WO2020135528A1 - 无人飞行器、其语音系统及语音交互方法 - Google Patents

无人飞行器、其语音系统及语音交互方法 Download PDF

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Publication number
WO2020135528A1
WO2020135528A1 PCT/CN2019/128381 CN2019128381W WO2020135528A1 WO 2020135528 A1 WO2020135528 A1 WO 2020135528A1 CN 2019128381 W CN2019128381 W CN 2019128381W WO 2020135528 A1 WO2020135528 A1 WO 2020135528A1
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Prior art keywords
voice
dynamic
aircraft body
uav
unmanned aerial
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PCT/CN2019/128381
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English (en)
French (fr)
Inventor
雷小刚
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication of WO2020135528A1 publication Critical patent/WO2020135528A1/zh
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    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
    • G10L21/02—Speech enhancement, e.g. noise reduction or echo cancellation
    • G10L21/0208—Noise filtering
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L25/00—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00
    • G10L25/48—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use
    • G10L25/51—Speech or voice analysis techniques not restricted to a single one of groups G10L15/00 - G10L21/00 specially adapted for particular use for comparison or discrimination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle, its voice system and voice interaction method.
  • unmanned aerial vehicles With the continuous development of social technology, unmanned aerial vehicles are favored because of their advantages of small structure, flexible operation and convenient deployment, and are used in more and more occasions or fields. All kinds of unmanned aerial vehicles have begun to appear extensively in various large-scale exhibitions, entertainment shooting and even the national military level, which is a hot spot for future social development.
  • the embodiments of the present invention provide an unmanned aerial vehicle, a voice system, and a voice interaction method that can enrich the interaction mode of the unmanned aerial vehicle and reduce the negative impact of the unmanned aerial vehicle.
  • An unmanned aerial vehicle voice system which is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle includes an aircraft body and a remote controller communicatively connected to the aircraft body.
  • the UAV voice system includes:
  • a voice processor the voice processor is provided with at least one input terminal and an output terminal, the voice processor is used to process and convert the input signal received by the input terminal to form an output signal output from the output terminal;
  • the input signal includes a preset audio segment, and the input terminal includes a first input terminal for receiving the audio segment;
  • a speaker the speaker is connected to the output terminal, and is used for playing the output signal.
  • the input signal further includes collected dynamic speech
  • the input terminal further includes a second input terminal for receiving the dynamic speech.
  • the UAV voice system further includes a filtering module, the filtering module is configured to filter and delete sensitive sentences in the dynamic voice according to a preset filtering condition.
  • the dynamic voice includes the first dynamic voice collected by the aircraft body;
  • the voice processor is also used to process the first dynamic voice and send the processed first dynamic voice to a remote control of an unmanned aerial vehicle and be played by the remote control.
  • the dynamic voice includes a second dynamic voice collected by the remote controller.
  • the UAV voice system further includes an input controller connected to the voice processor, the input controller is configured to control whether the voice processor receives the dynamic voice and/or according to user instructions The audio clip.
  • the audio segment is: an audio segment selected from a preset audio library and corresponding to the current operating state of the UAV.
  • the UAV voice system further includes a power management module; the power management module is electrically connected to the voice processor and the speaker, respectively, and is used to switch into the backup power supply when the UAV is powered off The voice processor and the speaker are powered.
  • an unmanned aerial vehicle configured to solve the above technical problems.
  • the unmanned aerial vehicle includes an aircraft body and a remote controller communicatively connected to the aircraft body, and a wireless communication connection is established between the aircraft body and the remote controller through a wireless transceiver module.
  • the UAV body includes: a memory for storing several preset audio clips to form an audio library; a main controller for configuring the audio according to the current operating state of the UAV Select an audio segment corresponding to the current operating state of the drone aircraft from the library; a voice processor connected to the main controller for processing and converting the audio segment selected by the main controller To form an output signal; and a speaker connected to the voice processor for playing the output signal.
  • the aircraft body further includes a first radio module connected to the voice processor, for collecting first dynamic voice and providing the first dynamic voice to the voice processor;
  • the voice processor is also used to process and convert the first dynamic voice collected by the first radio module, and send the processed and converted first dynamic voice to the remote controller through the wireless transceiver module and Played by the remote control.
  • the remote controller further includes a second radio module for collecting second dynamic voice and sending it to the voice processor through the wireless transceiver module;
  • the voice processor is used to process and convert the second dynamic voice collected by the second radio module to form an output signal to be played by the speaker.
  • the speech processor further includes a filtering module; the filtering module is configured to filter and delete sensitive sentences in the first dynamic speech and the second dynamic speech according to a preset filtering condition.
  • the UAV body further includes an input controller; the input controller is used to control whether the voice processor receives according to the received user instruction The first dynamic speech, the second dynamic speech, and/or the audio clip.
  • the UAV body further includes a power management module, a main power supply and a backup power supply electrically connected to the power management module;
  • the power management module is used to switch on the standby power supply to power the voice processor and the speaker when the main power supply of the aircraft body is powered off.
  • a voice interaction method for an unmanned aerial vehicle includes:
  • the first analog output signal is played through the aircraft body.
  • the method further includes: receiving a second dynamic voice collected by the remote controller;
  • the second simulation output information is played through the aircraft body.
  • the method further includes:
  • the method further includes: determining whether to receive the input signal according to the received user instruction;
  • the input signal includes an audio segment, a first dynamic voice and/or a second dynamic voice.
  • the method further includes: recognizing the content of the first dynamic voice and the second dynamic voice; determining whether the content of the first dynamic voice and the second dynamic voice contains sensitive sentences; if so, deleting the sensitive Statement.
  • the aircraft body further includes a power management module, a main power supply and a backup power supply electrically connected to the power management module, then the method further includes:
  • the power management module controls the backup power supply to power the aircraft body.
  • the unmanned aerial vehicle speech system provided by the embodiment of the present invention enriches the interaction mode between the unmanned aerial vehicle and the user, and realizes the voice interaction between the unmanned aerial vehicle and the human.
  • the safety and practicality of the UAV during use are improved, and the UAV can be applied to more usage scenarios.
  • FIG. 1 is a schematic diagram of an unmanned aerial vehicle according to an embodiment of the invention
  • FIG. 2 is a functional block diagram of an aircraft body provided by an embodiment of the present invention.
  • FIG. 3 is a functional block diagram of an aircraft body and a remote controller provided by another embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle speech system provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a voice system for an unmanned aerial vehicle according to another embodiment of the present invention.
  • FIG. 6 is a method flowchart of a voice interaction method provided by an embodiment of the present invention.
  • FIG. 7 is a flowchart of a method for a voice interaction method provided by another embodiment of the present invention.
  • FIG. 8 is a method flowchart of a voice interaction method according to another embodiment of the present invention.
  • FIG. 1 is an unmanned aerial vehicle using the unmanned aerial vehicle voice system provided by an embodiment of the present invention.
  • the UAV includes an aircraft body 10 and a remote controller 20 communicatively connected to the aircraft body 10.
  • the aircraft body 10 may be of any type, and can provide users with unmanned aerial vehicles capable of satisfying the load capacity, flight speed, and flight range required for use, including but not limited to four-axis unmanned aerial vehicles, fixed-wing aircraft, and Helicopter model, etc.
  • Figure 1 take the quadcopter unmanned aerial vehicle as an example.
  • the aircraft body 10 as a mobile vehicle may be equipped with one or more equipment modules to perform corresponding tasks (such as carrying a high-resolution camera to perform an aerial reconnaissance task).
  • FIG. 2 is a functional block diagram of an aircraft body 10 provided by an embodiment of the present invention. As shown in FIG. 2, the aircraft body 10 can be equipped with at least the following equipment modules: a memory 11, a main controller 12, a voice processor 13 and a first speaker 14.
  • equipment modules a memory 11, a main controller 12, a voice processor 13 and a first speaker 14.
  • the memory 11 may specifically use any type of non-transitory storage device, for example, SRAM. It has storage space to meet the needs of use to store data information and/or program instructions. At least one storage partition is provided on the memory 11 for storing an audio library.
  • the audio library consists of several pre-set audio clips.
  • the preset audio clip is a series of audio preset by technicians for different operating states, and is used for functions such as prompting or alarming.
  • the main controller 12 is the control core of the entire aircraft body 10, and is used to maintain the normal flight attitude of the aircraft body 10, receive control commands to adjust the course of the aircraft body 10, or control the aircraft body 10 to move up and down. Specifically, any type of central processing unit, microcontroller or similar logic processing chip can be used. In this embodiment, the main controller 12 is also used to call corresponding audio clips in the audio library according to the current operating state of the UAV.
  • the voice processor 13 is a processing system for performing one or more operations (such as control, conversion, and processing) on audio. It has at least one input terminal and at least one output terminal for receiving the input signal to be processed and outputting the processed output signal, respectively.
  • the specific operations that the voice processor 13 can perform may be determined according to actual conditions, including but not limited to conversion between digital and analog signals, power amplification, low-pass filtering, high-pass filtering, band-pass filtering, and noise cancellation.
  • the input end of the voice processor 13 is connected to the main controller 12 and is used to process and convert the audio clip selected by the main controller to form a corresponding output signal.
  • the voice processor 13 may be an independent chip circuit, which is set separately from the main controller 12. In other embodiments, the voice processor 13 can also be integrated into the main controller 12 and used as one of the function modules of the main controller 12.
  • the first speaker 14 is an electro-acoustic transducer connected to the voice processor 13 and used to play the output signal. Its installation is configured on the aircraft body 10 so that it can obtain the sound output capability.
  • the first speaker 14 can be provided with an appropriate number to obtain a sufficient sound output effect. For example, a speaker is arranged around the body of the UAV body to form a mutually compatible speaker array to obtain a better sound output effect.
  • the corresponding audio clip can be taken out from the memory 11 by the main controller 12 and processed by the voice processor 13 and provided to the first speaker 14 outward Broadcast or broadcast to achieve the effect of reminder or warning.
  • the operating state refers to the current operating condition of the UAV determined by one or more measurement standards. It can be determined by the main controller with a certain detection cycle and periodic detection.
  • “Current” refers to the result determined by the main controller in the current detection cycle.
  • the “operation state” is the main controller used to briefly describe the operation of the UAV.
  • Each operating state is a series of data sets used to indicate that the current operating conditions of the UAV meet all the standards in the set.
  • a person skilled in the art may define or define one or more operating states according to actual needs, for example, when the aircraft body 10 is in the take-off state of the take-off stage or the aircraft body 10 is in the landing state of the landing stage.
  • the main controller can take out the audio clip and broadcast to the first speaker 14 "The aircraft is about to take off, please pay attention to avoid” or during the descent or landing of the aircraft body 10,
  • the main controller takes out the corresponding audio clip and broadcasts "The aircraft is landing, please pay attention to avoidance” from the first speaker 14, or it can be played when the distance between the aircraft body 10 and obstacles (such as pedestrians) is too small.
  • the remote controller 20 is a terminal device located on the side of the operator to realize the interaction between the aircraft body 10 and the user (such as controlling the flight course of the aircraft body and controlling the camera on the aircraft body to take photos or videos). To achieve the above interaction, the remote controller 20 may be provided with one or more input/output devices, such as a display screen, buttons, touch screen, or joystick, etc., for collecting user instructions and feeding back relevant information to the user.
  • input/output devices such as a display screen, buttons, touch screen, or joystick, etc.
  • a communication connection is established between the remote controller 20 and the aircraft body 10 through a wireless communication network.
  • the remote controller 20 and the aircraft body 10 are respectively provided with wireless transceiver modules 30 corresponding to the wireless communication network to realize wireless communication connection with each other, so as to realize bidirectional data transmission between the remote controller 20 and the aircraft body 10.
  • the number of the remote controller 20 is only one, and it can only be provided to one user for use. Moreover, the remote controller is limited by requirements such as cost and volume, and cannot provide richer input/output devices.
  • the UAV vendor or a specific service provider will additionally provide the corresponding mobile application 40 for the UAV.
  • the mobile application 40 is implemented by an electronic computing platform composed of one or more servers.
  • One or more users can run the mobile application 40 through their own smart terminal device, bind or bind or register one or more aircraft bodies 10, and through the interactive interface provided by the mobile application 40, to bind or register the aircraft
  • the body 10 sends user instructions or receives data information returned by the aircraft body, and acts as a remote controller.
  • the remote controller 20 is further provided with at least one second speaker 21, and at least one aircraft body 10 is provided with at least one First radio module 15.
  • the first sound receiving module 15 is a transducing device, such as a microphone, for collecting environmental sounds or human voices around the aircraft body 10 and converting sound and electric signals.
  • a corresponding type of equipment such as a pressure microphone, a differential pressure microphone, a combined microphone, or a line microphone, may be selected and fixed at a suitable position on the aircraft body 10.
  • the second speaker 21 provided on the remote controller 20 may also be any suitable type of electroacoustic transducing device for playing sound to the user of the unmanned aerial vehicle.
  • the second speaker 21 may have the same structure as the first speaker 11 on the aircraft body 10, or different electro-acoustic conversion devices may be used depending on the environment in which the remote controller is used.
  • the first sound collecting module 15 on the aircraft body 10 collects ambient sound or human voice for a period of time as the first dynamic voice in real time.
  • first dynamic voice refers to the voice collected by the first radio module 15 and changing dynamically with time.
  • the first dynamic voice collected by the first radio module 15 is sent to the voice processor 13 for one or more audio processing steps, it is output to the wireless transceiver module 30.
  • the wireless transceiver module 30 loads it on the radio frequency signal and sends it to the remote controller 20 through the wireless communication channel.
  • the remote controller 20 plays the received dynamic voice for the user of the UAV through the second speaker 21.
  • the remote controller 20 may also be provided with a headphone jack or similar audio output interface 23, thereby allowing the user to access other external audio playback devices to play the first dynamic voice.
  • the input device of the remote controller 20 may also include a second radio module 22 for collecting the user's voice or the ambient sound around the remote controller as the second dynamic voice.
  • These second dynamic voices can also be provided to the voice processor 13 of the aircraft body 10 through the wireless transceiver module 30. After the voice processor 13 performs necessary processing and conversion operations (such as noise reduction, amplification, and filtering) on it, the first speaker 14 output to the aircraft body is converted into a sound signal for playback.
  • necessary processing and conversion operations such as noise reduction, amplification, and filtering
  • a filter module 16 may also be added to the voice processor 13 of the aircraft body.
  • the filtering module 16 is a speech recognition module for identifying and detecting words and sentences in the first dynamic speech and the second dynamic speech, and filtering and deleting the first radio module 15 or the first
  • the second radio module 22 collects the sensitive sentences in the obtained first dynamic voice and second dynamic voice, so as to prevent inappropriate voice content from being played by the speaker.
  • the preset screening conditions are formed by one or more combined conditions.
  • the standard for measuring and quantifying language content from a computer perspective can be configured by technical personnel according to actual needs.
  • the voice processor 13 has multiple channels of input signals, such as the first dynamic voice from the first radio module, The second dynamic voice from the second radio module or the audio clip from the main controller.
  • the aircraft body 10 may further include an input controller 17 for managing various input signals.
  • the input controller 17 is connected to the voice processor 13 and used to control whether the voice processor 13 receives the first dynamic voice and the second in the form of turning on/off the input terminal according to the received user instruction Dynamic voice and/or audio clips to flexibly control different input information.
  • the user can send a user instruction to the input controller 17 through the mobile application 40 or the remote controller 20 to control the opening or closing of the three voice interaction paths described in the above embodiments.
  • the user may choose to stop the interaction mode of the first dynamic voice in the interaction interface provided by the mobile application 40.
  • the input controller receives the instruction, it accordingly causes the voice processor 13 to stop receiving the first dynamic voice.
  • the input controller 17 can also adjust the relationship between the input signals according to the preset control logic stored in the memory 11. For example, when the audio clip and the second dynamic voice input are input at the same time, the input controller stops receiving dynamic voice, so that when two signals are input at the same time, the speaker is guaranteed to play the audio clip first.
  • the unmanned aerial vehicle provided by the embodiment of the present invention has voice input and voice output functions, can realize voice interaction with one or more users, and plays a role of prompting or alarming by playing sound, which expands the use of unmanned aerial vehicles and Application areas.
  • the aircraft body 10 when the aircraft body 10 is an electrically driven flight vehicle, the aircraft body 10 may further include a backup battery 18 and a power management module 19.
  • the power management module is a functional circuit for managing and distributing power supply for various electronic devices in the aircraft body 10. It can have multiple input and output terminals, access multiple power supplies and provide the working voltage required by each electronic device.
  • the electrically-driven aircraft body 10 there is at least one main power source to supply power for the entire aircraft body 10.
  • the main power supply can supply power to the electronic components (such as the main controller, voice processor, and speakers) in the aircraft body 10 through the power management module 19.
  • the backup battery 18 is relatively compact and independent of the backup power source other than the main power source. In some embodiments, as an optional component, the backup battery 18 is detachably mounted on the aircraft body 10. When the main power supply is cut off, the power management module 19 can switch into the backup power supply to power the voice processor 13 and the first speaker 14 to maintain a minimum voice output function.
  • the aircraft body 10 can maintain the voice output function when the main power supply is cut off due to some abnormal conditions (such as battery disconnection, battery failure, or serious power shortage) caused by the impact, so that the aircraft body can Be better managed.
  • some abnormal conditions such as battery disconnection, battery failure, or serious power shortage
  • Part of the functional modules of the aircraft body shown in Figures 2 and 3 can form a complete unmanned aircraft voice system and be installed in other different types of flight vehicles. As an independent system component, it is added to the unmanned aircraft. Voice input and voice output functions.
  • FIG. 4 is a schematic structural diagram of an unmanned aerial vehicle speech system provided by an embodiment of the present invention.
  • the entire UAV voice system is described in the form of functional modules. It can be understood by those skilled in the art that these functional modules may be implemented not only by the original hardware system of the unmanned aerial vehicle, but also by a newly added hardware device in the unmanned aerial vehicle.
  • the UAV voice system includes: a voice processor 410 and a speaker 420.
  • the voice processor 410 is an audio processing chip provided with at least one input terminal and an output terminal, and is used to process and convert the input signal received by the input terminal to form an output signal output from the output terminal.
  • the processing and conversion may specifically consist of one or more logical operation steps.
  • the voice processor 410 may adopt different processing and conversion methods (for example, adjusting the frequency of noise reduction filtering) to obtain an output signal that meets the requirements.
  • the voice processor 410 at least includes a first input terminal A for receiving a preset audio segment as an input signal.
  • the audio clip refers to standardized audio data with fixed content, which is written into the memory 11 by a technician in a manner such as recording speech or synthesized speech in advance.
  • the audio segment may be preset by a technician for different operating states. It can be selected from the preset audio library by the UAV control system according to the current operating state of the UAV.
  • the current operating state of the UAV is that the main controller detects and determines the operating conditions of the UAV through one or more measurement standards.
  • "Current operating state” is a classification mark used to indicate that the current operating conditions of the UAV meet all the requirements contained in this operating state.
  • the speaker 420 is an electroacoustic transducing device connected to the output terminal and used for playing the output signal. It can be driven by the voice processor 410 to play the converted and processed audio clips outward at an appropriate volume.
  • the voice processor 410 may further include a second input terminal B.
  • the second input terminal B is used to receive the collected dynamic voice as an input signal and provide it to the voice processor.
  • the dynamic voice is collected by a radio module such as a microphone in real time, and the content will change audio data. Because its content is determined by the user or the surrounding environment, it is in the process of real-time change. Therefore, it is called dynamic speech.
  • At least one filter module 430 may also be added.
  • the filtering module 430 taking the filtering module 430 independently disposed outside the voice processor as an example.
  • the filtering module 430 can also be integrated into the voice processor as part of the voice processor 410.
  • the filtering module 430 is a functional module with voice recognition and judgment capabilities. It can filter the content of the dynamic voice according to the pre-set screening conditions set by the technician, and delete the sensitive sentences therein.
  • the sensitive sentence is a voice content that is not suitable for transmission or broadcasting, such as extreme, insulting, and divisive words that violate national laws and regulations.
  • the filtering conditions are set from the perspective of the computer and can be understood by the computer. For example, a large number of basic data can be obtained through crawling and other methods, and an appropriate model can be constructed to quantify the sensitivity of language content.
  • the dynamic voice may specifically include the first dynamic voice collected by the first radio module on the UAV body 10 or the second dynamic voice collected by the second radio module on the remote controller.
  • the UAV voice system may further include an input controller 440 connected to the voice processor 410.
  • the input controller 440 is used to control whether the voice processor 410 receives the first dynamic voice, the second dynamic voice and/or a preset audio segment according to user instructions, so that the user can independently turn on or Turning off the playback of the first dynamic voice, the second dynamic voice, or the audio clip has better flexibility.
  • a complete unmanned aerial vehicle usually consists of a remote control located on the ground and an aircraft body located in the air.
  • the dynamic voice may be derived from the ambient sound collected by the aircraft body or the surrounding human voice (ie, the first dynamic voice), or the voice of the operating user collected from the remote control (ie The second dynamic voice).
  • the speech processor 410 can perform different processing and conversion operations, and output to different devices for playback, respectively.
  • the first dynamic voice represents the dynamic voice collected by the radio module of the aircraft body
  • the second dynamic voice represents the dynamic voice collected by the remote controller.
  • the first dynamic voice collected by the first radio module provided in the aircraft body is used as an input signal, and is processed by the filter module 430 and then transmitted to the voice processor 410 from the second input terminal.
  • the voice processor 410 performs analog-to-digital conversion and noise reduction filtering, it is loaded onto the radio frequency signal, and then sent to the remote control of the unmanned aerial vehicle by wireless transmission or the like for playback.
  • the second dynamic voice from the second radio module of the remote control of the UAV is also provided to the voice processor 410 through the second input terminal B of the filter module 430.
  • the voice processor 410 performs processing such as noise reduction filtering and digital-to-analog conversion to obtain an output signal, it is output from the output terminal and played by the speaker 420.
  • the aircraft voice system may further include a power management module 450.
  • the power management module 450 is respectively connected to the main power supply and the backup power supply of the UAV. Under normal circumstances, it is powered by the main power supply and can charge the backup power supply. When the main power supply is cut off due to special circumstances, the backup power supply is switched on to provide power for the entire UAV voice system.
  • the multiple input and output terminals provided by the voice processor cooperate with peripheral devices to implement at least the following three different voice interaction methods to support different scenes to be used.
  • 6 to 8 are the execution flow of the voice interaction mode respectively.
  • the voice interaction method based on the fixed audio segment includes the following steps:
  • Each situation can be used to represent the surrounding environment of the UAV or its own operating conditions. For example, the power of the aircraft body is too low, and the aircraft body is in the process of takeoff/landing.
  • one or more audio clips can be pre-set by a technician to form an audio library.
  • the voice processor may integrate a corresponding function module to process and convert it to generate an analog output signal suitable for being played by the speaker.
  • the sound of the first analog output signal played by the speaker can be heard by people located on the side of the aircraft body, so as to realize mutual voice interaction.
  • the voice interaction method shown in FIG. 6 can be used in various scenarios and achieve good technical effects. For example, when the unmanned aerial vehicle is flying or flying in an area with a large number of pedestrians, when the unmanned aerial vehicle is in the operating state of takeoff, landing, or abnormality, etc., a corresponding voice prompt is issued to remind the pedestrian to pay attention to avoidance and collision, reduce The risk of a security accident.
  • the UAV when the UAV has abnormal crashes or power loss, and the aircraft body 10 is far from the operator and exceeds the control range, it can play the prompt voice through the speaker (such as taking pictures, please do not move, etc.) To a certain deterrent or prompt function, to prevent the aircraft body from being taken away by passersby and lost.
  • the voice interaction method based on dynamic voice may include the following steps:
  • the remote controller collects the first dynamic voice generated by the user or operator in real time, and the content may change.
  • the first dynamic voice can be acquired through a built-in microphone or an external radio equipment.
  • the first dynamic voice can also be processed by the voice processor to perform noise reduction and format conversion, and then generate a corresponding second analog output signal and provide it to the speaker for playback.
  • the UAV can be expanded into a speaker that can be easily moved to play a role in many special scenarios. For example, when a problem occurs in front of a freeway or a curved winding mountain road (such as a collapse accident), which affects driving safety, rescue or firefighters can fly through the unmanned aerial vehicle to the scene of the accident for investigation, and enter the voice through the remote control to prompt the rear Vehicles pay attention to the situation ahead or issue traffic control messages.
  • a problem occurs in front of a freeway or a curved winding mountain road (such as a collapse accident)
  • rescue or firefighters can fly through the unmanned aerial vehicle to the scene of the accident for investigation, and enter the voice through the remote control to prompt the rear Vehicles pay attention to the situation ahead or issue traffic control messages.
  • unmanned aerial vehicles at the intersection of people flow.
  • Relevant organization personnel spoke broadcast traffic guidance or event notification information on the remote control side, and broadcast it to people through unmanned aerial vehicles to better facilitate the management and control of people flow and avoid the occurrence of safety accidents.
  • the dynamic voice-based voice interaction method may also be the reverse process shown in FIG. 7, including the following steps:
  • the second dynamic voice can be collected by an additional microphone or other radio equipment on the aircraft body, which is sound information located on the side of the aircraft body.
  • the second dynamic voice collected and processed or converted (such as analog-to-digital conversion, noise reduction filter, etc.) by the voice processor can be loaded on the radio frequency signal, sent to the remote controller through wireless communication and played .
  • Such a voice interaction mode can enable the operator on the remote control side to learn the environmental status or personnel status on the UAV side by voice.
  • the unmanned aerial vehicle can play a high-quality maneuverability, enter the accident or disaster scene, and collect the voice information of the personnel (such as the scene) Description, required help, etc.) and feedback to the rescuer located at the end of the remote control to facilitate the rescue work.
  • FIGS. 7 and 8 can also be used in combination to achieve voice communication and communication between the remote control side and the UAV side.
  • the user or operator may send one or more control instructions through a remote control or a corresponding mobile application.
  • the voice interaction system determines whether to receive the input signal according to the control instruction.
  • the input signal includes an audio segment, a first dynamic voice and/or a second dynamic voice.
  • the three voice interaction functions can be selectively turned off, turned on or partially turned off by receiving and controlling the input signal.
  • the voice processor in order to prevent unmanned aerial vehicles from spreading bad voice content, before the dynamic voice is played by the speaker, the voice processor first recognizes the sentences of the first dynamic voice and the second dynamic voice. Then, according to the preset filtering conditions, it is determined whether the sentences of the first dynamic speech and the second dynamic speech are sensitive sentences. Finally, the sensitive sentence is deleted and then provided to the speaker for playback.
  • the “deletion” refers to a process of avoiding sensitive sentences from being played. Specifically, it can be implemented in any form, such as eliminating the audio signal corresponding to the sensitive sentence or adding a background sound to the audio signal corresponding to the sensitive sentence to cover the original audio signal.
  • the voice interaction system provided by the embodiments of the present invention enriches the interaction mode of the unmanned aerial vehicle, and adds voice input/output functions to the unmanned aerial vehicle.
  • voice interaction expands the application scenarios of the UAV, and improves the safety and usability when using the UAV.

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Abstract

一种无人飞行器、其语音系统及语音交互方法。该语音系统应用于无人飞行器，无人飞行器包括飞行器本体和与飞行器本体通信连接的遥控器，包括：语音处理器（410），该语音处理器（410）设置有至少一个输入端和输出端，用于处理和转换由输入端接收的输入信号，形成从输出端输出的输出信号；该输入端包括用于接收预先设定的音频片段作为输入信号的第一输入端（A）；扬声器（420），该扬声器（420）与输出端连接，用于播放输出信号。该方法丰富了无人飞行器与用户之间的交互方式，实现无人飞行器与人之间的语音交互。

Description

无人飞行器、其语音系统及语音交互方法 【技术领域】
本发明涉及无人飞行器技术领域，尤其涉及一种无人飞行器、其语音系统及语音交互方法。
【背景技术】
随着社会科技的不断发展，无人飞行器因其结构小巧、操作灵活，部署便捷等优势而备受青睐，在越来越多的场合或者领域中得到应用。各式各样的无人飞行器开始广泛的出现在各个大型展会、娱乐拍摄甚至国家军事层面上，是未来社会发展的热点。
伴随着无人飞行器的快速发展，功能越来越强大，数量越来越多的无人飞行器也造成了一系列的负面影响，例如飞行速度快，重量大的无人飞行器对于地面物体(如行人)会造成一定的安全隐患，无人飞行器的遗失和管控问题等。如何通过对无人飞行器的进一步改进，以降低无人飞行器的负面影响是一个迫切需要解决的问题。
【发明内容】
为了解决上述技术问题，本发明实施例提供一种可以丰富无人飞行器交互方式，降低无人飞行器负面影响的无人飞行器、其语音系统及语音交互方法。
为解决上述技术问题，本发明实施例提供以下技术方案：一种无人飞行器语音系统，应用于无人飞行器，所述无人飞行器包括飞行器本体和与所述飞行器本体通信连接的遥控器。该无人飞行器语音系统包括：
语音处理器，所述语音处理器设置有至少一个输入端和输出端，所述语音处理器用于处理和转换由所述输入端接收的输入信号，形成从所述输出端输出的输出信号；所述输入信号包括预先设定的音频片段，所述输入端包括用于接收所述音频片段的第一输入端；
扬声器，所述扬声器与所述输出端连接，用于播放所述输出信号。
可选地，所述输入信号还包括采集获得的动态语音，所述输入端还包括用于接收所述动态语音的第二输入端。
可选地，所述无人飞行器语音系统还包括过滤模块，所述过滤模块用于根据预设的筛选条件，过滤删除所述动态语音中的敏感语句。
可选地，所述动态语音包括由飞行器本体采集获得的第一动态语音；
所述语音处理器还用于处理所述第一动态语音并将处理后的所述第一动态语音发送至无人飞行器的遥控器并由所述遥控器播放。
可选地，所述动态语音包括由所述遥控器采集获得的第二动态语音。
可选地，所述无人飞行器语音系统还包括与所述语音处理器连接的输入控制器，所述输入控制器用于根据用户指令，控制所述语音处理器是否接收所述动态语音和/或所述音频片段。
可选地，所述音频片段为：从预先设定的音频库中选取的，与无人飞行器当前的运行状态对应的音频片段。
可选地，所述无人飞行器语音系统还包括电源管理模块；所述电源管理模块分别与所述语音处理器和所述扬声器电连接，用于在无人飞行器断电时，切入后备电源为所述语音处理器和所述扬声器供电。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人飞行器。
该无人飞行器包括包括飞行器本体以及与所述飞行器本体通信连接的遥控器，所述飞行器本体与遥控器之间通过无线收发模块建立无线通信连接。
其中，所述无人飞行器本体包括：存储器，用于存储若干个预先设定的音频片段，以形成音频库；主控制器，用于根据所述无人飞行器当前的运行状态，在所述音频库中选取与所述无人机飞行器当前的运行状态对应的音频片段；语音处理器，所述语音处理器与所述主控制器连接，用于处理和转换所述主控制器选取的音频片段，以形成输出信号；以及扬声器，所述扬声器与所述语音处理器连接，用于播放所述输出信号。
可选地，所述飞行器本体还包括与所述语音处理器连接的第一收音模块，用于采集第一动态语音并向所述语音处理器提供所述第一动态语音；
所述语音处理器还用于处理和转换所述第一收音模块采集的第一动态语音，并通过所述无线收发模块将处理和转换后的所述第一动态语音发送至所述遥控器并由所述遥控器播放。
可选地，所述遥控器还包括第二收音模块，用于采集第二动态语音并通过所述无线收发模块发送至所述语音处理器；
所述语音处理器用于处理和转换所述第二收音模块采集的第二动态语音，以形成输出信号由所述扬声器播放。
可选地，所述语音处理器还包括过滤模块；所述过滤模块用于根据预设的筛选条件，过滤删除所述第一动态语音和所述第二动态语音中的敏感语句。
可选地，所述无人飞行器本体还包括输入控制器；所述输入控制器用于根据接收到的用户指令，所述输入控制器用于根据接收到的用户指令，控制所述语音处理器是否接收所述第一动态语音、所述第二动态语音和/或所述音频片段。
可选地，所述无人飞行器本体还包括电源管理模块、与所述电源管理模块电连接的主电源和备用电源；
所述电源管理模块用于在飞行器本体的主电源断电时，切入所述备用电源为所述语音处理器和所述扬声器供电。
为解决上述技术问题，本发明实施例还提供以下技术方案：一种无人飞行器的语音交互方法。所述语音交互方法包括：
根据无人飞行器当前的运行状态，在预先设定的音频库中选取对应的音频片段；
转换和处理所述选取的音频片段，生成对应的第一模拟输出信号；
通过所述飞行器本体播放所述第一模拟输出信号。
可选地，所述方法还包括：接收由所述遥控器采集获得的第二动态语音；
转换和处理所述第一动态语音，生成对应的第二模拟输出信号；
通过所述飞行器本体播放所述第二模拟输出信息。
可选地，所述方法还包括：
接收由所述飞行器本体采集获得的第一动态语音；
转换和处理所述第一动态语音；
将所述转换和处理后的第一动态语音发送至所述遥控器进行播放。
可选地，所述方法还包括：根据接收的用户指令，确定是否接收输入信号；
所述输入信号包括音频片段、第一动态语音和/或第二动态语音。
可选地，所述方法还包括：识别所述第一动态语音和第二动态语音的内容；判断所述第一动态语音和第二动态语音的内容是否包含敏感语句；若是，删除所述敏感语句。
可选地，所述飞行器本体还包括电源管理模块、与所述电源管理模块电连接的主电源和备用电源，则该方法还包括：
判断所述主电源是否断电；若是，则所述电源管理模块控制所述备用电源为所述飞行器本体供电。
与现有技术相比较，本发明实施例提供的无人飞行器语音系统丰富了无人飞行器与用户之间的交互方式，实现无人飞行器与人之间的语音交互。由此提高了无人飞行器在使用过程中的安全性和实用性，令无人飞行器可以应用于更多的使用场景。
【附图说明】
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明实施例的无人飞行器的示意图；
图2为本发明实施例提供的飞行器本体的功能框图；
图3为本发明另一实施例提供的飞行器本体和遥控器的功能框图；
图4为本发明实施例提供的无人飞行器语音系统的结构示意图；
图5为本发明另一实施例提供的无人飞行器语音系统的结构示意图；
图6为本发明实施例提供的语音交互方法的方法流程图；
图7为本发明另一实施例提供的语音交互方法的方法流程图；
图8为本发明又一实施例提供的语音交互方法的方法流程图。
【具体实施方式】
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本说明书中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
本发明实施例提供的无人飞行器语音系统用于为无人飞行器提供语音输入和语音输出的功能，据此实现无人飞行器与周边的人或者用户之间的语音交互，使其能够满足更多不同使用场景的需求。图1为本发明实施例提供的应用该无人飞行器语音系统的无人飞行器。
如图1所示，该无人飞行器包括飞行器本体10以及与所述飞行器本体10通信连接的遥控器20。
其中，该飞行器本体10可以是以任何类型，能够为用户提供满足使用需要的载重能力、飞行速度以及飞行续航里程的无人飞行载具，包括但不限于四轴无人飞行器、固定翼飞行器以及直升机模型等。在图1中，以四轴无人飞行器为例。
所述飞行器本体10其作为一个移动载具，可以搭载有一种或者多种设备模组，以执行相应的任务(如搭载高分辨率相机执行航拍侦查任务)。
图2为本发明实施例提供的飞行器本体10的功能框图。如图2所示，该飞行器本体10至少可以搭载有如下的设备模组：存储器11，主控制器12，语音处理器13以及第一扬声器14。
其中，所述存储器11具体可以采用任何类型的非易性存储设备，例如，SRAM等。其具备满足使用需要的存储空间以存储数据信息和/或程序指令。所述存储器11上设置有至少一个存储分区，用于存储音频库。
该音频库由若干个预先设定的音频片段所组成。该预先设定的音频片段是由技术人员针对不同的运行状态所预先设定的一系列音频，用于发挥提示或者报警等作用。
所述主控制器12是整个飞行器本体10的控制核心，用于保持飞行器本体10正常的飞行姿态、接收控制指令调整飞行器本体10的航向或者控制飞行器本体10升降等功能。其具体可以采用任何类型的中央处理器、微控制器或者类似的逻辑处理芯片。在本实施例中，所述主控制器12还用于根据无人飞行器当前的运行状态，在所述音频库中调用对应的音频片段。
语音处理器13是用于对音频进行一种或者多种操作(如控制、转换以及处理)的处理系统。其至少具有一个输入端和至少一个输出端，分别用于接收待处理的输入信号和输出处理后的输出信号。
所述语音处理器13具体可以执行的操作可以根据实际情况所决定，包括但不限于数字信号与模拟信号之间的转换、功率放大、低通滤波、高通滤波、带通滤波以及噪声消除等。在本实施例中，所述语音处理器13的输入端与所述主控制器12连接，用于对所述主控制器选取的音频片段进行处理和转换，形成对应的输出信号。
在一些实施例中，该语音处理器13可以作为独立的芯片电路，与所述主控制器12分立设置。在另一些实施例中，该语音处理器13也可以整合到主控制器12内，作为主控制器12的其中一个功能模块使用。
第一扬声器14是与所述语音处理器13连接，用于播放所述输出信号的电声换能器件。其安装配置在飞行器本体10上，使其获得声音输出的能力。该第一扬声器14可以设置合适的数量以获得足够的声音输出效果，例如围绕无人飞行器本体的四周设置扬声器，形成相互配合的扬声器阵列以获得更好的声音输出效果。
在实际使用过程中，检测确定无人飞行器当前的运行状态以后，可以由主控制器12从存储器11中取出对应的音频片段，通过语音处理器13的处理后，提供给第一扬声器14向外广播或者播放，以达到提醒或者警示等效果。
该运行状态是指通过一种或者多种衡量标准而确定的无人飞行器当前的运行情况。其可以由主控制器以一定的检测周期，周期性检测而确定。
“当前”是指主控制器在本次检测周期内检测确定的结果。而“运行状态”是主控制器用于简单描述无人飞行器的运行情况的标识。
每一种运行状态都是一系列数据集合，用于表明无人飞行器当前的运行情况符合该集合中的所有标准。
本领域技术人员可以根据实际情况的需要来划定或者定义一个或者多个运行状态，例如当飞行器本体10处于起飞阶段的起飞状态或者飞行器本体10处于降落阶段的降落状态等。
通过这样的方式，在飞行器本体10起飞过程中，主控制器可以取出音频片段，通过第一扬声器14向外广播“飞机即将起飞，请注意避让”或者是在飞行器本体10下降或者降落过程中，主控制器取出对应的音频片段，由第一扬声器14向外广播“飞机正在降落，请注意避让”，还可以是在飞行器本体10与障碍物(如行人)之间的距离过小时，播放“飞机正在接近，请注意”等类似的语音。
请继续参阅图1，遥控器20是位于操作者一侧，实现飞行器本体10与用户之间交互行为(如控制飞行器本体的飞行航向和控制飞行器本体上的摄像机拍摄照片或者视频)的终端设备。为实现上述的交互行为，该遥控器20可以设置有一个或者多个输入/输出设备，例如显示屏、按键、触控屏幕或者摇杆等，分别用于采集用户指令并向用户反馈相关信息。
遥控器20与飞行器本体10之间通过无线通信网络建立通信连接。遥控器20与飞行器本体10分别设置有与无线通信网络相对应的无线收发模块30来实现与对方的无线通信连接，以此实现遥控器20与飞行器本体10之间的双向数据传输。
通常遥控器20的数量仅为一个，只能够提供给一个用户进行使用。而且遥控器受限于成本和体积等要求，无法提供更为丰富的输入/输出设备。
因此，在较佳的实施例中，除了遥控器20以外，无人飞行器的供应商或 者特定的服务供应商会为无人飞行器额外提供对应的移动应用40。该移动应用40由一个或者多个服务器组建的电子计算平台实现。
一个或者多个用户可以通过自己的智能终端设备运行该移动应用40，绑定或者绑定或者注册一个或者多个飞行器本体10，并且通过移动应用40提供的交互界面，向已经绑定或者注册飞行器本体10发送用户指令或者接收飞行器本体返回的数据信息，担任遥控器的角色。
为了进一步丰富飞行器本体与实际使用用户之间的语音交互，在一些实施例中，如图3所示，该遥控器20还至少设置有一个第二扬声器21，并且飞行器本体10上至少设置有一个第一收音模块15。
该第一收音模块15是用于采集飞行器本体10周边的环境音或者人声，实现声音和电信号转换的换能设备，例如麦克风。其具体可以根据实际情况的需要，选用对应类型的设备，如压强式麦克风、压差式麦克风、组合式麦克风或者线列式麦克风，固定设置在飞行器本体10合适的位置上。
遥控器20上设置的第二扬声器21也可以是任何合适类型的电声换能器件，用于向无人飞行器的使用者播放声音。该第二扬声器21可以采用与飞行器本体10上的第一扬声器11相同的结构，也可以因应遥控器使用环境的不同而使用不同电声转换设备。
在实际使用过程中，由飞行器本体10上的第一收音模块15来实时采集一段时间内的环境音或者人声作为第一动态语音。在此，以“第一动态语音”这样的术语表示由第一收音模块15采集得到的，随时间动态变化的语音。
由第一收音模块15采集得到第一动态语音发送到语音处理器13进行一个或者多个音频处理步骤以后，输出至无线收发模块30。无线收发模块30将其加载在射频信号上，通过无线通信信道发送至遥控器20。遥控器20接收到该第一动态语音以后，通过第二扬声器21为无人飞行器的使用者播放接收到的动态语音。
具体的，除了第二扬声器21以外，遥控器20还可以设置有耳机插孔等类似的音频输出接口23，从而允许使用者接入其它的外部音频播放设备来播放该第一动态语音。
在另一些实施例中，遥控器20的输入设备也可以包括第二收音模块22用于采集使用者的语音或者遥控器周围的环境音，作为第二动态语音。
这些第二动态语音同样可以通过无线收发模块30提供至飞行器本体10的语音处理器13。在语音处理器13对其进行必要的处理和转换操作(如降噪、放大和滤波)后，输出至飞行器本体上的第一扬声器14转换为声音信号播放。
请继续参阅图2，由于第一收音模块15或者第二收音模块22采集获得的音频信息是实况信息。其具体的语音内容是随机并且可变动的，可能存在部分不适宜或者违反法律规定的语音内容(如极端性、敏感性或者分裂，有害民族团结等的词句)。因此，在一些实施例中，还可以在飞行器本体的语音处理器13中增设过滤模块16。
其中，所述过滤模块16是一个语音识别模块，用于识别检测第一动态语音和第二动态语音中的词句，并根据预设的筛选条件，过滤删除分别所述第一收音模块15或者第二收音模块22采集获得的第一动态语音和第二动态语音中的敏感语句，从而避免不适当的语音内容被扬声器播放。
该预设的筛选条件是一个或者多个组合条件形成的，在计算机角度上衡量和量化语言内容的标准，具体可以由技术人员根据实际情况的需要进行配置。
另外，如图3所示，当遥控器20和/或飞行器本体10上设置有收音模块时，该语音处理器13具有多个途径的输入信号，如来自第一收音模块的第一动态语音、来自第二收音模块的第二动态语音或者来自主控制器的音频片段。为保证对语音输入/输出的灵活控制，在一些实施例中，所述飞行器本体10还可以包括一个用于对多种输入信号进行管理的输入控制器17。
该输入控制器17与所述语音处理器13连接，用于根据接收到的用户指令，以开启/关闭输入端等形式，控制所述语音处理器13是否接收所述第一动态语音、第二动态语音和/或音频片段，从而灵活的管控不同的输入信息。
在实际使用过程中，用户可以通过移动应用40或者遥控器20向输入控制器17发送用户指令，以控制上述实施例中记载的三种语音交互途径的开启或关闭。例如，用户可以在移动应用40提供的交互界面中，选择停止第一动态语音的交互方式。当输入控制器接收到该指令时，便相应的使语音处理器13停止接收所述第一动态语音。
当然，输入控制器17也可以依据存储在存储器11内，预设的控制逻辑来调整输入信号之间的关系。例如，输入控制器在同时有音频片段和第二动 态语音输入时，停止接收动态语音，从而在两个信号同时输入时，保证扬声器优先播放音频片段。
本发明实施例提供的无人飞行器具备语音输入和语音输出功能，可以与一个或者多个用户之间实现语音交互并通过播放声音起到提示或者报警等的作用，拓展了无人飞行器的用途和应用领域。
当然，本领域技术人员还可以根据不同的应用场景，为所述无人飞行器添加或者减省一个或者多个功能模组，与语音输入/输出功能相互配合。如图3所示，当飞行器本体10为电力驱动的飞行载具时，该飞行器本体10还可以包括备用电池18以及电源管理模块19。
其中，所述电源管理模块是用于为飞行器本体10内各个电子器件管理和分配供电的功能电路。其可以具有多个输入和输出端，接入多个电源并提供各个电子器件所需要的工作电压。
在电力驱动的飞行器本体10中，具有至少一个主电源作为整个飞行器本体10供电。主电源可以通过电源管理模块19为飞行器本体10内的电子元件(如主控制器、语音处理器以及扬声器等)供电。
所述备用电池18是体积较为小巧的，独立于主电源之外的后备电源。在一些实施例中，作为选配组件，该备用电池18采用可拆卸的方法安装在所述飞行器本体10上。当主电源断电时，电源管理模块19可以切入所述后备电源为所述语音处理器13和第一扬声器14供电以保持最低限度的语音输出功能。
通过额外设置的备用电池，可以在飞行器本体10出现某些异常情况(如出现撞击导致电池脱离，电池故障或者电量严重不足)导致主电源断电的情况下，保持语音输出功能以使得飞行器本体可以被更好的管理。
图2和图3所示的飞行器本体的部分功能模块可以组成一个完整的无人飞行器语音系统而安装应用于其它不同的类型的飞行载具中，作为一个独立的系统组件，为无人飞行器增加语音输入和语音输出的功能。
图4为本发明实施例提供的无人飞行器语音系统的结构示意图。在图4中仅以功能模块的形式对整个无人飞行器语音系统进行描述。本领域技术人员可以理解的是，这些功能模块可以既可以由无人飞行器原有的硬件系统所实现，也可以通过在无人飞行器中新加入的硬件设备实现。
如图4所示，该无人飞行器语音系统包括：语音处理器410以及扬声器420。
所述语音处理器410是设置有至少一个输入端和输出端的音频处理芯片，用于处理和转换由所述输入端接收的输入信号，形成从所述输出端输出的输出信号。
该处理和转换具体可以由一个或者多个逻辑运算步骤组成。针对不同的输入信号或者处理要求，语音处理器410可以采用不同的处理和转换方式(例如调整降噪滤波的频率)，获得符合要求的输出信号。
其中，所述语音处理器410至少包括一个用于接收预先设定的音频片段作为输入信号的第一输入端A。该音频片段是指内容固定的标准化音频数据，由技术人员以录制语音或者合成语音等方式预先写入到存储器11中存储。
具体的，该音频片段可以是技术人员针对不同运行状态所预先设置。其可以由无人飞行器控制系统根据无人飞行器当前的运行状态，在预先设定的音频库中选取。
无人飞行器当前的运行状态是主控制器在通过一种或者多种衡量标准，检测确定的无人飞行器的运行情况。“当前的运行状态”是一种分类标识，用于表示无人飞行器目前的运行情况符合该运行状态中包含的所有要求。
所述扬声器420是与所述输出端连接，用于播放所述输出信号的电声换能设备。其可以由语音处理器410所驱动，以合适的音量向外播放进行转换和处理后的音频片段。
为了进一步丰富语音交互的方式，如图4所示，所述语音处理器410还可以包括第二输入端B。该第二输入端B用于接收采集获得的动态语音作为输入信号提供给所述语音处理器。
所述动态语音是由麦克风等收音模块实时采集的，内容会出现变化的音频数据。由于其内容由用户或者周边环境所决定，处于实时变化的过程。因此，称其为动态语音。
由于动态语音的内容总是不确定的，可能会出现不合适或者不适当的内容。为避免这样的情况，在较佳实施例中，如图5所示，还可以增设至少一个过滤模块430。在图5中，以所述过滤模块430独立设置在所述语音处理器之外为例。当然，本领域技术人员可以理解的是，所述过滤模块430还可以 整合在所述语音处理器之内，作为语音处理器410的其中一部分。
该过滤模块430为具备语音识别和判断能力的功能模块，可以根据技术人员预先设定好的筛选条件，对动态语音的内容进行过滤，删除其中的敏感语句。
该敏感语句是不适宜传播或者广播的语音内容，例如极端性、侮辱性、分裂性等违反国家法律规定的词句。筛选条件是在计算机角度设置，可以被计算机理解的词语内容判断标准。例如，可以通过爬虫抓取等方式，获取大量的基础数据后，构建合适的模型来量化语言内容的敏感程度。
具体的，该动态语音具体可以包括通过无人飞行器本体10上的第一收音模块采集获得的第一动态语音或者通过遥控器上的第二收音模块采集获得的第二动态语音。
在另一些实施例中，如图5所示，所述无人飞行器语音系统还可以包括与所述语音处理器410连接的输入控制器440。
所述输入控制器440用于根据用户指令，控制所述语音处理器410是否接收所述第一动态语音、第二动态语音和/或预先设定的音频片段，从而使得用户可以独立的开启或者关闭第一动态语音、第二动态语音或者音频片段的播放，具有更好的灵活性。
另外，完整的无人飞行器通常由位于地面的遥控器和位于空中的飞行器本体所组成。为满足更多的使用场景，所述动态语音既可以来源于飞行器本体采集的环境音或者周边的人声(即第一动态语音)，也可以来源于遥控器一端采集的操作用户的声音(即第二动态语音)。
对于不同来源的动态语音，语音处理器410可以执行不同的处理和转化操作，分别输出至不同的设备进行播放。为便于陈述和区分不同来源的动态语音。在此以第一动态语音表示飞行器本体的收音模块采集的动态语音，以第二动态语音表示遥控器采集的动态语音。
请继续参阅图5，设置在飞行器本体的第一收音模块采集获得的第一动态语音作为输入信号，经过过滤模块430的处理后，由第二输入端传输至语音处理器410中。语音处理器410进行模数转换、降噪滤波等处理以后，加载到射频信号上，通过无线传输等方式发送至无人飞行器的遥控器中进行播放。
而来自无人飞行器的遥控器的第二收音模块的第二动态语音同样也通过 过滤模块430第二输入端B提供至语音处理器410中。语音处理器410进行降噪滤波、数模转换等处理获得输出信号以后，从输出端输出并被扬声器420所播放。
为了提供一定的供电冗余，在一些实施例中，如图5所示，该飞行器语音系统还可以包括电源管理模块450。
所述电源管理模块450分别与无人飞行器飞行器的主电源和后备电源连接。在正常情况下，通过主电源供电并可以为后备电源充电。而特殊情况导致主电源断电时，则切入后备电源为整个无人飞行器语音系统供电。
应当说明的是，虽然在本发明实施例中，仅使用了功能性命名和描述的方式，对无人飞行器语音交互系统进行描述(如语音处理器410、过滤模块430以及输入控制器440)。但是，本领域技术人员可以根据实际情况的需要(如功耗、芯片面积成本，电路实现难度等)，对每个特定的应用来使用不同方法来实现所描述的功能，例如选择使用硬件、软件或者软硬件结合的方式来实现本发明实施例揭露的无人飞行器语音交互系统的一种或者多种功能，这种实现不应认为超出本发明的范围。在已知所需要执行的功能的前提下，用于实现这些功能的硬件电路结合或者软件程序均为本领域技术人员所熟知。
在图5所示的整个无人飞行器语音系统的运行过程中，该语音处理器提供的多个输入和输出端与外围设备的配合，可以实现至少如下三种不同的语音交互方式以支持不同的使用场景。图6至图8分别为所述语音交互方式的执行流程。
其中，如图6所示，基于固定音频片段的语音交互方法包括如下步骤：
601、根据无人飞行器当前的运行状态，在预先设定的音频库中选取对应的音频片段。
该运行状态通过一系列判断条件或者衡量标准划分的一个或者多个情形。每个情形可以用于表示无人飞行器的周边环境或者自身的运行情况。例如飞行器本体的电量过低、飞行器本体正处于起飞/降落过程等。
根据不同运行状态的特点，可以由技术人员预先设置一个或者多个音频片段并组成一个音频库。
602、转换和处理所述选取的音频片段，生成对应的第一模拟输出信号。
惯常的预先设置和存储的音频片段为了满足便于存储等要求，可能会采 用特定的编码格式或数据格式。此时，语音处理器可以整合有相应的功能模块，对其进行处理和转换，生成适于被扬声器播放的模拟输出信号。
603、通过飞行器本体上的扬声器，播放所述第一模拟输出信号。
该第一模拟输出信号被扬声器播放的声音可以被位于飞行器本体一侧的人所听到，实现相互之间的语音交互。
图6所示的语音交互方法可以在多种场景下使用并实现良好的技术效果。例如，当无人飞行器在行人较多的区域中放飞或者飞行时，当无人飞行器分别处于起飞、降落或者出现异常等运行状态时，发出对应的语音提示，提醒行人注意避让和避免碰撞，降低了安全事故发生的风险。
或者是在无人飞行器出现异常坠机或者断电丢失等问题，飞行器本体10远离操作者而超出控制范围时，可以相应的通过扬声器播放提示语音(如正在拍照中，请勿移动等)，起到一定的震慑或者提示作用，避免飞行器本体被路人检走而丢失。
在一些实施例中，如图7所示，基于动态语音的语音交互方法可以包括如下步骤：
701、接收由遥控器采集获得的第一动态语音。
所述遥控器采集的是用户或者操作者实时生成的，内容可以发生变化的第一动态语音。该第一动态语音可以通过内置的麦克风或者外置的收音设备采集获得。
702、转换和处理所述第一动态语音，生成对应的第二模拟输出信号。
同样的，第一动态语音也可以由语音处理器进行降噪、格式转换等处理以后，生成对应的第二模拟输出信号提供给扬声器进行播放。
703、通过飞行器本体上的扬声器，播放所述第二模拟输出信号。
通过这样的语音交互方式，可以将无人飞行器扩展为一个可便捷移动的扬声器，在许多特殊的场景下发挥作用。例如，在高速公路或者弯曲的盘山公路前方出现问题(如坍塌事故)，影响行车安全时，救援或者消防人员可以通过无人飞行器飞临事故现场进行勘查后，并且通过遥控器输入语音，提示后方车辆注意前方状况或者发布交通管制消息等。
或者是，在某些大型活动现场，将无人飞行器部署在人流交汇节点。相关的组织人员在遥控器一端说出广播交通指引或者活动通知信息，通过无人 飞行器向人们广播里以更好的便于实现人流管理和控制，避免安全事故的发生。
在另一些实施例中，如图8所示，基于动态语音的语音交互方法还可以是图7所示的反向过程，包括如下步骤：
801、接收由飞行器本体采集获得的第二动态语音。
第二动态语音可以由飞行器本体上额外增设的麦克风等收音设备采集获得，是位于飞行器本体一侧的声音信息。
802、转换和处理后所述第二动态语音。
803、通过无线通信发送转换和处理后的第二动态语音至遥控器。
同样地，采集获得第二动态语音通过语音处理器进行合适或者必要的处理和转换后(例如模数转换、降噪滤波等)，可以加载在射频信号上，通过无线通信发送给遥控器并播放。
这样的语音交互方式可以使遥控器一侧的操作者也能够以语音的方式，获知无人飞行器一侧的环境状态或者人员状况。例如，在某些救援人员无法快速进入或者及时赶到的事故或者灾害现场时，可以由无人飞行器发挥机动性的优质，进入到事故或者灾害现场中，采集现场人员的语音信息(例如现场情况的描述，所需要的帮助等)并反馈传递到位于遥控器一端的救援人员处，以便于救援工作的开展。
当然，图7和图8所示的语音交互方法还可以结合使用，实现遥控器端和无人飞行器端之间的语音沟通和交流。
除图6至图8所示的三种基础的语音交互功能以外。在整个语音交互的过程中，还可以提供更多的功能以满足使用需要。
在一些实施例中，用户或者操作者可以通过遥控器或者对应的移动应用发送一个或者多个控制指令。语音交互系统根据所述控制指令，确定是否接收输入信号。所述输入信号包括音频片段、第一动态语音和/或第二动态语音。通过对输入信号的接收控制以选择性的关闭、开启或者部分关闭三种语音交互功能。
在另一些实施例中，为了避免无人飞行器传播不良语音内容，在动态语音被扬声器播放之前，所述语音处理器首先识别所述第一动态语音和第二动态语音的语句。然后，根据预设的筛选条件，确定所述第一动态语音和第二 动态语音的语句是否为敏感语句。最后，删除所述敏感语句后才提供给扬声器播放。
该“删除”是指避免敏感语句被播放的处理过程。其具体可以采用任何的形式来实现，例如消灭敏感语句对应的音频信号或者在敏感语句对应的音频信号上加上背景音以覆盖原有的音频信号等。
综上所述，本发明实施例提供的语音交互系统丰富了无人飞行器的交互方式，为无人飞行器增加了语音输入/输出功能。这样的语音交互拓展了无人飞行器的应用场景，并提高了使用无人飞行器时的安全性和使用性。
以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (20)

  1. 一种无人飞行器语音系统，应用于无人飞行器，所述无人飞行器包括飞行器本体和与所述飞行器本体通信连接的遥控器，其特征在于，包括：
    语音处理器，所述语音处理器设置有至少一个输入端和输出端，所述语音处理器用于处理和转换由所述输入端接收的输入信号，形成从所述输出端输出的输出信号；所述输入信号包括预先设定的音频片段，所述输入端包括用于接收所述音频片段的第一输入端；
    扬声器，所述扬声器与所述输出端连接，用于播放所述输出信号。
  2. 根据权利要求1所述的无人飞行器语音系统，其特征在于，所述输入信号还包括采集获得的动态语音，所述输入端还包括用于接收所述动态语音的第二输入端。
  3. 根据权利要求2所述的无人飞行器语音系统，其特征在于，所述无人飞行器语音系统还包括过滤模块，所述过滤模块用于根据预设的筛选条件，过滤删除所述动态语音中的敏感语句。
  4. 根据权利要求2所述的无人飞行器语音系统，其特征在于，所述动态语音包括由所述飞行器本体采集获得的第一动态语音；
    所述语音处理器还用于处理所述第一动态语音并将处理后的所述第一动态语音发送至所述遥控器并由所述遥控器播放。
  5. 根据权利要求2所述的无人飞行器语音系统，其特征在于，所述动态语音包括由所述遥控器采集获得的第二动态语音。
  6. 根据权利要求2所述的无人飞行器语音系统，其特征在于，所述无人飞行器语音系统还包括与所述语音处理器连接的输入控制器，所述输入控制器用于根据用户指令，控制所述语音处理器是否接收所述动态语音和/或所述音频片段。
  7. 根据权利要求1-6中任一项所述的无人飞行器语音系统，其特征在于，所述音频片段为：从预先设定的音频库中选取的，与无人飞行器当前的运行状态对应的音频片段。
  8. 根据权利要求1-7中任一项所述的无人飞行器语音系统，其特征在于， 所述无人飞行器语音系统还包括电源管理模块；
    所述电源管理模块分别与所述语音处理器和所述扬声器电连接，用于在无人飞行器断电时，切入后备电源为所述语音处理器和所述扬声器供电。
  9. 一种无人飞行器，包括飞行器本体以及与所述飞行器本体通信连接的遥控器，所述飞行器本体与遥控器之间通过无线收发模块建立无线通信连接，其特征在于，所述飞行器本体包括：
    存储器，用于存储若干个预先设定的音频片段，以形成音频库；
    主控制器，用于根据所述无人飞行器当前的运行状态，在所述音频库中选取与所述无人机飞行器当前的运行状态对应的音频片段；
    语音处理器，所述语音处理器与所述主控制器连接，用于处理和转换所述主控制器选取的音频片段，以形成输出信号；以及
    扬声器，所述扬声器与所述语音处理器连接，用于播放所述输出信号。
  10. 根据权利要求9所述的无人飞行器，其特征在于，所述飞行器本体还包括与所述语音处理器连接的第一收音模块，用于采集第一动态语音并向所述语音处理器提供所述第一动态语音；
    所述语音处理器还用于处理和转换所述第一收音模块采集的第一动态语音，并通过所述无线收发模块将处理和转换后的所述第一动态语音发送至所述遥控器并由所述遥控器播放。
  11. 根据权利要求9所述的无人飞行器，其特征在于，所述遥控器还包括第二收音模块，用于采集第二动态语音并通过所述无线收发模块发送至所述语音处理器；
    所述语音处理器用于处理和转换所述第二收音模块采集的第二动态语音，以形成输出信号由所述扬声器播放。
  12. 根据权利要求10或11所述的无人飞行器，其特征在于，所述语音处理器还包括过滤模块；所述过滤模块用于根据预设的筛选条件，过滤删除所述第一动态语音和所述第二动态语音中的敏感语句。
  13. 根据权利要求10或11所述的无人飞行器，其特征在于，所述飞行器本体还包括输入控制器；
    所述输入控制器用于根据接收到的用户指令，控制所述语音处理器是否 接收所述第一动态语音、所述第二动态语音和/或所述音频片段。
  14. 根据权利要求9所述的无人飞行器，其特征在于，所述飞行器本体还包括电源管理模块、与所述电源管理模块电连接的主电源和备用电源；
    所述电源管理模块用于在飞行器本体的主电源断电时，切入所述备用电源为所述语音处理器和所述扬声器供电。
  15. 一种无人飞行器的语音交互方法，所述无人飞行器包括飞行器本体以及与所述飞行器本体通信连接的遥控器，其特征在于，所述语音交互方法包括：
    根据无人飞行器当前的运行状态，在预先设定的音频库中选取对应的音频片段；
    转换和处理所述选取的音频片段，生成对应的第一模拟输出信号；
    通过所述飞行器本体播放所述第一模拟输出信号。
  16. 根据权利要求15所述的语音交互方法，其特征在于，所述方法还包括：
    接收由所述遥控器采集获得的第二动态语音；
    转换和处理所述第一动态语音，生成对应的第二模拟输出信号；
    通过所述飞行器本体播放所述第二模拟输出信息。
  17. 根据权利要求16所述的语音交互方法，其特征在于，所述方法还包括：
    接收由所述飞行器本体采集获得的第一动态语音；
    转换和处理所述第一动态语音；
    将所述转换和处理后的第一动态语音发送至所述遥控器进行播放。
  18. 根据权利要求17所述的语音交互方法，其特征在于，所述方法还包括：
    根据接收的用户指令，确定是否接收输入信号；
    所述输入信号包括音频片段、第一动态语音和/或第二动态语音。
  19. 根据权利要求17或18所述的语音交互方法，其特征在于，所述方法还包括：
    识别所述第一动态语音和第二动态语音的内容；
    判断所述第一动态语音和第二动态语音的内容是否包含敏感语句；
    若是，则删除所述敏感语句。
  20. 根据权利要求15-19所述的语音交互方法，其特征在于，所述飞行器本体还包括电源管理模块、与所述电源管理模块电连接的主电源和备用电源，则该方法还包括：
    判断所述主电源是否断电；
    若是，则所述电源管理模块控制所述备用电源为所述飞行器本体供电。
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