CN104932513A - Unmanned aircraft, acousto-optic cooperation system and method thereof - Google Patents
Unmanned aircraft, acousto-optic cooperation system and method thereof Download PDFInfo
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Abstract
The invention provides an unmanned aircraft, an acousto-optic cooperation system and an acousto-optic cooperation method thereof. The acousto-optic cooperation system comprises a sound playback unit, a lamp light emitting unit, a command input unit, a command transmitting/receiving unit, a communication unit, a command processing unit, a sound playback control unit, a lamp light emitting control unit, a sound actuator and a lamp light actuator, wherein the communication unit can receive commands of the command input unit, and transmits the commands to the unmanned aircraft; the command processing unit analyzes the commands received by the communication unit; the sound playback control unit and the lamp light emitting control unit receives the analyzed commands; the sound actuator executes control information sent by the sound playback control unit, and the lamp light actuator executes control information sent by the lamp light emitting control unit; the sound actuator executes the corresponding information on the sound playback unit, and the lamp light actuator executes the corresponding information on the lamp light emitting unit; and richer display effect is provided for the unmanned aircraft through the sound playback unit and the lamp light emitting unit in the acousto-optic cooperation system.
Description
Technical field
The present invention relates to a kind of technical field of aircraft, particularly relate to a kind of unmanned vehicle, the acousto-optic coupled system of unmanned vehicle and method thereof.
Background technology
Along with the progress of electronic science and technology and the development of computer industry level, unmanned flight's equipment progressively enters the sphere of life of people, and especially the commercialization of four-axle aircraft, obtains tremendous expansion; Such as in occasions such as some shooting, article transmission, demonstration flights, just often need unmanned flight's equipment to perform corresponding task.
Such as, Chinese Patent Application No. is in the patented claim of CN201380028854.4, disclose a kind of unmanned vehicle and comprise the fixed wing and at least four rotors driven by adjustable motor that can realize aerodynamic horizontal flight, this rotor can rotate taking off vertically between position and horizontal flight position by pivot revolving gear, and all motor and rotor are arranged on wing; By the rotor that device on fixed wing can rotate, the vertical takeoff and landing characteristic after aircraft improvement can be given; Correspondingly, the ability that described aircraft not only has a landing in the vertical direction also has and enters horizontal flight ability by conversion maneuver.Performance relevant to application possibility so is greatly improved, because no longer need setting to take off and landing runway and parachute or safety net, simultaneously due to the useful lift that the fixed-wing when horizontal flight produces, can greatly improve aerial flight time and flight range.
Another part of Chinese Patent Application No. is in the patented claim of CN201410206179.6, disclose a kind of small-sized searchlighting rotor craft, comprise central processing unit, Attitude Measuring Unit, navigation positioning unit, servo power system, searchlight device system, electric power system, wireless communication module: described central processing unit completes Attitude Measuring Unit, the data processing of navigation positioning unit and wireless communication module, determine the flight attitude of rotor craft, flight position, flying speed and heading, and to servo power system, searchlight device system controls, described Attitude Measuring Unit is made up of gyroscope and accelerometer, completes the attitude detection of the rotor craft to small-sized suspension searchlight device, navigation positioning unit is made up of electronic compass and GPS, obtains the course information of rotor craft and locus, velocity information, thus makes it accurately arrive destination, servo power system is made up of electron speed regulator and DC brushless motor, the control command that servo power system exports after central processing unit process, regulates the flight attitude of rotor craft, flying speed and heading in real time, searchlight device system is made up of motor driver, servomotor, servomotor, LED control circuit device and LED, motor driver receives the control signal from central processing unit, servomotor and servomotor is sent to after carrying out signal transacting, servomotor realizes the irradiation of searchlight different azimuth in the scope of 360 °, and servomotor realizes the irradiation of searchlight different angles in top/bottom latitude, LED control circuit device control LED, electric power system is powered, wireless communication module receives the control signal from operating personnel, and is uploaded to the central processing unit of rotor craft, and the flight attitude of rotor craft, flight position, flying speed and heading information are back to operating personnel by central processing unit, therefore, searchlight realizes the irradiation of different azimuth different angles in the scope of 360 ° under the control of motor.The rotor craft of small-sized suspension searchlight device is simple to operate, by accurate positioning method, reaches and specifies location, realize the irradiation of different location.
Summary of the invention
Inventor is realizing finding in prior art in process of the present invention, for unmanned vehicle, especially the research of multi-rotor aerocraft is also main in flight performance lifting and flight course control, if be attached to the field of taking photo by plane again, namely add the control for the equipment of taking photo by plane, the control of The Cloud Terrace; And the application function of aircraft itself is developed, be still in a blank stage.Use the unmanned vehicle being mainly used at present taking photo by plane, especially four-axle aircraft removes the bandwagon effect realizing ceremony occasion, also has a lot of weak point; Such as, at ceremony, the of paramount importance acousto-optic bandwagon effect of activity occasion, be the function that current unmanned vehicle is not considered completely; During unmanned vehicle flight itself, just there is larger noise, when activity occasion uses, have adverse side effects; The science and technology sense of unmanned vehicle is pure simultaneously, but artistic feeling is poor, represents effect also weakened.
In order to solve the above-mentioned technical matters existed in prior art, the invention provides a kind of acoustic optical devices that can increase by the acousto-optic coupled system of the better abundant unmanned vehicle of unmanned vehicle bandwagon effect and method thereof and unmanned vehicle.
In order to reach above-mentioned effect, technical scheme provided by the invention is:
On the one hand, provide a kind of acousto-optic coupled system of unmanned vehicle, described unmanned vehicle is provided with rotor, provides the motor of power to rotor, the flight control panel controlling described electric machine rotation and the communication unit be connected with described flight control panel; It is characterized in that, described acousto-optic coupled system comprises:
Sound playing unit and light transmitter unit;
Instruction input unit, can receive flight steering order, sound control instruction and signal light control instruction;
Instruction issue/receiving element, can receive the instruction of described instruction input unit, and sends described instruction the communication unit of described unmanned vehicle to;
Instruction process unit, the described instruction received by described communication unit is resolved;
Receive the sound playing control unit and light emission controlling unit of resolving instruction, and perform the sound actuator of the control information that described sound playing control unit sends and perform the light actuator of the control information that described light emission controlling unit sends;
Described sound actuator performs corresponding control information to described sound playing unit, and described light actuator performs corresponding control information to described light transmitter unit.
Preferably, the control information that described light actuator performs described light transmitter unit, comprises and carries out open and/or closed and/or flicker and/or conversion color to described light transmitter unit.
Preferably, described sound actuator performs corresponding control information to described sound playing unit, comprises and selects the sound of predetermined kind and/or song to play.
Preferably, described sound control instruction, comprises and allows described sound actuator perform startup at once or to stop described sound playing unit to play; Described signal light control instruction, comprises and allows described light actuator perform open and/or closed and/or flicker to described light transmitter unit at once and/or to convert color.
Preferably, described acousto-optic coupled system is also provided with storage unit, and described cell stores has the predetermined condition allowing described sound actuator and/or described light actuator start according to predetermined condition.
Preferably, described acousto-optic coupled system also comprises the sensor detecting described unmanned vehicle state of flight, and when described sensor detects that described unmanned vehicle reaches reservation condition, start described sound actuator and/or described light actuator selectively.
On the other hand, the present invention also provides a kind of unmanned vehicle, comprises unmanned vehicle and is provided with rotor, provides the motor of power to rotor, the flight control panel controlling described electric machine rotation and the communication unit be connected with described flight control panel; It is characterized in that, also comprise the acousto-optic coupled system of unmanned vehicle described in above-mentioned any one.
Preferably, described unmanned vehicle is also provided with The Cloud Terrace, and described flight control panel is provided with the cradle head control unit controlling described The Cloud Terrace.
The third aspect, the present invention also provides a kind of acousto-optic fitting method of unmanned vehicle, it is characterized in that, described aircraft is above-mentioned unmanned vehicle described in any one, and described acousto-optic fitting method comprises:
One, by described instruction input unit, to described unmanned vehicle input flight steering order, sound control instruction and signal light control instruction;
Two, by instruction issue/receiving element, by described instruction issue to the communication unit of described unmanned vehicle;
Three, the instruction process unit of unmanned vehicle resolves described control command automatically;
Four, flight control units is according to the control command after parsing, performs flare maneuver; Sound actuator performs the action starting or stop the sound of predetermined kind and/or the broadcasting of song according to the control command after parsing; Light actuator carries out the operation of open and/or closed and/or flicker and/or conversion color to described light transmitter unit.
Preferably, described sound actuator and described light actuator can according to control commands and/or according to the predetermined condition stored and/or when reaching threshold value according to unmanned vehicle state of flight, automatically perform performing an action to sound playing unit and light transmitter unit respectively.
Adopt technique scheme provided by the invention, following beneficial effect can be had at least:
1, by the sound playing unit in acousto-optic coupled system and light unit for unmanned vehicle provides abundanter bandwagon effect;
2, sound actuator can according to the direct audio corresponding according to the instruction enable voice broadcast unit play instruction of instruction input unit operation, light actuator also can send Lighting operations corresponding to instruction according to instruction input unit by light transmitter unit, so very convenient to the manipulation of acousto-optic coupled system;
3, sound actuator and light actuator according to the controlled by sound and light condition of predetermined storage, can perform at unmanned vehicle in the process of aerial mission and perform acousto-optic operation automatically; Further, flight directive also can be predetermined storage, and such unmanned vehicle is in flight course, and flare maneuver and acousto-optic coupled system can both automatically perform, and make the operation of unmanned vehicle very intelligent;
4, sound actuator and light actuator according to the result of state of flight sensor detection in unmanned vehicle flight course, can also automatically perform the acousto-optic process coordinating flare maneuver; Such as, when state of flight sensor sensing to self at a predetermined velocity, along rectilinear flight time, the acousto-optic coupled system of unmanned vehicle plays out the audio whistled, when state of flight sensor sensing is lower than predetermined value to outside light conditions, the acousto-optic coupled system of unmanned vehicle opens light transmitter unit; The user of viewing unmanned vehicle can be allowed like this can to experience state of flight and the track of unmanned vehicle more realistically.
Accompanying drawing explanation
The structured flowchart of the acousto-optic coupled system of a kind of unmanned vehicle that Fig. 1 provides for the embodiment of the present invention one;
The acousto-optic fitting method of a kind of unmanned vehicle that Fig. 2 provides for the embodiment of the present invention one;
The structured flowchart of the acousto-optic coupled system of a kind of unmanned vehicle that Fig. 3 provides for the embodiment of the present invention two;
The acousto-optic fitting method of a kind of unmanned vehicle that Fig. 4 provides for the embodiment of the present invention three.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, it should be noted that, these specific descriptions just allow those of ordinary skill in the art be more prone to, clearly understand the present invention, but not limitation of the invention is explained.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of acousto-optic coupled system 10 for unmanned vehicle 1, unmanned vehicle 1 is provided with rotor 2, provides the motor 3 of power to rotor, the flight control panel 4 controlling electric machine rotation and the communication unit 5 be connected with flight control panel 4; This acousto-optic coupled system 10 comprises:
Sound playing unit 16 and light transmitter unit 19; Preferably, sound playing unit 16 is the stereo set with bluetooth or proximity communication module, and light transmitter unit 19 is for being arranged on the LED color lamp on unmanned vehicle framework;
Instruction input unit 11, can receive flight steering order, sound control instruction and signal light control instruction; Preferably, instruction input unit 11 is control the special telepilot of unmanned vehicle, can certainly with the mobile device controlling unmanned vehicle App;
Instruction issue/receiving element 12, can receive the instruction of instruction input unit 11, and instruction is sent to the communication unit 5 of unmanned vehicle; Preferably, instruction issue/receiving unit 12 is for being arranged on the twireless radio-frequency communication unit on above-mentioned telepilot or mobile device;
Instruction process unit 13, resolves the instruction that communication unit 5 receives; Preferably, instruction process unit 13 is the CPU control module on unmanned vehicle, also can be the controller of an independent single-chip microcomputer and so on;
Receive the sound playing control unit 14 and light emission controlling unit 15 of resolving instruction, and perform the sound actuator 17 of the control information that sound playing control unit 14 sends and perform the light actuator 18 of the control information that light emission controlling unit 15 sends; Preferably, sound playing control unit 14 is for being arranged in the CPU control module on unmanned vehicle the submodule controlling sound and play, and light emission controlling unit 15 is for being arranged in the CPU control module on unmanned vehicle the submodule controlling light and start or stop; Preferably, sound actuator 17 is bluetooth from voice signal to stereo set or proximity communication module to transmitting, and described light actuator 18 is the relay of powering to LED color lamp; Certain Sound control mode also can adopt the control mode of relay, and signal light control mode also can adopt the short-range communication mode of bluetooth and so on;
Sound actuator 17 pairs of sound playing unit 16 perform corresponding control information, and light actuator 18 pairs of light transmitter units 19 perform corresponding control information.
Certainly above-mentioned, Bluetooth transmission mode can also replace with WLAN transmission mode or mobile wireless technology, can obtain voice resource like this from network.
Preferably, the control information that the light actuator 18 pairs of light transmitter units 19 perform, comprises and carries out open and/or closed and/or flicker and/or conversion color to light transmitter unit 19.
Preferably, sound actuator 17 pairs of sound playing unit 16 perform corresponding control information, comprise and select the sound of predetermined kind and/or song to play.
Preferably, tut steering order, comprises enable voice actuator and performs startup at once or stop sound playing unit playing; Above-mentioned signal light control instruction, comprises and allows light actuator perform open and/or closed and/or flicker to light transmitter unit at once and/or to convert color.
On the other hand, the present embodiment also provides a kind of unmanned vehicle 1, comprises unmanned vehicle 1 and is provided with rotor 2, provides the motor 3 of power to rotor 2, controls the flight control panel 4 that motor 3 rotates and the communication unit 5 be connected with flight control panel 4; And the acousto-optic coupled system 10 of above-mentioned unmanned vehicle.
As shown in Figure 2, the present embodiment also provides a kind of acousto-optic fitting method of unmanned vehicle, and this acousto-optic fitting method comprises:
S1, input control order:
By instruction input unit, to unmanned vehicle input flight steering order, sound control instruction and signal light control instruction;
S2, transmission steering order:
By instruction issue/receiving element, by instruction issue to the communication unit of unmanned vehicle;
S3, parsing steering order:
The instruction process unit of unmanned vehicle resolves control command automatically;
S4, execution flight and acousto-optic coordinate control:
The controlled by sound and light instruction performing flight directive and coordinate with flight directive; Flight control units, according to the control command after parsing, performs flare maneuver; Sound actuator performs according to the control command after parsing and starts or stop the sound of predetermined kind and/or the broadcasting of song; Light actuator carries out open and/or closed and/or flicker to light transmitter unit and/or converts color.
Adopt technique scheme provided by the invention, following beneficial effect can be had at least:
1, by the sound playing unit in acousto-optic coupled system and light unit for unmanned vehicle provides abundanter bandwagon effect;
2, sound actuator can according to the direct audio corresponding according to the instruction enable voice broadcast unit play instruction of instruction input unit operation, light actuator also can send Lighting operations corresponding to instruction according to instruction input unit by light transmitter unit, so very convenient to the manipulation of acousto-optic coupled system.
Embodiment two
As shown in Figure 3, the present embodiment is on the basis of embodiment one, and unmanned vehicle 1 is also provided with The Cloud Terrace, and flight control panel is provided with the cradle head control unit controlling The Cloud Terrace.Particularly, flight hand first inputs the controlled by sound and light instruction of flight steering order and acousto-optic coupled system by instruction input unit 30, the command that instruction input unit 30 inputs by instruction issue/receiving element 31 is to instruction process unit 34, after instruction process unit 34 resolves instruction, after sending parsing respectively to cradle head control unit 35, sound playing control unit 32, light control unit 37, the instruction that they can identify; After cradle head control unit 35 receives cradle head control instruction, the The Cloud Terrace 36 of load is controlled, there is the control ability of horizontal and vertical Arbitrary Rotation; After sound control unit 32 receives sound control instruction, melody or the song of choosing formulation allow loudspeaker 3 play, and it has the control ability of broadcasting/time-out/stopping basic controlling sound; After light control unit 37 receiving light photocontrol instruction, the light units 38 carried is carried out to the control of opening/closing/flicker/conversion color.
Adopt technique scheme in the present embodiment, can make acousto-optic coupled system can under the cooperation of The Cloud Terrace, the performance bandwagon effect of better angle.
Embodiment three
The present embodiment can improve further on the basis of embodiment one or embodiment two:
Preferably, acousto-optic coupled system is also provided with storage unit, the predetermined condition that cell stores has enable voice actuator and/or light actuator to start according to predetermined condition; Namely user can pass through pre-edit flight directive and controlled by sound and light instruction, is loaded in flight controller, and binds with the specific operating key of flight controller in the mode of autoexec; Namely start to perform according to the steering order order of pre-edit after user triggers specific operating key; Can flight be contained, acousto-optic, the steering orders such as The Cloud Terrace in instruction set due to editor, comparatively complicated flight and acousto-optic fiting effect can be realized by which.
Preferably, sound actuator and light actuator can according to control command at once or according to the predetermined conditions stored or when reaching threshold value according to unmanned vehicle state of flight, automatically perform performing an action to sound playing unit and light transmitter unit respectively.
Particularly, as shown in Figure 4, the control method of the unmanned vehicle that the present embodiment provides, especially unmanned vehicle acousto-optic fitting method comprises:
S41, reception user are by the steering order that will control or mobile terminal inputs;
S42, judge whether to perform predetermined shortcut, namely whether acousto-optic actuator can directly perform; If so, then perform step S44, otherwise again receive the instruction (S43) of transmission;
S44, obtain and to prelist instruction set instruction, namely obtain the predetermined condition that cell stores has enable voice actuator and/or light actuator to start according to predetermined condition;
The various instructions meeting predetermined condition in step S44 are sent to different control modules by S45, transmission instruction respectively;
S46, judge whether above-mentioned instruction is the last item instruction; If directly terminate, if not continuing the new instruction (S47) receiving user's input, then getting back to step S41 and starting next circulation.
Adopt technique scheme in the present embodiment, at least following beneficial effect can be had:
Sound actuator and light actuator according to the controlled by sound and light condition of predetermined storage, can perform at unmanned vehicle in the process of aerial mission and perform acousto-optic operation automatically; Further, flight directive also can be predetermined storage, and such unmanned vehicle is in flight course, and flare maneuver and acousto-optic coupled system can both automatically perform, and make the operation of unmanned vehicle very intelligent.
Embodiment four
The present embodiment can in above-mentioned three embodiments the enterprising one-step optimization in basis of any one embodiment; Preferably, acousto-optic coupled system also comprises the sensor detecting unmanned vehicle state of flight, and when sensor detects that unmanned vehicle reaches reservation condition, starts sound actuator and/or light actuator selectively.
Aircraft senses and self is in a specific flare maneuver, starts to control after aircraft completes continuous two rollover actions, to fly along 8-shaped winding than hand like flying.Then aircraft calls the sound effect and optical effect that realize recording according to pre-set programs, such as: optical effect is the white light beam utilizing shot-light to send Chang Liang, sound effect is then one section of infectious song recorded, the rhythm of the song of white light beam response simultaneously, in good time flicker; So, in the occasion of some ceremonies or celebration activity, by single or several aircraft coordinated, can realize and have the bandwagon effect of the power of playing up and appeal.
Preferably, the storer in the sound playing control unit in unmanned vehicle prestores the audio that similar aircraft scratches vast sky; When aircraft senses that self is with a higher speed, flying speeds more than such as 5 meter per seconds, linearly flies, more than more than 1 second, and when continuing to implement flight, and this audio of aircraft Automatically invoked, and play this audio.
Preferably, unmanned vehicle is provided with the LED for distinguishing before and after aircraft, when normal vehicle operation, this LED, normal luminous, in often bright and that color is different mode, allow user can differentiate this aircraft towards; When aircraft senses that self is in original place, centered by Z axis spatially perpendicular to the ground, when rotating in XY axial plane, when this action was more than 1 second, and when continuing to implement, then the control action of the above-mentioned LED of aircraft Automatically invoked, carries out the flicker of different colours, the bandwagon effect of simulation dance hall shot-light; Flying hand is like this that a common flare maneuver implemented by simple operations aircraft, coordinating just by aircraft maneuvers and light efficiency, shows a kind of similar effect radiating bright light before the lights.
Adopt technique scheme in the present embodiment, at least following beneficial effect can be had:
The result that sound actuator and light actuator can also detect according to state of flight sensor in unmanned vehicle flight course, automatically performs the acousto-optic process coordinating flare maneuver; Such as, when state of flight sensor sensing to self at a predetermined velocity, along rectilinear flight time, the acousto-optic coupled system of unmanned vehicle plays out the audio whistled, when state of flight sensor sensing is lower than predetermined value to outside light conditions, the acousto-optic coupled system of unmanned vehicle opens light transmitter unit; The user of viewing unmanned vehicle can be allowed like this can to experience state of flight and the track of unmanned vehicle more realistically.
Finally it should be noted that, above-mentioned explanation is only most preferred embodiment of the present invention, not does any pro forma restriction to the present invention.Any those of ordinary skill in the art; do not departing within the scope of technical solution of the present invention; the way of above-mentioned announcement and technology contents all can be utilized to make many possible variations and simple replacement etc. to technical solution of the present invention, and these all belong to the scope of technical solution of the present invention protection.
Claims (10)
1. an acousto-optic coupled system for unmanned vehicle, described unmanned vehicle is provided with rotor, provides the motor of power to rotor, the flight control panel controlling described electric machine rotation and the communication unit be connected with described flight control panel; It is characterized in that, described acousto-optic coupled system comprises:
Sound playing unit and light transmitter unit;
Instruction input unit, can receive flight steering order, sound control instruction and signal light control instruction;
Instruction issue/receiving element, can receive the instruction of described instruction input unit, and sends described instruction the communication unit of described unmanned vehicle to;
Instruction process unit, the described instruction received by described communication unit is resolved;
Receive the sound playing control unit and light emission controlling unit of resolving instruction, and perform the sound actuator of the control information that described sound playing control unit sends and perform the light actuator of the control information that described light emission controlling unit sends;
Described sound actuator performs corresponding control information to described sound playing unit, and described light actuator performs corresponding control information to described light transmitter unit.
2. the acousto-optic coupled system of unmanned vehicle according to claim 1, it is characterized in that, the control information that described light actuator performs described light transmitter unit, comprises and carries out open and/or closed and/or flicker and/or conversion color to described light transmitter unit.
3. the acousto-optic coupled system of unmanned vehicle according to claim 1, is characterized in that, described sound actuator performs corresponding control information to described sound playing unit, comprises and selects the sound of predetermined kind and/or song to play.
4. the acousto-optic coupled system of unmanned vehicle according to claim 1, is characterized in that, described sound control instruction, comprises and allows described sound actuator perform startup at once or to stop described sound playing unit to play; Described signal light control instruction, comprises and allows described light actuator perform open and/or closed and/or flicker to described light transmitter unit at once and/or to convert color.
5. the acousto-optic coupled system of unmanned vehicle according to claim 1, it is characterized in that, described acousto-optic coupled system is also provided with storage unit, and described cell stores has the predetermined condition allowing described sound actuator and/or described light actuator start according to predetermined condition.
6. the acousto-optic coupled system of unmanned vehicle according to claim 1, it is characterized in that, described acousto-optic coupled system also comprises the sensor detecting described unmanned vehicle state of flight, and when described sensor detects that described unmanned vehicle reaches reservation condition, start described sound actuator and/or described light actuator selectively.
7. a unmanned vehicle, comprises unmanned vehicle and is provided with rotor, provides the motor of power to rotor, the flight control panel controlling described electric machine rotation and the communication unit be connected with described flight control panel; It is characterized in that, also comprise the acousto-optic coupled system of unmanned vehicle as described in any one of claim 1 ~ 6.
8. unmanned vehicle according to claim 7, is characterized in that, described unmanned vehicle is also provided with The Cloud Terrace, and described flight control panel is provided with the cradle head control unit controlling described The Cloud Terrace.
9. an acousto-optic fitting method for unmanned vehicle, is characterized in that, described aircraft is the unmanned vehicle described in claim 7 or 8, and described acousto-optic fitting method comprises:
One, by described instruction input unit, to described unmanned vehicle input flight steering order, sound control instruction and signal light control instruction;
Two, by instruction issue/receiving element, by described instruction issue to the communication unit of described unmanned vehicle;
Three, the instruction process unit of unmanned vehicle resolves described control command automatically;
Four, flight control units is according to the control command after parsing, performs flare maneuver; Sound actuator performs the action starting or stop the sound of predetermined kind and/or the broadcasting of song according to the control command after parsing; Light actuator carries out the operation of open and/or closed and/or flicker and/or conversion color to described light transmitter unit.
10. the acousto-optic fitting method of unmanned vehicle according to claim 9, it is characterized in that, described sound actuator and described light actuator can according to control commands and/or according to the predetermined condition stored and/or when reaching threshold value according to unmanned vehicle state of flight, automatically perform performing an action to sound playing unit and light transmitter unit respectively.
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