speech signal waveform most similar to a waveform corresponding to the generated speech signal among the pre-stored speech signal waveforms by comparing waveforms corresponding to the generated speech signals with pre-stored speech signal waveforms, Into a character string corresponding to the extracted voice signal waveform.
The method according to claim 1,
Wherein the direction control element includes at least one of a leftward movement, a rightward movement, a forward movement, a backward movement, an upward movement, a downward movement, a leftward rotation, and a rightward rotation of the drones,
Wherein the numerical control element comprises at least one of a travel distance, a rotation angle, a travel time, and a travel speed of the drones.
The method according to claim 1,
The drones,
A second communication unit for receiving the drone control packet;
A sensor unit for obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones; And
Information about the final state of the drones is reflected on the initial state information of the dron by reflecting the direction control element and the numerical control element included in the dronon control packet, and the attitude, altitude, and position And a flight control unit for calculating the target value and controlling the operation of the drones based on the calculated target values.
The method of claim 7,
The flight control unit includes:
Wherein the control unit checks whether the final state of the drones is in a dangerous state and sends a dangerous state notification to the drones control terminal via the second communication unit in the dangerous state.
One or more processors;
Memory; And
Comprising one or more programs,
The one or more processors;
Memory; And
Comprising one or more programs,
Wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors,
Wherein the one or more programs constitute a drones control application for controlling the drones with the user's voice,
Instructions for acquiring a voice of a user associated with the drones control to generate a voice signal;
A command for extracting a voice feature from the generated voice signal and comparing the extracted voice feature with a previously stored voice feature to perform user authentication;
A command for converting the generated voice signal into a character string when the user authentication is completed;
Analyzing the converted string to extract a direction control element and a numerical control element of the drone from the character string, respectively; And
Generating a dron control packet based on the extracted directional control element and the numerical control element, and wirelessly transmitting the generated dronon control packet to the drones;
The one or more programs,
Transmitting a user unauthorized signal to the drones if the extracted voice feature and the pre-stored voice feature do not match;
Instructions for changing the drones control application to a locked state upon occurrence of the user unauthorized signal; And
Further comprising instructions for unlocking the drones control application if the voice feature of the voice acquired at the user's voice acquisition matches the pre-stored voice feature,
Wherein the user unauthorized signal is a signal for changing the operating mode of the drones from the voice control mode to the hovering mode.
delete delete The method of claim 9,
Wherein the one or more programs, in an instruction to convert to a string,
A command for extracting a voice signal waveform most similar to a waveform according to the generated voice signal among the previously stored voice signal waveforms by comparing waveforms corresponding to the generated voice signals with previously stored voice signal waveforms; And
And converting the generated speech signal into a character string corresponding to the extracted speech signal waveform.
The method of claim 9,
Wherein the direction control element includes at least one of a leftward movement, a rightward movement, a forward movement, a backward movement, an upward movement, a downward movement, a leftward rotation, and a rightward rotation of the drones,
Wherein the numerical control element comprises at least one of a movement distance, a rotation angle, a movement time, and a movement speed of the drones.
One or more processors;
Memory; And
Comprising one or more programs,
Wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors,
The one or more programs,
Instructions for wirelessly receiving from the drones control terminal a drones control packet including a direction control element and a numerical control element of the dron that are extracted from the converted string of the user's voice signal;
Instructions for obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones;
Instructions for obtaining information on a final state of the drones by reflecting the direction control element and the numerical control element in the initial state information of the drones;
An altitude, and a position target value for reaching a final state of the drones; And
And controlling the operation of the drones based on the calculated target values,
The one or more programs,
Instructions for receiving a user unauthorized signal from the drones control terminal;
Further comprising instructions for changing the operating mode of the drones from the voice control mode to the hovering mode upon receipt of the user unauthorized signal,
Wherein the dron controlling terminal changes a drones control application for controlling the drones to a locked state by a user's voice when the user unauthorized signal is generated, And if so, unlocks the drones control application.
delete 15. The method of claim 14,
The one or more programs,
An instruction to determine whether the final state of the drones is in a critical state; And
Further comprising instructions for sending a critical state notification to the drones control terminal if the final state of the drones is in the critical state.
One or more processors, and
And a memory for storing one or more programs executed by the one or more processors, wherein the one or more programs constitute a drones control application for controlling a drones with a user's voice,
Acquiring a voice of a user associated with the drones control to generate a voice signal;
Extracting a voice feature from the generated voice signal, comparing the extracted voice feature with a previously stored voice feature to perform user authentication;
Converting the generated voice signal into a character string when the user authentication is completed;
Extracting a direction control element and a numerical control element of the drone from the character string by analyzing the converted character string; And
Generating a dron control packet based on the extracted directional control element and numerical control element, and wirelessly transmitting the generated dronon control packet to the drones;
Transmitting a user unauthorized signal to the drones if the extracted voice feature and the pre-stored voice feature do not match;
Changing the drones control application to a locked state upon occurrence of the user unauthorized signal; And
Further comprising the step of unlocking the drones control application if the voice feature of the voice acquired at the time of user voice acquisition matches the pre-stored voice feature,
Wherein the user unauthorized signal is a signal for changing the operation mode of the drones from the voice control mode to the hovering mode.
One or more processors, and
A method performed in a computing device having a memory storing one or more programs executed by the one or more processors,
Wirelessly receiving a drones control packet including a direction control element and a numerical control element of a dron extracted from a converted string of a user's voice signal from a drones control terminal;
Obtaining initial state information including attitude measurement information, altitude measurement information, and position measurement information of the drones;
Obtaining information on the final state of the drones by reflecting the direction control element and the numerical control element in the initial state information of the drones;
Calculating an attitude, an altitude, and a position target value to arrive at the final state of the drones, respectively; And
And controlling the operation of the drones based on the calculated target values,
Receiving a user unauthorized signal from the drones control terminal; And
Further comprising changing the operation mode of the drones from the voice control mode to the hovering mode upon reception of the user unauthorized signal,
Wherein the dron controlling terminal changes a drones control application for controlling the drones to a locked state by a user's voice when the user unauthorized signal is generated, And if so, unlocks the drones control application.

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