CN109144092A - Unmanned plane during flying householder method, device and unmanned plane - Google Patents
Unmanned plane during flying householder method, device and unmanned plane Download PDFInfo
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention discloses a kind of unmanned plane during flying householder method, device and unmanned planes, can reduce the manipulation difficulty of unmanned plane.Unmanned plane during flying householder method includes: to be measured by the sound wave that the multiple sound transducers being arranged on unmanned plane different location issue acoustic target and obtain multiple intensities of sound；The intensity of sound that more multiple sound transducers obtain under synchronization obtains the size relation of the intensity of sound obtained under synchronization；The size relation of the distance between multiple sound transducers and acoustic target is obtained according to the size relation of the intensity of sound obtained under synchronization；Orientation of the acoustic target relative to unmanned plane is obtained according to the size relation of relative position and sensor and acoustic target spacing between multiple sound transducers；And unmanned plane is controlled towards acoustic target rotation or movement according to above-mentioned orientation.Unmanned plane during flying householder method, device and unmanned plane provided by the invention can auxiliary operation person control unmanned plane, reduce operation difficulty.
Description
Technical field
The invention belongs to air vehicle technique field more particularly to a kind of unmanned plane during flying householder methods, device and unmanned plane.
Background technique
In lathe repairing or certain field conditions for needing professional technician to handle, it may be necessary to which technical staff remotely refers to
It leads, the excessively hand-held call voice of instruction course multi-pass links up field conditions, and operator can bring not when holding phone to maintenance activity
Just.
Unmanned plane (Multi-axis aircraft) can get good image/image when taking photo by plane, and can realize in hovering and space
Rotation is moved freely, transmitting real-time imaging by unmanned plane can solve the above problems.
However, complicated operation for unmanned plane, operator needs more expertly control unmanned plane by professional training
Movement needed for executing.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane during flying householder method, device and unmanned plane, can reduce unmanned plane
Manipulate difficulty.
In a first aspect, provide a kind of unmanned plane during flying householder method, for assist unmanned plane follow acoustic target rotate or
It is mobile, comprising: the sound wave that acoustic target issues is carried out by the multiple sound transducers being arranged on unmanned plane different location
It measures and obtains multiple intensities of sound；The intensity of sound that more multiple sound transducers obtain under synchronization obtains same
When inscribe acquisition intensity of sound size relation；It is obtained according to the size relation of the intensity of sound obtained under synchronization multiple
The size relation of the distance between sound transducer and acoustic target；According between multiple sound transducers relative position and biography
The size relation of sensor and acoustic target distance obtains orientation of the acoustic target relative to unmanned plane；And nothing is controlled according to orientation
It is man-machine towards acoustic target rotation or mobile.
In the first possible implementation, unmanned plane during flying householder method further include: more each sound transducer
In the intensity of sound that different moments obtain, the intensity of sound variation tendency that each sound transducer obtains is obtained；According to each sound
The intensity of sound variation tendency of sound sensor judges the distance between acoustic target and each sound transducer variation tendency；Each
When the distance between sound transducer and acoustic target become larger, control unmanned plane is mobile towards acoustic target, and each sound passes
When the distance between sensor and acoustic target become smaller, unmanned plane is controlled far from acoustic target.
In conjunction with above-mentioned possible implementation, in the second possible implementation, multiple sound transducers include
For receiving the receiving port of sound wave, the receiving port of each sound transducer is towards different directions.
In conjunction with above-mentioned possible implementation, in the third possible implementation, when the quantity of sound transducer is
At four, the receiving port of four sound transducers towards pairwise orthogonal.
In conjunction with above-mentioned possible implementation, in the fourth possible implementation, the reception of four sound transducers
The direction of mouth is generally aligned in the same plane.
In conjunction with above-mentioned possible implementation, in a fifth possible implementation, unmanned plane during flying householder method is also
Including obtaining the sound and/or image information of acoustic target side, and send sound and/or image information in real time.
Second aspect provides a kind of unmanned plane during flying auxiliary device, for assist unmanned plane follow acoustic target rotate or
It is mobile, comprising: multiple sound transducers are set on unmanned plane different location, and the sound wave for issuing to acoustic target carries out
It measures and obtains multiple intensities of sound；Processing unit is used for: the sound that more multiple sound transducers obtain under synchronization
Intensity obtains the size relation of the intensity of sound obtained under synchronization, according to the big of the intensity of sound obtained under synchronization
Small relationship obtains the size relation of the distance between multiple sound transducers and acoustic target, according between multiple sound transducers
Relative position and the size relation of distance obtain orientation of the acoustic target relative to unmanned plane；And control device, it is used for root
Unmanned plane is controlled towards acoustic target rotation or movement according to orientation.
In the first possible implementation, processing unit is also used to, and more each sound transducer different moments are obtained
The intensity of sound obtained obtains the intensity of sound variation tendency that each sound transducer obtains, according to the sound of each sound transducer
Sound variation trends judge the distance between acoustic target and each sound transducer variation tendency；Control device is also used to,
When becoming larger at a distance from each sound transducer is between acoustic target, control unmanned plane is mobile towards acoustic target, every
When the distance between a sound transducer and acoustic target become smaller, unmanned plane is controlled far from acoustic target.
In conjunction with above-mentioned possible implementation, in the second possible implementation, multiple sound transducers include
For receiving the receiving port of sound wave, the receiving port of each sound transducer is towards different directions.
In conjunction with above-mentioned possible implementation, in the third possible implementation, when the quantity of sound transducer is
At four, the receiving port of four sound transducers towards pairwise orthogonal.
In conjunction with above-mentioned possible implementation, in the fourth possible implementation, the reception of four sound transducers
The direction of mouth is generally aligned in the same plane.
It further include information transmitting apparatus in a fifth possible implementation in conjunction with above-mentioned possible implementation, it can
For sending sound and/or image information in real time.
The third aspect provides a kind of unmanned plane, including the unmanned plane during flying auxiliary in second aspect in any one possibility
Device.
Unmanned plane during flying householder method, device and unmanned plane provided in an embodiment of the present invention, by being arranged on unmanned plane
The intensity of sound of sound transducer measurement acoustic target on different location, is equivalent to and measures the same sound source by multiple sound channels
Target, therefore intensity of sound measured by sound transducer will be different.Intensity of sound value and distance are in inverse ratio, can pass through sound
The intensity of sound value size relation that relative position and sound transducer between sound sensor measure judge acoustic target relative to
The orientation of unmanned plane.The orientation between unmanned plane and predeterminated target can be judged automatically by above-mentioned technological means, can assist grasping
Author controls unmanned plane, reduces operation difficulty.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described, it should be apparent that, drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram according to unmanned plane provided by one embodiment of the present invention；
Fig. 2 is the bottom view of unmanned plane shown in Fig. 1；
Fig. 3 is the structural schematic diagram for the unmanned plane during flying auxiliary device being arranged in unmanned plane in Fig. 1；
Fig. 4 is the flow chart according to unmanned plane during flying householder method provided by one embodiment of the present invention；
Fig. 5 is the flow chart of the unmanned plane during flying householder method provided according to another embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
In the following detailed description, many details are proposed, in order to provide complete understanding of the present invention.But
Be, it will be apparent to those skilled in the art that the present invention can not need it is some thin in these details
Implement in the case where section.Below the description of embodiment is used for the purpose of providing by showing example of the invention to the present invention
Better understand.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to figs. 1 to Fig. 3, Fig. 1 is the structural schematic diagram according to unmanned plane 10 provided by one embodiment of the present invention, Fig. 2
For the bottom view of unmanned plane 10 shown in Fig. 1, Fig. 3 is the unmanned plane during flying auxiliary device 12 being arranged in unmanned plane 10 in Fig. 1
Structural schematic diagram.
In the present embodiment, unmanned plane 10 is four-axle aircraft, including four propellers, unmanned plane main body 11 and setting in nothing
Flight auxiliary device 12 in man-machine main body 11.Unmanned plane main body 11 includes main body and four spirals being mounted on main body
Paddle.Flight auxiliary device 12 includes the first sound transducer 121, second sound sensor 122, third sound transducer 123, the
Four sound transducers 124, processing unit 125 and control device 126.Flight auxiliary device 12 can assist unmanned plane 10 to follow sound
Source target rotational or movement.Processing unit 125 and/or control device 126 can be the processing such as CPU, single-chip microcontroller or microchip
Device.
Aforementioned four sound transducer is set at the different location of unmanned plane main body 11, aforementioned four sound in the present embodiment
Arrangement mode of the sound sensor in unmanned plane main body 11 is, to be parallel to the center line of propeller rotational axis as center isogonism
Annular array distribution is spent, and is located in approximately the same plane.The circle diameter of annular array is 20cm, in the premise that can be realized
Under, the circle diameter of annular array may be arranged as greater value.Multiple sound transducers are distributed in different positions, quite
In receiving acoustic target sound wave with multiple sound channels, the sustainable reception sound wave of each sound transducer and to obtain multiple sound strong
Degree, and the intensity of sound of acquisition can be reached processing unit 125.
First sound transducer 121, second sound sensor 122, third sound transducer 123 and falling tone sound sensor
124 structure is identical, and four are provided with the receiving port for receiving sound wave.
When orientation difference of the acoustic target relative to sound transducer, the intensity of sound that sound transducer measures is different
's.Such as, when the different location on the circumference for thering is multi-acoustical target to be located at centered on a sound transducer, sound sensor
The intensity of sound of measured each acoustic target of device is different.Each acoustic target phase at a distance from sound transducer
Deng, but the relative position between the direction of the receiving port direction on sensor may be different, what sound transducer measured
The intensity of sound for facing the acoustic target of its receiving port is the largest, and what sound transducer measured facing away from receiving port direction
The intensity of sound of acoustic target is the smallest.
Similarly, the intensity of sound for the acoustic target that the sound transducer at the different direction of the same acoustic target measures
It is also possible to different.By taking the present embodiment as an example, the first sound transducer 121, second sound sensor 122, third sound are passed
Sensor 123 and falling tone sound sensor 124 are distributed on a circumference, and the direction of the receiving port of each sound transducer is flat
The radial direction of row radius at circumference where the sound transducer, receiving port and the outside towards the circumference.Positioned at unmanned plane 10 certain
The distance between the acoustic target of a orientation (in addition to surface or underface) and each sound transducer can be all different, because
Intensity of sound measured by this each sound transducer can be different.
First sound transducer 121, second sound sensor 122, third sound transducer 123 and falling tone sound sensor
The intensity of sound respectively measured can be sent to processing unit 125 by 124, be further processed by processing unit 125.
Processing unit 125 can be used for receiving the first sound transducer 121, second sound sensor 122, third sound sensor
Intensity of sound measured by device 123 and falling tone sound sensor 124, and intensity of sound is compared, obtain intensity of sound
Size relation.Intensity of sound measured by sound transducer and the distance between itself and acoustic target are in inverse ratio.Therefore, for same
The sound wave that one acoustic target issues, intensity of sound measured by lower four sensors of synchronization should be all different or only
Two identical.Orientation of the acoustic target relative to sound transducer can be judged accordingly, as adjustment 10 heading of unmanned plane
With reference to.
Processing unit 125 can be according to the first sound transducer 121, second sound sensor 122, third under synchronization
The size relation of sound transducer 123 and the intensity of sound obtained of falling tone sound sensor 124 further obtains multiple sound
The size relation of the distance between sensor and the acoustic target, further according between multiple sound transducers relative position and
The size relation of distance obtains orientation of the acoustic target relative to unmanned plane 10 between sound transducer and acoustic target.Sound passes
The signal acquisition process of sensor can be continuously, be also possible to according to certain frequency timing acquiring.
Specifically, the positional relationship between each sound transducer and each propeller of unmanned plane 10 is known, respectively
Relative position between a sound transducer is also known.It is closed according to the distance between acoustic target and each sensor size
System can judge orientation of the acoustic target relative to unmanned plane, and according to each spiral shell of each sound transducer and unmanned plane 10
Positional relationship between rotation paddle calculates the right heading of unmanned plane 10.Such as, when the sound that the first sound transducer 121 measures
The intensity of sound that sound maximum intensity, third sound transducer 123 measure is minimum and second sound sensor 122 and falling tone sound pass
When sensor 124 measures intensity of sound between the first sound transducer 121 and third sound transducer 123, it can be determined that sound
Source target is located at 121 side of the first sound transducer of unmanned plane 10.If the intensity of sound that second sound sensor 122 measures is big
In the intensity of sound that falling tone sound sensor 124 measures, then it may determine that acoustic target is located at the first sound biography of unmanned plane 10
121 side of sensor, and 122 side of second sound sensor partially.
After 125 determine orientation of the acoustic target relative to unmanned plane 10, control signal can be issued to control device 126.
Control device 126 is for controlling unmanned plane 10 towards acoustic target rotation or movement.Control device 126 receives everywhere
After managing the control signal that device 125 is sent, according to the power output of control four propellers of modification of signal, make 10 direction of unmanned plane
Acoustic target rotation is mobile, to make to keep appropriately distance and/or orientation between unmanned plane 10 and acoustic target automatically.
In some optional embodiments, flight auxiliary device 12 further includes storage device (not shown), can in storage device
To store the corresponding relationship of intensity of sound and distance, which refers to the sound source mesh of sound transducer Yu capable of emitting some strength sound wave
The distance between mark.Processing unit 125 obtain after the intensity of sound that each sound transducer measures can by intensity of sound with deposit
The intensity of sound prestored in storage device is compareed with the corresponding relationship of distance, to judge between unmanned plane 10 and acoustic target
Distance.
In some embodiments, processing unit 125 is also used to judge change in displacement of the acoustic target relative to unmanned plane 10,
The change in displacement control unmanned plane 10 that control device 126 is also used to be obtained according to processing unit 125 reduces above-mentioned change in displacement.
Processing unit 125 is used for the intensity of sound obtained more each sound transducer different moments, obtains each sound
The intensity of sound variation tendency that sensor obtains, judges acoustic target according to the intensity of sound variation tendency of each sound transducer
The distance between each sound transducer variation tendency.The sound that individually more each sensor measures of processing unit 125 is strong
Degree, when acoustic target is far from unmanned plane 10, the intensity of sound that four sound transducers measure in a period of time can be all
Become smaller；The intensity of sound that four sound transducers lower to synchronization measure again is compared, and the intensity of sound measured is maximum
Orientation of the side, that is, acoustic target of unmanned plane where sensor relative to unmanned plane 10.
Such as, the sound that the intensity of sound that the first sound transducer 121 measures is maximum, third sound transducer 123 measures is strong
The intensity of sound that degree minimum and second sound sensor 122 and falling tone sound sensor 124 measure is located at the first sound transducer
Between 121 and third sound transducer 123, then it may determine that acoustic target is located at 121 side of the first sound transducer.When four
It then may determine that acoustic target far from unmanned plane 10 when the intensity of sound that sound transducer measures becomes smaller；When the first sound passes
The intensity of sound that sensor 121 and falling tone sound sensor 124 measure becomes larger, the intensity of sound that second sound sensor 122 measures
Become smaller, then acoustic target may translated relative to unmanned plane 10 or rotated around unmanned plane 10.
Control device 126 is for controlling nobody when becoming larger at a distance from each sound transducer is between acoustic target
Machine 10 is mobile towards acoustic target, when becoming smaller at a distance from each sound transducer is between acoustic target, controls unmanned plane
10 far from the acoustic target.Or control unmanned plane 10 rotation of obtained change in displacement is judged according to processing unit 125 or is moved
It is dynamic, to reduce above-mentioned change in displacement, realize the movement for following acoustic target.
In some optional embodiments, flight auxiliary device further includes information transmitting apparatus, can be used for sending sound in real time
And/or image information.Such as, microphone or video recorder can be set on unmanned plane, realize and obtain sound, image or image letter in real time
Breath.Above- mentioned information can be sent to intended recipinent in real time by information transmitting apparatus, such as be sent to remote control personnel.Information
Sending device can be gsm module, 3G or 4G module etc..
In some optional embodiments, the quantity of sound transducer can also be 2 or 3.In other optional implementations
In example, sound transducer can also be arranged in a manner of linear array or triangle.In other alternative embodiments, sound is passed
The direction of the receiving port of sensor can not also in the same plane, but be in spatial distribution, such as sit according to space right-angle
The direction of the direction setting receiving port of mark system.
The present invention also provides unmanned plane during flying householder methods, for assisting unmanned plane to follow acoustic target rotation or movement.
With reference to Fig. 4, Fig. 4 is the flow chart according to unmanned plane during flying householder method provided by one embodiment of the present invention.
In the present embodiment, unmanned plane during flying householder method includes the following steps.
S110, the sound wave that acoustic target is issued by multiple sound transducers for being arranged on unmanned plane different location into
Row measures and obtains multiple intensities of sound.
Such as, the first sound transducer, second sound sensor, third sound can be set at the different location of unmanned plane
Sensor and falling tone sound sensor.Arrangement mode of four sound transducers on unmanned plane is, to be parallel to propeller rotation
Angularly annular array is distributed centered on the center line of shaft axis, and is located in approximately the same plane.Multiple sound transducer distributions
In different positions, it is equivalent to and receives acoustic target sound wave, the sustainable reception sound of each sound transducer with multiple sound channels
Wave simultaneously obtains multiple intensities of sound, and the intensity of sound of acquisition can be reached processing unit.
Four sound transducers are provided with the receiving port for receiving sound wave.Acoustic target is relative to sound transducer
When orientation difference, the intensity of sound that sound transducer measures is different.Such as, when have multi-acoustical target be located at a sound
When different location on the circumference centered on sensor, the intensity of sound of measured each acoustic target of sound transducer is
Different.Each acoustic target and sound transducer are equidistant, but between the direction of the receiving port direction on sensor
Relative position may be different, the intensity of sound that sound transducer measured face the acoustic target of its receiving port is most
Big, the intensity of sound that sound transducer measured facing away from the acoustic target of receiving port direction is the smallest.
Similarly, the intensity of sound for the acoustic target that the sound transducer at the different direction of the same acoustic target measures
It is also possible to different.By taking the present embodiment as an example, four sound transducers are distributed on a circumference, each sound transducer
The direction of receiving port is parallel to the radial direction where the sound transducer, receiving port and the outside towards the circumference.
The intensity of sound that S120, more multiple sound transducers obtain under synchronization is obtained and is obtained under synchronization
Intensity of sound size relation.
S130, multiple sound transducers and sound source mesh are obtained according to the size relation of the intensity of sound obtained under synchronization
The size relation of the distance between mark.
Intensity of sound measured by sound transducer and the distance between itself and acoustic target are in inverse ratio, therefore, for same
The sound wave that one acoustic target issues, intensity of sound measured by lower four sensors of synchronization should be all different or only
Two identical.
S140, according to the size relation of relative position and distance between multiple sound transducers obtain acoustic target it is opposite
In the orientation of unmanned plane.
The size of the distance between multiple sound transducers and acoustic target can be obtained according to the size relation of intensity of sound
Relationship judges orientation of the acoustic target relative to sound transducer accordingly, the reference as adjustment unmanned plane during flying direction.
Positional relationship between each sound transducer and each propeller of unmanned plane is known, each sound sensor
Relative position between device is also known.It can determine whether according to the distance between acoustic target and each sensor size relation
Orientation of the acoustic target relative to unmanned plane out, and according to the position between each sound transducer and each propeller of unmanned plane
The relationship of setting calculates control signal.Such as, the intensity of sound measured when the first sound transducer is maximum, third sound transducer measures
Intensity of sound it is minimum and second sound sensor and falling tone sound sensor measure intensity of sound between the first sound transducer
When between third sound transducer, it can be determined that acoustic target is located at the first sound transducer side of unmanned plane.If second
The intensity of sound that sound transducer measures is greater than the intensity of sound that falling tone sound sensor measures, then may determine that acoustic target position
In the first sound transducer side of unmanned plane, and second sound sensor side partially.
S150, it rotates or moves towards the acoustic target according to the orientation control unmanned plane.
Relative position between acoustic target and unmanned plane according to obtained in S140 can determine whether the right flight of unmanned plane
The power output of four propellers is modified in direction accordingly, makes unmanned plane towards acoustic target rotation or movement, to make nothing automatically
It is man-machine that appropriately distance and/or orientation are kept between acoustic target.
Certainly, the quantity of sound transducer can also be 2 or 3, and sound transducer can also be with linear array or three
Angular mode is arranged, and the direction of the receiving port of sound transducer can not also in the same plane, but be in space
Distribution, such as according to the direction of the direction setting receiving port of rectangular coordinate system in space.
With reference to Fig. 5, Fig. 5 is the flow chart of the flight householder method provided according to another embodiment of the present invention.This implementation
Example in flight householder method the following steps are included:
S210, orientation of the acoustic target relative to unmanned plane is obtained.
It can refer to the step S110 to S120 in previous embodiment, details are not described herein again.
The intensity of sound that S220, each sound transducer of comparison are obtained in different moments, obtains each sound transducer and obtains
The intensity of sound variation tendency obtained.
By comparing the intensity of sound that each sound transducer different moments obtain, it can get each sound transducer and obtain
Intensity of sound variation tendency.Acoustic target and each sound are judged according to the intensity of sound variation tendency of each sound transducer
The distance between sensor variation tendency.The intensity of sound that independent more each sensor measures, when acoustic target is far from nobody
When machine, the intensity of sound that four sound transducers measure in a period of time can all become smaller；Four lower to synchronization again
The intensity of sound that sound transducer measures is compared, the side of the unmanned plane where the maximum sensor of the intensity of sound measured
That is orientation of the acoustic target relative to unmanned plane.
Such as, the intensity of sound that the intensity of sound that the first sound transducer measures is maximum, third sound transducer measures is minimum
And the intensity of sound that second sound sensor and falling tone sound sensor measure is located at the first sound transducer and third sound biography
Between sensor, then it may determine that acoustic target is located at the first sound transducer side.When the sound that four sound transducers measure
It then may determine that acoustic target far from unmanned plane when intensity becomes smaller；When the first sound transducer and falling tone sound sensor are surveyed
The intensity of sound obtained becomes larger, the intensity of sound that second sound sensor measures becomes smaller, then acoustic target may be relative to nobody
Machine translation is rotated around unmanned plane.
S230, judge that acoustic target and each sound are passed according to the intensity of sound variation tendency of each sound transducer
The distance between sensor variation tendency.
When the distance between S240, each sound transducer and acoustic target become larger, unmanned plane is controlled towards the sound
Source target is mobile, when the distance between each sound transducer and acoustic target become smaller, controls unmanned plane far from acoustic target.
In some optional embodiments, it can also acquire and send in real time sound and/or image information.Such as, on unmanned plane
Microphone or video recorder can be set, realize and obtain sound, image or image information in real time.For example, by gsm module, 3G or 4G
Above- mentioned information are sent to intended recipinent in real time by the information transmitting apparatus realization of module, such as are sent to remote control personnel.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (13)
1. a kind of unmanned plane during flying householder method, for assisting unmanned plane to follow acoustic target rotation or movement, which is characterized in that
Include:
The sound wave that the acoustic target is issued by multiple sound transducers for being arranged on the unmanned plane different location into
Row measures and obtains multiple intensities of sound；
The intensity of sound that more the multiple sound transducer obtains under synchronization, obtains and obtains under the synchronization
The size relation of the intensity of sound obtained；
The multiple sound transducer and institute are obtained according to the size relation of the intensity of sound obtained under the synchronization
State the size relation of the distance between acoustic target；
The acoustic target is obtained according to the size relation of relative position and the distance between the multiple sound transducer
Orientation relative to the unmanned plane；And
It is rotated according to the orientation control unmanned plane towards the acoustic target or mobile.
2. unmanned plane during flying householder method according to claim 1, which is characterized in that further include:
Compare the intensity of sound that each sound transducer is obtained in different moments, obtains each sound transducer and obtain
Intensity of sound variation tendency；
The acoustic target and each sound are judged according to the intensity of sound variation tendency of each sound transducer
The distance between sound sensor variation tendency；
When the distance between each sound transducer and the acoustic target become larger, the unmanned plane is controlled described in
Acoustic target is mobile, when the distance between each sound transducer and the acoustic target become smaller, control it is described nobody
Machine is far from the acoustic target.
3. unmanned plane during flying householder method according to claim 1, which is characterized in that the multiple sound transducer wraps
Include the receiving port for receiving sound wave, the receiving port of each sound transducer is towards different directions.
4. unmanned plane during flying householder method according to claim 3, which is characterized in that when the quantity of the sound transducer
When being four, the receiving port of four sound transducers towards pairwise orthogonal.
5. unmanned plane during flying householder method according to claim 4, which is characterized in that four sound transducers
Receiving port direction be generally aligned in the same plane.
6. unmanned plane during flying householder method according to claim 1, which is characterized in that further include obtaining the sound source mesh
The sound and/or image information of side are marked, and sends the sound and/or image information in real time.
7. a kind of unmanned plane during flying auxiliary device, for assisting unmanned plane to follow acoustic target rotation or movement, which is characterized in that
Include:
Multiple sound transducers are set on the unmanned plane different location, the sound wave for being issued to the acoustic target into
Row measures and obtains multiple intensities of sound；
Processing unit is used for:
The intensity of sound that more the multiple sound transducer obtains under synchronization, obtains and obtains under the synchronization
The size relation of the intensity of sound obtained,
The multiple sound transducer and institute are obtained according to the size relation of the intensity of sound obtained under the synchronization
State the size relation of the distance between acoustic target；
The acoustic target is obtained according to the size relation of relative position and the distance between the multiple sound transducer
Orientation relative to the unmanned plane；And
Control device is used to be rotated according to the orientation control unmanned plane towards the acoustic target or mobile.
8. unmanned plane during flying auxiliary device according to claim 7, it is characterised in that:
The processing unit is also used to,
The intensity of sound for comparing each sound transducer different moments acquisition, obtains what each sound transducer obtained
Intensity of sound variation tendency,
The acoustic target and each sound are judged according to the intensity of sound variation tendency of each sound transducer
The distance between sound sensor variation tendency；
The control device is also used to, when becoming larger at a distance from each sound transducer is between the acoustic target,
Control that the unmanned plane is mobile towards the acoustic target, between each sound transducer and the acoustic target away from
When from becoming smaller, the unmanned plane is controlled far from the acoustic target.
9. unmanned plane during flying auxiliary device according to claim 7, which is characterized in that the multiple sound transducer wraps
Include the receiving port for receiving sound wave, the receiving port of each sound transducer is towards different directions.
10. unmanned plane during flying auxiliary device according to claim 9, which is characterized in that when the number of the sound transducer
When amount is four, the receiving port of four sound transducers towards pairwise orthogonal.
11. unmanned plane during flying auxiliary device according to claim 10, which is characterized in that four sound sensors
The direction of the receiving port of device is generally aligned in the same plane.
12. unmanned plane during flying auxiliary device according to claim 7, which is characterized in that it further include information transmitting apparatus, it can
For sending sound and/or image information in real time.
13. a kind of unmanned plane, which is characterized in that assisted including unmanned plane during flying described in any one of claim 7 to 12
Device.
Priority Applications (1)
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