CN108196585B - Unmanned aerial vehicle control method and device, unmanned aerial vehicle and system - Google Patents
Unmanned aerial vehicle control method and device, unmanned aerial vehicle and system Download PDFInfo
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- CN108196585B CN108196585B CN201810199804.7A CN201810199804A CN108196585B CN 108196585 B CN108196585 B CN 108196585B CN 201810199804 A CN201810199804 A CN 201810199804A CN 108196585 B CN108196585 B CN 108196585B
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- 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 invention provides a method and a device for controlling an unmanned aerial vehicle, the unmanned aerial vehicle and a system, and relates to the technical field of unmanned aerial vehicles, wherein the method comprises the following steps: music information is collected; determining a control instruction according to the music information; and executing the operation corresponding to the control instruction. The unmanned aerial vehicle can be controlled through music, the music control mode is convenient and feasible, the trouble that a ground terminal needs to be controlled manually to send a control instruction to the unmanned aerial vehicle is avoided, the music control mode is novel, the music control mode is easy to accept by a user, and the control experience degree of the user on the unmanned aerial vehicle is comprehensively improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle and a system.
Background
With the development of science and technology, unmanned aerial vehicles have been widely used in various fields such as game entertainment, video shooting, city management, electric power, weather, emergency and disaster relief, and the like. Traditional unmanned aerial vehicle needs the user to control such as remote controller, the cell-phone that is provided with APP remote control application at the flight in-process ground terminal, and is concrete, needs the user to directly send control command for unmanned aerial vehicle through ground terminal to make unmanned aerial vehicle carry out the operation that corresponds with control command. However, in the prior art, the ground terminal needs to be manually operated, and the mode of directly sending a control instruction to the unmanned aerial vehicle to realize unmanned aerial vehicle control is complicated.
Disclosure of Invention
In view of this, the present invention provides a method, an apparatus, an unmanned aerial vehicle and a system for controlling an unmanned aerial vehicle, which can solve the technical problem of the prior art that the unmanned aerial vehicle control method is complicated.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for controlling an unmanned aerial vehicle, where the method is performed by an unmanned aerial vehicle, and the method includes: music information is collected; determining a control instruction according to the music information; and executing the operation corresponding to the control instruction.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the determining a control instruction according to the music information includes: extracting identification data from the music information; the identification data comprises audio data and/or musical note data; and determining a control instruction corresponding to the identification data.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the step of extracting identification data from the music information includes: converting the music information into a music score; dividing the music score into a plurality of subsections according to a preset interval; and extracting corresponding identification data from each subsection.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the identification data is audio data, and the step of determining the control instruction corresponding to the identification data includes: determining a height control instruction corresponding to the audio data according to a preset control mode; the control mode comprises the corresponding relation between the audio data and the height control instruction.
With reference to the third possible implementation manner of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where the correspondence between the audio data and the height control instruction includes one or more of: when the frequency of the audio data is higher than a preset first frequency value, the height control instruction comprises a rising amplitude; wherein the rise magnitude increases with increasing frequency height of the audio data; when the frequency of the audio data is lower than a preset second frequency value, the height control instruction comprises a descending amplitude; wherein the magnitude of the decrease is increasing with decreasing frequency height of the audio data.
With reference to the fourth possible implementation manner of the first aspect, the embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the height control command is characterized by a throttle lever amount.
With reference to the first aspect or one of the fifth possible implementation manners of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the method further includes: when a control instruction is determined, the control instruction is wirelessly transmitted to the associated other drone.
In a second aspect, an embodiment of the present invention further provides an unmanned aerial vehicle control apparatus, including: the music acquisition module is used for acquiring music information; the instruction determining module is used for determining a control instruction according to the music information; and the operation execution module is used for executing the operation corresponding to the control instruction.
In a third aspect, an embodiment of the present invention provides an unmanned aerial vehicle, where the control device of the unmanned aerial vehicle according to claim 8 is installed on the unmanned aerial vehicle.
In a fourth aspect, an embodiment of the present invention provides an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes a master and a slave, and the master is in wireless communication connection with the slave; the host is provided with the unmanned aerial vehicle control device provided by the second aspect; the host is used for collecting music information, determining a control instruction according to the music information and executing operation corresponding to the control instruction; the master machine is also used for wirelessly sending the control instruction to the slave machine so as to enable the slave machine to execute the operation corresponding to the control instruction.
In a fifth aspect, an embodiment of the present invention provides an unmanned aerial vehicle system, where the unmanned aerial vehicle system includes multiple unmanned aerial vehicles; each unmanned aerial vehicle is provided with the unmanned aerial vehicle control device provided by the second aspect; or each unmanned aerial vehicle is in communication connection with a ground terminal and is used for executing a terminal instruction sent by the ground terminal; wherein, be provided with the unmanned aerial vehicle controlling means that the second aspect provided on the ground terminal.
The embodiment of the invention provides an unmanned aerial vehicle control method, an unmanned aerial vehicle control device, an unmanned aerial vehicle and a system. Compared with the technical problem that the mode that needs the manual control ground terminal to directly send control command for unmanned aerial vehicle among the prior art is comparatively loaded down with trivial details, the above-mentioned mode that this embodiment provided can be through music control unmanned aerial vehicle, this kind of music control mode is comparatively convenient feasible, it needs ground terminals such as manual control remote controller to send the loaded down with trivial details of control command for unmanned aerial vehicle to have removed from, this kind of music control mode is comparatively novel moreover, easily the user accepts, the control experience degree of user to unmanned aerial vehicle has been comprehensively promoted.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 shows a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating another method for controlling a drone according to an embodiment of the present invention;
fig. 3 shows a block diagram of an unmanned aerial vehicle control apparatus according to an embodiment of the present invention;
fig. 4 is a block diagram showing another unmanned aerial vehicle control apparatus according to an embodiment of the present invention;
fig. 5 shows a schematic diagram of an unmanned aerial vehicle system according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the conventional control mode of the existing unmanned aerial vehicle, a user needs to directly send a control instruction to the unmanned aerial vehicle through a remote controller, a mobile phone provided with an APP remote control application and other ground terminals, and the control mode is complicated.
Referring to fig. 1, a flowchart of a method for controlling a drone, the method being performed by the drone, includes the steps of:
step S102, music information is collected. In an embodiment, the unmanned aerial vehicle may be provided with a sound collector, and music information is collected through the sound collector. The music information can be music played by a user through music playing equipment such as a sound box and a mobile phone, and can also be uploaded to the unmanned aerial vehicle through a communication link, for example, the user uploads the music information to the unmanned aerial vehicle through the communication link while playing the music outside through the music playing equipment.
And step S104, determining a control instruction according to the music information. In specific implementation, the processor on the unmanned aerial vehicle can process the music information so as to generate a control instruction corresponding to the music information; or directly convert the music information into a control instruction on the ground and send the control instruction obtained by conversion to the unmanned aerial vehicle.
In practical applications, the specific way of determining the control instruction according to the music information may be to extract identification data from the music information, and then determine the control instruction corresponding to the identification data. Wherein the identification data may comprise audio data and/or musical note data. It is understood that different music information may contain different audio data and/or different note data, which may be used as the identification data of the music information. In a specific application, the audio update frequency corresponding to different notes is different, such as 1 second for a quarter note to update the audio of one beat, and 0.5 second for an eighth note to update the audio of one beat. Thus, it is convenient and feasible to determine the control instructions based on the audio data and/or the note data.
In a specific implementation manner, after the unmanned aerial vehicle collects the music information, the music information may be converted into a music score, identification data such as audio data and/or note data are extracted from the music score, and a control instruction corresponding to the identification data is determined through a preset instruction database. Taking the identification data as the audio data as an example to further explain, the step of determining the control instruction corresponding to the identification data may specifically include: determining a height control instruction corresponding to the audio data according to a preset control mode; the control mode includes a correspondence of audio data to height control instructions.
The above control instruction mentioned in this embodiment may include instructions for direction control, hovering control, landing control, return control, following control, speed control, altitude control, and the like of the unmanned aerial vehicle.
In step S106, an operation corresponding to the control command is executed. For example, when the control command is altitude control, the drone may fly to an altitude corresponding to the altitude control command.
According to the unmanned aerial vehicle control method provided by the embodiment of the invention, the unmanned aerial vehicle can determine the control instruction according to the collected music information, so that the operation corresponding to the control instruction is executed. Compared with the technical problem that the mode that needs the manual control ground terminal to directly send control command for unmanned aerial vehicle among the prior art is comparatively loaded down with trivial details, the above-mentioned mode that this embodiment provided can be through music control unmanned aerial vehicle, this kind of music control mode is comparatively convenient feasible, it needs ground terminals such as manual control remote controller to send the loaded down with trivial details of control command for unmanned aerial vehicle to have removed from, this kind of music control mode is comparatively novel moreover, easily the user accepts, the control experience degree of user to unmanned aerial vehicle has been comprehensively promoted.
Specifically, referring to a flowchart of another method for controlling a drone shown in fig. 2, the method is executed by a drone, and includes the following steps:
step S202, music information is collected.
Step S204, converting the collected music information into a music score.
And step S206, dividing the music score into a plurality of subsections according to a preset interval. It can be understood that the music score can be divided into a plurality of sections (i.e., subsections), and the length of each subsection can be flexibly set according to requirements.
Step S208, corresponding identification data is extracted from each subsection.
Step S210, determining a height control command corresponding to each identification data according to a preset control mode. In practical applications, the control mode includes the correspondence between the audio data and the height control command.
In one embodiment, the correspondence of audio data to height control instructions includes one or more of:
when the frequency of the audio data is higher than a preset first frequency value, the height control instruction comprises a rising amplitude; wherein the rise amplitude increases with increasing frequency height of the audio data. For example, the higher the audio, the greater the drone rise, i.e., the higher the flight altitude.
When the frequency of the audio data is lower than a preset second frequency value, the height control instruction comprises a descending amplitude; wherein the magnitude of the decrease increases with decreasing frequency height of the audio data. For example, the higher the audio, the greater the drone descent, i.e., the lower the flight altitude.
That is, in practical application, the ascending amplitude may be determined according to the highest audio frequency in each subsection of the music score, and the descending amplitude may also be determined according to the lowest audio frequency in each subsection of the music score, so as to control the unmanned aerial vehicle to ascend and descend according to the audio data of each subsection in the music score.
In step S212, the height control commands corresponding to the identification data are sequentially executed in the order of extraction of the identification data.
According to the unmanned aerial vehicle control method provided by the embodiment of the invention, the unmanned aerial vehicle can convert music information into a music score, and the identification data is extracted by dividing the music score into subsections, so that the height control instruction corresponding to each identification data is determined, and the height control instructions corresponding to each identification data are sequentially executed. Through this kind of mode, can make unmanned aerial vehicle change flying height based on music information, this kind of mode need not the user through frequently handling remote controller's control lever in order to change unmanned aerial vehicle's flying height, and unmanned aerial vehicle can rise according to music information and descend, and the mode based on music control is simple convenient, and has certain interest and sight, has also promoted the user and has experienced the degree to unmanned aerial vehicle's control.
In a specific implementation manner, the altitude control command may be characterized by a throttle amount, that is, the unmanned aerial vehicle may correspondingly convert an altitude amplitude (such as an ascending amplitude and a descending amplitude) in the determined altitude control command into the throttle amount, so as to implement the change of the altitude. For example, the throttle amount may be set to 0 to 100, and a throttle amount below 50 indicates a fall, a throttle amount above 50 indicates a rise, and a throttle amount of 50 indicates no change in height. The unmanned aerial vehicle can correspondingly determine the throttle lever amount according to the ascending amplitude or the descending amplitude contained in the height control instruction. In practical application, can regard highest audio frequency and the control data of the minimum audio frequency as throttle lever volume, unmanned aerial vehicle sets up throttle lever volume to the highest when detecting the highest audio frequency, and unmanned aerial vehicle sets up throttle lever volume to minimumly when detecting the minimum audio frequency to this rising and the decline of the high-low control aircraft of audio frequency in the realization through the music information.
In practical application, the unmanned aerial vehicle can also store the music library that sets up in advance in the memory, and the music library stores many melodies, and unmanned aerial vehicle can match music information with the melody in the music library after gathering music information to seek the control command with music information assorted melody again, thereby carry out this control command, also can realize the effect based on music control. Specifically, the control instruction of the music matched with the music information can be searched through a music control library, wherein the corresponding relation between the music and the control instruction sequence can be stored in the music control library; the control instruction sequence comprises height control instructions corresponding to all the subsections of the music, and the unmanned aerial vehicle can sequentially execute all the height control instructions in the control instruction sequence, so that the change of the height is realized.
In consideration of the fact that in a specific application scenario of the unmanned aerial vehicle, multiple unmanned aerial vehicles may be simultaneously adopted for formation flight, the unmanned aerial vehicle control method provided by this embodiment further includes: when a control instruction is determined, the control instruction is wirelessly transmitted to the associated other drone. The unmanned aerial vehicle for determining the control instruction can be set as a host, other unmanned aerial vehicles for receiving the control instruction can be set as slaves, and the unmanned aerial vehicle formation mode in a master-slave mode is realized.
In this way, can realize that many unmanned aerial vehicles carry out formation flight based on music information simultaneously, need not the user and again through modes such as remote controller, APP each unmanned aerial vehicle of control one by one, very big simplification unmanned aerial vehicle control mode, promoted user's unmanned aerial vehicle control experience degree.
Referring to fig. 3, a block diagram of a structure of an unmanned aerial vehicle control apparatus includes:
a music collecting module 302, configured to collect music information. In an embodiment, the unmanned aerial vehicle may be provided with a sound collector, and music information is collected through the sound collector. The music information can be music played by a user through music playing equipment such as a sound box and a mobile phone, and can also be uploaded to the unmanned aerial vehicle through a communication link, for example, the user uploads the music information to the unmanned aerial vehicle through the communication link while playing the music outside through the music playing equipment.
And an instruction determining module 304, configured to determine a control instruction according to the music information. During specific implementation, the processor on the unmanned aerial vehicle can process the music information so as to generate a control instruction corresponding to the music information, or the music information can be directly converted into the control instruction on the ground, and the converted control instruction is sent to the unmanned aerial vehicle.
And an operation executing module 306, configured to execute an operation corresponding to the control instruction.
According to the unmanned aerial vehicle control device provided by the embodiment of the invention, the unmanned aerial vehicle can determine the control instruction according to the collected music information, so that the operation corresponding to the control instruction is executed. Compared with the technical problem that the mode that needs the manual control ground terminal to directly send control command for unmanned aerial vehicle among the prior art is comparatively loaded down with trivial details, the above-mentioned device that this embodiment provided can pass through music control unmanned aerial vehicle, this kind of music control mode is comparatively convenient feasible, it needs ground terminals such as manual control remote controller to send control command for unmanned aerial vehicle loaded down with trivial details from, this kind of music control mode is comparatively novel moreover, easily the user accepts, the control experience degree of user to unmanned aerial vehicle has been synthesized and has been promoted.
In practical application, above-mentioned unmanned aerial vehicle controlling means can set up in the unmanned aerial vehicle side, certainly also can set up in ground terminal sides such as remote controller, and this ground terminal can be after gathering music information, and automatic change music information into control command to send control command for unmanned aerial vehicle, if unmanned aerial vehicle controlling means sets up in ground terminal side, then carry out among the above-mentioned operation execution module and control command corresponds the operation specifically for sending control command for unmanned aerial vehicle.
In specific implementation, referring to a block diagram of another structure of the unmanned aerial vehicle control apparatus shown in fig. 4, the instruction determining module 304 may include an identifier extracting unit 3042 and an instruction determining unit 3044; wherein, the identification extracting unit 3042 is configured to extract identification data from the music information; the identification data includes audio data and/or musical note data; the instruction determining unit 3044 is configured to determine a control instruction corresponding to the identification data.
The identity extraction unit 3042 is further configured to: converting the music information into a music score; dividing the music score into a plurality of subsections according to a preset interval; corresponding identification data is extracted from each subsection.
In an embodiment, the identification data is audio data, and the instruction determining unit 3044 is further configured to determine a height control instruction corresponding to the audio data according to a preset control mode; the control mode includes a correspondence of audio data to height control instructions. In practical applications, the height control command may be characterized by a throttle lever amount.
In a specific implementation, the correspondence between the audio data and the height control command includes one or more of the following:
when the frequency of the audio data is higher than a preset first frequency value, the height control instruction comprises a rising amplitude; wherein the rise amplitude increases with increasing frequency height of the audio data;
when the frequency of the audio data is lower than a preset second frequency value, the height control instruction comprises a descending amplitude; wherein the magnitude of the decrease increases with decreasing frequency height of the audio data.
Also illustrated in fig. 4 is that the drone control means comprises a sending module 402 for wirelessly sending control instructions to the associated other drones when the control instructions are determined.
The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.
Further, this embodiment still provides an unmanned aerial vehicle, is provided with unmanned aerial vehicle controlling means on this unmanned aerial vehicle.
Further, the present embodiment also provides an unmanned aerial vehicle system, referring to a schematic diagram of the unmanned aerial vehicle system shown in fig. 5, the unmanned aerial vehicle system includes a master 10 and a slave 20, the master 10 is in wireless communication connection with the slave 20; the host 10 is provided with the unmanned aerial vehicle control device;
the host 10 is used for collecting music information, determining a control instruction according to the music information, and executing an operation corresponding to the control instruction;
the master 10 is further configured to wirelessly transmit a control command to the slave 20, so that the slave 20 performs an operation corresponding to the control command.
In addition, the present embodiment also provides another drone system, which includes a plurality of drones; in the system, each unmanned aerial vehicle is provided with the unmanned aerial vehicle control device; or each unmanned aerial vehicle is in communication connection with the ground terminal and is used for executing a terminal instruction sent by the ground terminal; wherein, the ground terminal is provided with the unmanned aerial vehicle control device.
As can be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working processes of the unmanned aerial vehicle and the unmanned aerial vehicle system described above may refer to the corresponding processes in the foregoing embodiments, and are not described herein again.
The method, the apparatus, the unmanned aerial vehicle, and the computer program product of the system for controlling the unmanned aerial vehicle provided by the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementations may refer to the method embodiments and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A drone control method, characterized in that the method is performed by a drone, the method comprising:
collecting music information by using a sound collector arranged on the unmanned aerial vehicle;
after the processor on the unmanned aerial vehicle processes the music information, determining a control instruction according to the music information;
executing the operation corresponding to the control instruction;
the step of determining a control instruction according to the music information includes: extracting identification data from the music information; the identification data comprises audio data and/or musical note data; determining a control instruction corresponding to the identification data; wherein
The unmanned aerial vehicle stores a preset music library in a memory, a plurality of music pieces are stored in the music library, after the unmanned aerial vehicle collects music information, the music information is matched with the music pieces in the music library, and a control instruction of the music pieces matched with the music information is searched, so that the control instruction is executed, and the corresponding relation between the music pieces and a control instruction sequence is stored in a music piece control library; the control instruction sequence comprises height control instructions corresponding to all the subsections of the music, and the unmanned aerial vehicle sequentially executes all the height control instructions in the control instruction sequence.
2. The method of claim 1, wherein the step of extracting identification data from the music information comprises:
converting the music information into a music score;
dividing the music score into a plurality of subsections according to a preset interval;
and extracting corresponding identification data from each subsection.
3. The method of claim 1, wherein the identification data is audio data, and wherein the step of determining the control command corresponding to the identification data comprises:
determining a height control instruction corresponding to the audio data according to a preset control mode; the control mode comprises the corresponding relation between the audio data and the height control instruction.
4. The method of claim 3, wherein the correspondence of audio data to height control instructions comprises one or more of:
when the frequency of the audio data is higher than a preset first frequency value, the height control instruction comprises a rising amplitude; wherein the rise magnitude increases with increasing frequency height of the audio data;
when the frequency of the audio data is lower than a preset second frequency value, the height control instruction comprises a descending amplitude; wherein the magnitude of the decrease is increasing with decreasing frequency height of the audio data.
5. The method of claim 4, wherein the height control command is characterized by a throttle lever amount.
6. The method according to any one of claims 1 to 5, further comprising:
when a control instruction is determined, the control instruction is wirelessly transmitted to the associated other drone.
7. An unmanned aerial vehicle control device, characterized in that, the device includes:
the music acquisition module is used for acquiring music information by utilizing a sound collector arranged on the unmanned aerial vehicle;
the command determining module is used for determining a control command according to the music information after the music information is processed by a processor on the unmanned aerial vehicle;
the operation execution module is used for executing the operation corresponding to the control instruction;
the instruction determination module is to: extracting identification data from the music information; the identification data comprises audio data and/or musical note data; determining a control instruction corresponding to the identification data; wherein
The unmanned aerial vehicle stores a preset music library in a memory, a plurality of music pieces are stored in the music library, after the unmanned aerial vehicle collects music information, the music information is matched with the music pieces in the music library, and a control instruction of the music pieces matched with the music information is searched, so that the control instruction is executed, and the corresponding relation between the music pieces and a control instruction sequence is stored in a music piece control library; the control instruction sequence comprises height control instructions corresponding to all the subsections of the music, and the unmanned aerial vehicle sequentially executes all the height control instructions in the control instruction sequence.
8. An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is provided with a control device of the unmanned aerial vehicle of claim 7.
9. An unmanned aerial vehicle system, comprising a master and a slave, wherein the master is in wireless communication with the slave; the host is provided with the unmanned aerial vehicle control apparatus of claim 7;
the host is used for collecting music information, determining a control instruction according to the music information and executing operation corresponding to the control instruction;
the master machine is also used for wirelessly sending the control instruction to the slave machine so as to enable the slave machine to execute the operation corresponding to the control instruction.
10. An unmanned aerial vehicle system, comprising a plurality of unmanned aerial vehicles;
each unmanned aerial vehicle is provided with the unmanned aerial vehicle control device of claim 7;
alternatively, the first and second electrodes may be,
each unmanned aerial vehicle is in communication connection with a ground terminal and is used for executing a terminal instruction sent by the ground terminal; wherein the ground terminal is provided with the unmanned aerial vehicle control apparatus according to claim 7.
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| CN111402863A (en) * | 2020-03-23 | 2020-07-10 | 北京京东乾石科技有限公司 | Control method, system, device, medium and equipment for formation unmanned aerial vehicle |
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