CN108196585A - Unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system - Google Patents
Unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system Download PDFInfo
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- CN108196585A CN108196585A CN201810199804.7A CN201810199804A CN108196585A CN 108196585 A CN108196585 A CN 108196585A CN 201810199804 A CN201810199804 A CN 201810199804A CN 108196585 A CN108196585 A CN 108196585A
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- control instruction
- unmanned plane
- control
- uav
- music information
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
Abstract
The present invention provides a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and systems, are related to unmanned air vehicle technique field, and this method includes：Acquire music information；Control instruction is determined according to the music information；Perform operation corresponding with the control instruction.The present invention can control unmanned plane by music, this music control mode is more convenient feasible, eliminating needs manually manipulate ground based terminal to the cumbersome of unmanned plane transmission control instruction, and this music control mode is more novel, it is easy to user's receiving, synthesis improves control Experience Degree of the user to unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique fields, more particularly, to a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and are
System.
Background technology
With development in science and technology, unmanned plane is widely used to such as Entertainment, video capture, city management, electric power, gas
As every field such as, rescue and relief works.Traditional unmanned plane needs user to manipulate such as remote controler, be provided in flight course
The ground based terminals such as the mobile phone of APP remote control applications are controlled, specifically, user is needed directly to be sent out to unmanned plane by ground based terminal
Control instruction is sent, so that unmanned plane performs operation corresponding with control instruction.It is manipulated however, this needs are artificial in the prior art
Ground based terminal directly transmits control instruction to unmanned plane and realizes that the mode of unmanned aerial vehicle (UAV) control is relatively complicated.
Invention content
In view of this, the purpose of the present invention is to provide a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system, energy
It is enough to improve the technical issues of unmanned aerial vehicle (UAV) control mode is relatively complicated in the prior art.
To achieve these goals, technical solution used in the embodiment of the present invention is as follows：
In a first aspect, an embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method, the method is performed by unmanned plane, institute
The method of stating includes：Acquire music information；Control instruction is determined according to the music information；It performs corresponding with the control instruction
Operation.
With reference to first aspect, an embodiment of the present invention provides the first possible embodiment of first aspect, wherein, institute
The step of control instruction is determined according to the music information is stated, including：Mark data is extracted from the music information；The mark
Know data and include audio data and/or note data；Determine control instruction corresponding with the mark data.
The possible embodiment of with reference to first aspect the first, an embodiment of the present invention provides second of first aspect
Possible embodiment, wherein, described the step of mark data is extracted from the music information, including：The music is believed
Breath is converted to music score；The music score is divided into multiple sub- sections according to predetermined interval；It is extracted from each sub- section corresponding
Mark data.
The possible embodiment of with reference to first aspect the first, an embodiment of the present invention provides the third of first aspect
Possible embodiment, wherein, the mark data is audio data, described to determine that control corresponding with the mark data refers to
The step of enabling, including：According to preset control model, the corresponding height control instruction of the audio data is determined；It is described
Control model includes audio data and the correspondence of height control instruction.
The third possible embodiment with reference to first aspect, an embodiment of the present invention provides the 4th kind of first aspect
Possible embodiment, wherein, the correspondence of the audio data and height control instruction include it is following in one kind or more
Kind：When the frequency height of the audio data is worth higher than default first frequency, the height control instruction includes ascensional range；Wherein,
The ascensional range is incremented by with the high increase of the frequency of the audio data；When the frequency height of the audio data is in default second
When frequency is worth, the height control instruction includes fall；Wherein, the fall is with the high drop of the frequency of the audio data
It is low and be incremented by.
The 4th kind of possible embodiment with reference to first aspect, an embodiment of the present invention provides the 5th kind of first aspect
Possible embodiment, wherein, the height control instruction is levied by throttle lever scale.
With reference to first aspect one of to the 5th kind of possible embodiment of first aspect, an embodiment of the present invention provides
6th kind of possible embodiment of one side, wherein, the method further includes：When determining control instruction, by the control
Instruction is wirelessly sent to associated other unmanned planes.
Second aspect, the embodiment of the present invention also provide a kind of unmanned aerial vehicle (UAV) control device, and described device includes：Music acquires mould
Block, for acquiring music information；Determining module is instructed, for determining control instruction according to the music information；Operation performs mould
Block, for performing operation corresponding with the control instruction.
The third aspect an embodiment of the present invention provides a kind of unmanned plane, is equipped on the unmanned plane described in claim 8
Unmanned plane control device.
Fourth aspect, an embodiment of the present invention provides a kind of UAV system, the UAV system include host and from
Machine, the host are connected with slave wireless communication；The host is provided with the unmanned aerial vehicle (UAV) control device of second aspect offer；
The host determines control instruction for acquiring music information, according to the music information, performs corresponding with the control instruction
Operation；The host is additionally operable to the control instruction being wirelessly sent to the slave so that the slave perform with it is described
The corresponding operation of control instruction.
5th aspect, an embodiment of the present invention provides a kind of UAV system, the UAV system include multi rack nobody
Machine；The unmanned aerial vehicle (UAV) control device of second aspect offer is provided described in every frame on unmanned plane；Alternatively, unmanned plane described in every frame is equal
It is communicated to connect with ground based terminal, for performing the end command that the ground based terminal is sent out；Wherein, it is set on the ground based terminal
There is the unmanned aerial vehicle (UAV) control device that second aspect provides.
An embodiment of the present invention provides a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system, unmanned plane can be according to adopting
The music information of collection determines control instruction, so as to perform operation corresponding with the control instruction.With needing in the prior art manually
Manipulate ground based terminal to unmanned plane directly transmit control instruction mode it is relatively complicated the technical issues of compare, the present embodiment provides
Aforesaid way can unmanned plane be controlled by music, this music control mode is more convenient feasible, and it is artificial to eliminate needs
It manipulates the ground based terminals such as remote controler and sends the cumbersome of control instruction to unmanned plane, and this music control mode is more novel,
It is easy to user's receiving, synthesis improves control Experience Degree of the user to unmanned plane.
Other feature and advantage of the disclosure will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine or by implement the disclosure above-mentioned technology it can be learnt that.
For the above objects, features and advantages of the present invention is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 shows a kind of unmanned aerial vehicle (UAV) control method flow diagram that the embodiment of the present invention is provided；
Fig. 2 shows another unmanned aerial vehicle (UAV) control method flow diagrams that the embodiment of the present invention is provided；
Fig. 3 shows the structure diagram of a kind of unmanned aerial vehicle (UAV) control device that the embodiment of the present invention is provided；
Fig. 4 shows the structure diagram of another unmanned aerial vehicle (UAV) control device that the embodiment of the present invention is provided；
Fig. 5 shows a kind of UAV system schematic diagram that the embodiment of the present invention is provided.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiment be part of the embodiment of the present invention rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained, shall fall within the protection scope of the present invention.
The traditional control method of unmanned plane needs for user through remote controler, is provided with the mobile phone of APP remote control applications at present
Ground based terminals is waited to directly transmit control instruction to unmanned plane, unmanned plane can just be controlled, control mode is relatively complicated, to change
It is apt to this problem, a kind of unmanned aerial vehicle (UAV) control method, apparatus provided in an embodiment of the present invention, unmanned plane and system, the technology can be applied
In unmanned plane field, describe in detail below to the embodiment of the present invention.
A kind of unmanned aerial vehicle (UAV) control method flow diagram shown in Figure 1, this method is performed by unmanned plane, including following step
Suddenly：
Step S102 acquires music information.In one embodiment, unmanned plane can be provided with sound collector, lead to
Cross sound collector acquisition music information.The music information can be that user is played by music player devices such as sound equipment, mobile phones
Music or play sound outside by music player devices to unmanned plane, such as user by communication links
While happy by music information by communication links to unmanned plane.
Step S104 determines control instruction according to music information.When it is implemented, can be by the processor on unmanned plane
Music information is handled, so as to generate the corresponding control instruction of music information；Can also be on the ground directly by music
Information is converted into control instruction, and the control instruction being converted to is sent to unmanned plane.
In practical applications, the above-mentioned concrete mode that control instruction is determined according to music information can be from music information
Mark data is extracted, and then determines control instruction corresponding with the mark data.Wherein, mark data can include audio data
And/or note data.It is understood that the audio data and/or note data that different music informations is included are different,
It can be as the mark data of music information.In a particular application, the corresponding audio renewal frequency of different notes is different, such as, four
The audio of one beat of update in 1 second, quaver can update the audio of a beat in 0.5 second during dieresis.Therefore, it is based on
Audio data and/or note data determine that control instruction is convenient feasible.
In a kind of specific embodiment, after unmanned plane acquisition music information, which can be converted to pleasure
Spectrum, and then the mark datas such as audio data and/or note data are extracted from music score, by preset instruction database,
Determine control instruction corresponding with mark data.It is above-mentioned to determine and mark by mark data to be further illustrated for audio data
The step of knowing data corresponding control instruction, can specifically include：According to preset control model, audio data pair is determined
The height control instruction answered；Control model includes audio data and the correspondence of height control instruction.
Wherein, the above-mentioned control instruction that the present embodiment refers to can include the direction controlling, Hovering control, drop to unmanned plane
Fall the instructions such as control, control of making a return voyage, model- following control, speed control, height control.
Step S106 performs operation corresponding with control instruction.For example, when control instruction is controlled for height, unmanned plane
It can fly to height corresponding with height control instruction.
Above-mentioned unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, unmanned plane can determine to control according to the music information of acquisition
System instruction, so as to perform operation corresponding with the control instruction.With needing manually to manipulate ground based terminal in the prior art to nobody
Machine directly transmit control instruction mode it is relatively complicated the technical issues of compare, aforesaid way provided in this embodiment can pass through
Music controls unmanned plane, and this music control mode is more convenient feasible, and it is whole to eliminate the ground such as the artificial manipulation remote controler of needs
It holds and sends the cumbersome of control instruction to unmanned plane, and this music control mode is more novel, be easy to user's receiving, synthesis carries
Control Experience Degree of the user to unmanned plane is risen.
Specifically, another unmanned aerial vehicle (UAV) control method flow diagram shown in Figure 2, this method are performed by unmanned plane, packet
Include following steps：
Step S202 acquires music information.
The music information of acquisition is converted to music score by step S204.
Music score is divided into multiple sub- sections by step S206 according to predetermined interval.It is understood that music score can be divided into
Multiple trifles (that is, son section), can be set according to demand and flexibly per the length of height section.
Step S208 extracts corresponding mark data from each height section.
Step S210 according to preset control model, determines the corresponding height control instruction of each mark data.In reality
In the application of border, control model includes audio data and the correspondence of height control instruction.
In one embodiment, the correspondence of audio data and height control instruction include it is following in one kind or more
Kind：
When the frequency height of audio data is worth higher than default first frequency, height control instruction includes ascensional range；Wherein, rise
Amplitude is incremented by with the high increase of the frequency of audio data.Such as, audio is higher, and unmanned plane ascensional range is bigger namely flight is high
Degree is higher.
When the frequency height of audio data is worth in default second frequency, height control instruction includes fall；Wherein, decline
Amplitude is incremented by with the high reduction of the frequency of audio data.Such as, audio is higher, and unmanned plane fall is bigger namely flight is high
Degree is lower.
That is, in practical applications, can ascensional range be determined according to the highest audio in each sub- section of music score, it can also
Lowest audio frequency in each sub- section of music score determines fall, so as to control audio of the unmanned plane according to sub- section each in music score
Data rise and fall.
Step S212 according to the sequence of extraction of each mark data, performs height control corresponding with each mark data successively
Instruction.
Music information can be converted to music score by above-mentioned unmanned aerial vehicle (UAV) control method provided in an embodiment of the present invention, unmanned plane,
And mark data is extracted by way of dividing son section to music score, so that it is determined that the corresponding height control instruction of each mark data,
And the corresponding height control instruction of each mark data is performed successively.In this way, unmanned plane can be made to be based on music information
Change of flight height, this mode change the flight of unmanned plane height without user by frequently manipulating the control lever of remote controler
Degree, unmanned plane can be according to music information rise and fall, and the mode based on music control is simple and convenient, and with certain entertaining
Property and ornamental value, also improve control Experience Degree of the user to unmanned plane.
In a kind of concrete implementation mode, height control instruction can be characterized by throttle rod volume namely unmanned plane
Can be throttle lever by height amplitude (such as ascensional range, fall) corresponding conversion in determining height control instruction
Amount, so as to fulfill the change of height.Such as, throttle rod volume can be set as 0~100, and throttle rod volume represents to decline less than 50,
Throttle rod volume represents to rise higher than 50, and throttle rod volume represents that height does not change for 50.Unmanned plane can be according to height
Ascensional range included in control instruction or fall mutually should determine that throttle lever amount.It in practical applications, can be by highest
Throttle rod volume is set as by the control data of audio and lowest audio frequency as throttle rod volume, unmanned plane when detecting highest audio
Throttle rod volume is set as minimum by highest, unmanned plane when detecting lowest audio frequency, is realized with this through music information sound intermediate frequency
Height control aircraft raising and lowering.
In practical applications, unmanned plane can also be stored with pre-set Qu Ku in memory, be stored in Qu Ku
Different musics, unmanned plane can match music information, and look into again with the melody in Qu Ku after music information is collected
The control instruction of the melody to match with music information is looked for, so as to perform the control instruction, can also realize and be controlled based on music
Effect.Specifically, the control instruction of melody that library lookup matches with music information can be controlled by melody, wherein, it is happy
The correspondence of melody and control instruction sequence can be stored in song control library；Control instruction sequence includes each trifle pair of melody
The height control instruction answered, unmanned plane can perform each height control instruction in control instruction sequence successively, so as to fulfill height
The change of degree.
In view of in the concrete application scene of unmanned plane, formation flight may be carried out using multiple UAVs simultaneously, because
This above-mentioned unmanned aerial vehicle (UAV) control method provided in this embodiment, further includes：When determining control instruction, which is wirelessly sent out
Give associated other unmanned planes.Determine that the unmanned plane of control instruction can be set as host, other reception control instructions
Unmanned plane can be set as slave, realize the unmanned plane formation mode of master slave mode, in such a mode, it is only necessary to pass through music control
Host processed, the mode of other slaves all by radio communication in formation obtain control instruction from host, it is contemplated that formation flight
When, each aircraft is not far from one another, and in a particular application, short-range communication mode may be selected in communication, and physical layer can be selected
The short-range communications mode such as WiFi, zigbee realizes one-to-many or point-to-point communication.
By the above-mentioned means, it can realize multiple UAVs while formation flight is carried out based on music information, without user
Each unmanned plane is controlled one by one by modes such as remote controler, APP again, is greatly simplified unmanned aerial vehicle (UAV) control mode, is improved use
The unmanned aerial vehicle (UAV) control Experience Degree at family.
A kind of structure diagram of unmanned aerial vehicle (UAV) control device shown in Figure 3, the device include：
Music acquisition module 302, for acquiring music information.In one embodiment, unmanned plane can be set sound
Sound collector acquires music information by sound collector.The music information can be that user is broadcast by music such as sound equipment, mobile phones
It puts the music of device plays or passes through music player devices to unmanned plane, such as user by communication links
Outside play music while by music information by communication links to unmanned plane.
Determining module 304 is instructed, for determining control instruction according to music information.When it is implemented, can be by nobody
Processor on machine handles music information, so as to generate the corresponding control instruction of music information or on ground
On music information is directly converted into control instruction, and the control instruction being converted to is sent to unmanned plane.
Operation executing module 306, for performing operation corresponding with control instruction.
Above-mentioned unmanned aerial vehicle (UAV) control device provided in an embodiment of the present invention, unmanned plane can determine to control according to the music information of acquisition
System instruction, so as to perform operation corresponding with the control instruction.With needing manually to manipulate ground based terminal in the prior art to nobody
Machine directly transmit control instruction mode it is relatively complicated the technical issues of compare, above device provided in this embodiment can pass through
Music controls unmanned plane, and this music control mode is more convenient feasible, and it is whole to eliminate the ground such as the artificial manipulation remote controler of needs
It holds and sends the cumbersome of control instruction to unmanned plane, and this music control mode is more novel, be easy to user's receiving, synthesis carries
Control Experience Degree of the user to unmanned plane is risen.
In practical applications, above-mentioned unmanned aerial vehicle (UAV) control device can be set to unmanned pusher side, naturally it is also possible to be set to distant
The ground based terminals sides such as device are controlled, which automatically can refer to music information conversion in order to control after music information is collected
It enables, and control instruction is sent to unmanned plane, if unmanned aerial vehicle (UAV) control device is set to ground based terminal side, aforesaid operations perform
It is specially that control instruction is sent to unmanned plane that operation corresponding with control instruction is performed in module.
In the specific implementation, the structure diagram of another unmanned aerial vehicle (UAV) control device shown in Figure 4, above-metioned instruction determine
Module 304 can include marker extraction unit 3042 and instruction-determining unit 3044；Wherein, marker extraction unit 3042 be used for from
Mark data is extracted in music information；The mark data includes audio data and/or note data；Instruction-determining unit 3044 is used
In determining control instruction corresponding with mark data.
Marker extraction unit 3042 is further used for：Music information is converted into music score；Music score is drawn according to predetermined interval
It is divided into multiple sub- sections；Corresponding mark data is extracted from each height section.
In one embodiment, mark data is audio data, and instruction-determining unit 3044 is further used for according to pre-
The control model first set determines the corresponding height control instruction of audio data；Control model includes audio data and is controlled with height
Make the correspondence of instruction.In practical applications, height control instruction can be levied by throttle lever scale.
During specific implementation, the correspondence of audio data and height control instruction include it is following in it is one or more：
When the frequency height of audio data is worth higher than default first frequency, height control instruction includes ascensional range；Wherein, rise
Amplitude is incremented by with the high increase of the frequency of audio data；
When the frequency height of audio data is worth in default second frequency, height control instruction includes fall；Wherein, decline
Amplitude is incremented by with the high reduction of the frequency of audio data.
Also illustrate that unmanned aerial vehicle (UAV) control device includes sending module 402 in Fig. 4, for when determining control instruction, inciting somebody to action
Control instruction is wirelessly sent to associated other unmanned planes.
The technique effect of the device that the present embodiment is provided, realization principle and generation is identical with previous embodiment, for letter
It describes, device embodiment part does not refer to part, can refer to corresponding contents in preceding method embodiment.
Further, the present embodiment additionally provides a kind of unmanned plane, and unmanned aerial vehicle (UAV) control device is provided on the unmanned plane.
Further, the present embodiment additionally provides a kind of UAV system, a kind of UAV system shown in Figure 5 signal
Figure, the UAV system include host 10 and slave 20, and host 10 is connected with the wireless communication of slave 20；Host 10 is provided with aforementioned
Unmanned aerial vehicle (UAV) control device；
Host 10 determines control instruction for acquiring music information, according to music information, performs corresponding with control instruction
Operation；
Host 10 is additionally operable to control instruction being wirelessly sent to slave 20, so that the execution of slave 20 is corresponding with control instruction
Operation.
In addition, the present embodiment additionally provides another UAV system, which includes multiple UAVs；At this
In system, above-mentioned unmanned aerial vehicle (UAV) control device is both provided on every frame unmanned plane；Alternatively, every frame unmanned plane communicates with ground based terminal
Connection, for performing the end command that ground based terminal is sent out；Wherein, above-mentioned unmanned aerial vehicle (UAV) control device is provided on ground based terminal.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description nobody
The specific work process of machine and UAV system can refer to the corresponding process in previous embodiment, and details are not described herein.
The computer program product of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane and system that the embodiment of the present invention is provided,
Computer readable storage medium including storing program code, the instruction that said program code includes can be used for performing front side
Method described in method embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
In addition, in the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme of the present invention is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform all or part of the steps of the method according to each embodiment of the present invention.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is only used for description purpose, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, only specific embodiment of the invention, to illustrate the present invention
Technical solution, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement is carried out to which part technical characteristic；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (11)
- A kind of 1. unmanned aerial vehicle (UAV) control method, which is characterized in that the method is performed by unmanned plane, the method includes：Acquire music information；Control instruction is determined according to the music information；Perform operation corresponding with the control instruction.
- 2. the according to the method described in claim 1, it is characterized in that, step that control instruction is determined according to the music information Suddenly, including：Mark data is extracted from the music information；The mark data includes audio data and/or note data；Determine control instruction corresponding with the mark data.
- 3. the according to the method described in claim 2, it is characterized in that, step that mark data is extracted from the music information Suddenly, including：The music information is converted into music score；The music score is divided into multiple sub- sections according to predetermined interval；Corresponding mark data is extracted from each sub- section.
- 4. according to the method described in claim 2, it is characterized in that, the mark data be audio data, it is described determine and institute The step of stating mark data corresponding control instruction, including：According to preset control model, the corresponding height control instruction of the audio data is determined；The control model packet Include the correspondence of audio data and height control instruction.
- 5. according to the method described in claim 4, it is characterized in that, the audio data and the correspondence of height control instruction Including one or more in following：When the frequency height of the audio data is worth higher than default first frequency, the height control instruction includes ascensional range；Wherein, The ascensional range is incremented by with the high increase of the frequency of the audio data；When the frequency height of the audio data is worth in default second frequency, the height control instruction includes fall；Wherein, The fall is incremented by with the high reduction of the frequency of the audio data.
- 6. according to the method described in claim 5, it is characterized in that, the height control instruction is levied by throttle lever scale.
- 7. method according to any one of claims 1 to 6, which is characterized in that the method further includes：When determining control instruction, the control instruction is wirelessly sent to associated other unmanned planes.
- 8. a kind of unmanned aerial vehicle (UAV) control device, which is characterized in that described device includes：Music acquisition module, for acquiring music information；Determining module is instructed, for determining control instruction according to the music information；Operation executing module, for performing operation corresponding with the control instruction.
- 9. a kind of unmanned plane, which is characterized in that the control dress of unmanned plane according to any one of claims 8 is equipped on the unmanned plane It puts.
- 10. a kind of UAV system, which is characterized in that the UAV system include host and slave, the host with it is described Slave wireless communication connection；The host is provided with unmanned aerial vehicle (UAV) control device according to any one of claims 8；The host determines control instruction for acquiring music information, according to the music information, performs and the control instruction Corresponding operation；The host is additionally operable to the control instruction being wirelessly sent to the slave, so that the slave performs and the control Instruct corresponding operation.
- 11. a kind of UAV system, which is characterized in that the UAV system includes multiple UAVs；Unmanned aerial vehicle (UAV) control device according to any one of claims 8 is both provided with described in every frame on unmanned plane；Alternatively,Unmanned plane described in every frame is communicated to connect with ground based terminal, for performing the end command that the ground based terminal is sent out；Its In, unmanned aerial vehicle (UAV) control device according to any one of claims 8 is provided on the ground based terminal.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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