CN113748688A - Recording method, device and chip for unmanned aerial vehicle, unmanned aerial vehicle and system - Google Patents
Recording method, device and chip for unmanned aerial vehicle, unmanned aerial vehicle and system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04R3/00—Circuits for transducers, loudspeakers or microphones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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- G10L21/00—Speech or voice signal processing techniques to produce another audible or non-audible signal, e.g. visual or tactile, in order to modify its quality or its intelligibility
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Abstract
The application provides a recording method of an unmanned aerial vehicle, which comprises the steps of determining the working state of the unmanned aerial vehicle under the condition of recording through a recording device, wherein the working state comprises a flight state and a landing state; and adjusting parameters of a recording device according to the working state of the unmanned aerial vehicle, and carrying out recording operation according to the adjusted parameters of the recording device. The recording effect of the audio can be ensured no matter the unmanned aerial vehicle is in a flying state or a landing state. The application also provides a device for recording the unmanned aerial vehicle, a chip, the unmanned aerial vehicle, a recording system of the unmanned aerial vehicle, a computer readable storage medium and a computer program product containing instructions.
Description
Technical Field
The present application relates to an unmanned aerial vehicle, and more particularly, to a method for recording by an unmanned aerial vehicle, an apparatus for recording by an unmanned aerial vehicle, a chip, an unmanned aerial vehicle recording system, a computer-readable storage medium, and a computer program product.
Background
Because there is extremely strong oar when unmanned vehicles work, consequently can dispose the recording function very rarely, synthesizes when the audio of its picture of shooing often relies on post processing again, and the audio of synthesis can lack the sense of presence. And for a few unmanned aerial vehicles with recording functions, only single oar sound can be recorded, and due to the fact that the oar sound emitted by the unmanned aerial vehicles during working is too large, the problem of overload can also exist, the recording effect is affected, and environmental sounds except the oar sound cannot be recorded.
Disclosure of Invention
The embodiment of the application provides a recording method for an unmanned aerial vehicle, a recording device for the unmanned aerial vehicle, a chip, the unmanned aerial vehicle and a recording system for the unmanned aerial vehicle.
In a first aspect, an embodiment of the present application provides a method for recording by an unmanned aerial vehicle, including:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
In a second aspect, the present application provides an apparatus for recording by an unmanned aerial vehicle, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
In a third aspect, an embodiment of the present application provides a chip, installed on an unmanned aerial vehicle, including a processor and a memory, where the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle, where a chip and a microphone are installed on the unmanned aerial vehicle, the chip includes a processor and a memory, the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle recording system, including an unmanned aerial vehicle and a designated application, a chip and a microphone are installed on the unmanned aerial vehicle, the designated application is installed on an electronic device, the unmanned aerial vehicle is in communication connection with the electronic device, the chip includes a processor and a memory, the memory is used for storing instructions, and when the processor responds to a request of the application, the processor calls the instructions stored in the memory to implement the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
In a sixth aspect, the present application provides a computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of the first aspect described above.
In a seventh aspect, the present application provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect described above.
This application is flight state or state of falling to the ground through the operating condition who confirms unmanned vehicles, and the parameter according to unmanned vehicles's operating condition adjustment recording equipment is recorded, has realized no matter unmanned vehicles is in flight state or state of falling to the ground, can both ensure the recording effect of audio frequency.
Drawings
FIG. 1 is a flow chart illustrating a method for recording by an UAV according to an exemplary embodiment of the present application.
Fig. 2 is a flowchart illustrating the adjustment of parameters of the recording device and the processing of the recorded audio signal when the UAV is in flight and in landing according to an exemplary embodiment of the present application.
FIG. 3 is an illustration of an apparatus for recording an unmanned aerial vehicle according to an exemplary embodiment of the present application.
Fig. 4 is a chip shown in an exemplary embodiment of the present application.
FIG. 5 is an unmanned aerial vehicle shown in an exemplary embodiment of the present application.
FIG. 6 is an illustration of an UAV recording system in accordance with an exemplary embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The embodiment of the application firstly provides a method for recording the unmanned aerial vehicle, which can be applied to computer hardware arranged in the unmanned aerial vehicle, for example, a management chip carried in the unmanned aerial vehicle, wherein the unmanned aerial vehicle is also provided with at least one set of recording equipment, and the recording process of the recording equipment is controlled by the management chip. Or the method can also be applied to a system consisting of a terminal device or an application program on the terminal device and a management chip on the unmanned aerial vehicle, for example, the application program on the terminal device can send a command to control the management chip on the unmanned aerial vehicle so as to realize the control of the recording process of the microphone on the unmanned aerial vehicle, wherein the terminal device can be, for example, an unmanned aerial vehicle remote controller, a mobile phone terminal, a tablet computer, a notebook computer, a PC terminal and the like.
Fig. 1 is a flowchart illustrating a method for recording by an unmanned aerial vehicle according to an exemplary embodiment of the present application, as shown in fig. 1, including:
s101, determining the working state of the unmanned aerial vehicle under the condition of recording through recording equipment; the working state comprises a flight state and a landing state;
s102, adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and S103, carrying out recording operation according to the adjusted parameters of the recording equipment.
The recording device may be a microphone, a recorder, a recording pen, or the like, which is not limited in this application, and for convenience of description, the following description will use the microphone as an example.
When the unmanned aerial vehicle works in different states, the sound emitted is different in size, for example, in a flight state (in a moving or suspended state), the emitted oar sound is extremely large, at the moment, the maximum sound pressure level of the oar sound may be greater than the maximum recording sound pressure level of the microphone, so that the oar sound to be recorded is overloaded, for example, when the maximum sound pressure level of the oar sound is 135db, and the maximum recording sound pressure level of the microphone is 128db, the oar sound to be recorded is overloaded relative to the microphone, at the moment, an audio signal recorded by the microphone is clipped, and therefore, the clear and complete oar sound cannot be restored in the following process. In a landing state, the paddle does not rotate at the moment, the mainly recorded voice is the voice of the environment, but a certain distance exists between the microphone and the sound source, so that the voice to be recorded is too small, and meanwhile, the voice to be recorded which is too small is interfered by circuit noise, fuselage vibration noise, fan noise and the like which exist in the unmanned aerial vehicle. Therefore, when the unmanned aerial vehicle performs recording in different working states, parameters of the microphone need to be adjusted correspondingly to ensure the quality of the recording, and how to adjust the parameters of the microphone according to different scenes will be described in the following embodiments.
It should be noted that, in S101, considering that the recording may have different requirements for recording mono, two-channel stereo or multi-channel stereo, the number of microphones used for recording the audio signal may be one or more, and the specific number may be set according to the requirement. When a plurality of microphones are arranged, recording can be performed through different microphones corresponding to different scenes, for example, when a single-channel audio signal is recorded, a microphone 1 and a microphone 2 can be respectively arranged, and recording can be performed through the microphone 1 when the unmanned aerial vehicle is in a flight state; when the unmanned aerial vehicle is in a landing state, recording is performed through the microphone 2, wherein the microphone 1 and the microphone 2 may be in the same specification or in different specifications, and those skilled in the art may configure the microphones according to requirements, and it is preferable that the microphones suitable for different recording scenes are respectively configured to record, so that adjustment of parameters of the microphones can be reduced.
In one embodiment, the working state of the unmanned aerial vehicle is determined before the recording is started, the parameter of the microphone is determined to be adjusted according to the determined working state of the unmanned aerial vehicle, and then the recording is started; of course, the working state of the unmanned aerial vehicle can be determined in real time after the recording is started, and then the parameters of the microphone are adjusted according to the working state of the unmanned aerial vehicle to record.
In order to obtain the working state of the unmanned aerial vehicle, the embodiment of the application also provides a method for determining the working state of the unmanned aerial vehicle, and several methods for determining the working state of the unmanned aerial vehicle are introduced below.
In one embodiment, the working state of the unmanned aerial vehicle can be determined according to the received working state message of the unmanned aerial vehicle, and particularly, the working state of the unmanned aerial vehicle can be judged by receiving a flight control state message sent by a flight control module inside the unmanned aerial vehicle. The flight control module is used for acquiring the working state data of the unmanned aerial vehicle measured by each sensor in real time, receiving control commands and data transmitted by terminal equipment for remotely controlling the unmanned aerial vehicle, outputting control commands through calculation and processing to realize control of various working states in the unmanned aerial vehicle, and simultaneously transmitting the working state data of the unmanned aerial vehicle and working state parameters of an engine, an airborne power system and the like to the remote control terminal in real time.
Under the condition of recording the audio signal, real-time communication can be established with the flight control module, the real-time working state of the unmanned aerial vehicle is acquired from the flight control module, and the unmanned aerial vehicle is determined to be in the flight state when a message indicating that the unmanned aerial vehicle is in the flight state is received; and determining that the unmanned aerial vehicle is in the landing state when the message indicating that the unmanned aerial vehicle is in the landing state is received. And correspondingly adjusting the parameters of the recorded audio signals after the working state information of the unmanned aerial vehicle is determined. Of course, the flight control module may also actively send the indication message in real time, and may send a message indicating the real-time working state of the unmanned aerial vehicle in the working process of the unmanned aerial vehicle, and further, when the working state of the unmanned aerial vehicle is switched, may also send a message indicating the working state switching of the unmanned aerial vehicle, for example, may send a message indicating that the unmanned aerial vehicle enters a landing state when the unmanned aerial vehicle is switched from a flight state to a landing state, thereby implementing corresponding adjustment of the parameters of the recorded audio signals according to the working state of the unmanned aerial vehicle in time, and ensuring the recording effect.
Because real-time communication needs to be established with the flight control module when the unmanned aerial vehicle is acquired through the flight control module, it needs to be ensured that communication connection is not interrupted, but the problem that communication signals are not good may occur in the working process of the unmanned aerial vehicle, which may cause the problem that the acquisition of the working state of the unmanned aerial vehicle fails, and in order to avoid the limitation of coupling with the flight control module, the embodiment of the present application further provides other methods for determining the working state of the unmanned aerial vehicle. In one embodiment, the motion state of the unmanned aerial vehicle can be determined by analyzing the characteristics of the recorded audio signal, for example, in the case of recording the audio signal, the working state of the unmanned aerial vehicle can be determined according to the energy of the audio signal recorded in real time, since the unmanned aerial vehicle mainly records the oar sound in the flight state and mainly records the human sound in the environment in the landing state, the amplitude of the audio signal between the recorded oar sound and the human sound has a great difference, and the amplitude of the audio signal can reflect the energy of the audio signal, the working state of the unmanned aerial vehicle can be determined by analyzing and calculating the energy of the recorded audio signal. For example, by defining a first preset threshold, when the energy of the recorded audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state. The specific value of the first preset threshold may be determined by a person skilled in the art according to actual needs, and the embodiment of the present application is not limited. On the basis of defining a first preset threshold, when the unmanned aerial vehicle switches the working state, the unmanned aerial vehicle can be determined to enter the flight state when the energy of the recorded audio signal is analyzed in real time to change from being smaller than the first preset threshold to being larger than the first preset threshold; conversely, when the energy of the recorded audio signal changes from being greater than the first preset threshold value to being smaller than the first preset threshold value, the unmanned aerial vehicle is determined to enter the landing state. In some cases, considering that there may be a short-term noise interference, it may be determined that the unmanned aerial vehicle enters the flight state only when the energy of the recorded audio signal changes from being smaller than the first preset threshold to being larger than the first preset threshold and no bounce occurs to being smaller than the first preset threshold within a period of time, and the determination that the unmanned aerial vehicle enters the landing state may be determined in the same manner.
The method comprises the steps that the working state of the unmanned aerial vehicle is determined by analyzing the energy of the recorded audio signal, sometimes, the problem of noise interference exists, and the switching of the working state of the unmanned aerial vehicle is misjudged, so that the embodiment of the application also provides a method for determining the working state of the unmanned aerial vehicle, in one embodiment, the working state of the unmanned aerial vehicle can be determined by the obtained rotating speed of the motor of the unmanned aerial vehicle, and the rotating speed of the motor is extremely high at the moment because the blades of the unmanned aerial vehicle rotate at high speed in the flying state; and the paddle of the unmanned aerial vehicle is close to stop rotating when the unmanned aerial vehicle is in a landing state, and the rotating speed of the motor is small, so that the rotating speed of the motor of the unmanned aerial vehicle can reflect the working state of the unmanned aerial vehicle, and the motor rotating speed can be collected in real time to judge. Similar to the method shown in the previous embodiment, it is also possible to determine that the unmanned aerial vehicle is in the flight state by defining a second preset threshold when the rotation speed of the motor is greater than the second preset threshold; otherwise, determining that the unmanned aerial vehicle is in a landing state. When the working state of the unmanned aerial vehicle is switched, when the rotating speed of the motor is changed from being smaller than a second preset threshold value to being larger than the second preset threshold value, the unmanned aerial vehicle is determined to enter a flight state; and conversely, when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, the unmanned aerial vehicle is determined to enter the landing state.
In some alternative examples, the operating state of the unmanned aerial vehicle may also be determined by detecting a zero-crossing rate of the recorded audio signal, pitch detection, and the like, which are not listed herein. It is understood that, in the case of considering obtaining the judgment result more quickly, the working state of the unmanned aerial vehicle may be determined by only one method shown in the above embodiment, and in the case of ensuring the accuracy of the judgment result, two or more methods shown above may be selected to be freely combined to judge the working state of the unmanned aerial vehicle, and how to select the method is not limited in the embodiment of the present application.
After the working state of the unmanned aerial vehicle is determined, parameters of the microphone need to be adjusted correspondingly to ensure a recording effect, for example, gain parameters, working frequency, frequency response, and the like of the microphone may be adjusted, and how to adjust may be freely set according to the working state of the unmanned aerial vehicle. An example of adjusting the gain parameter of the microphone according to the operating state of the unmanned aerial vehicle will be given below.
Taking the unmanned aerial vehicle carrying the analog microphone as an example, the oar sound recorded by the unmanned aerial vehicle in the flight state is too large, and the environment human sound recorded in the landing state is too small, so that the analog gain of the analog microphone of the unmanned aerial vehicle in different working states can be correspondingly adjusted. The analog gain can be understood as the multiple of the pre-circuit in the analog microphone for amplifying the recorded audio signal, and because the electric signal obtained when the analog microphone converts the sound signal into the electric signal (audio signal) is weak, the pre-circuit is required to further amplify the electric signal before subsequent transmission and processing, the amplification degree of the recorded audio signal can be adjusted by adjusting the analog gain, and the audio signal after amplification is prevented from being clipped because the original analog gain is continuously used.
Specifically, when the unmanned aerial vehicle is in a flight state, the analog gain of the analog microphone can be reduced to avoid over-amplification of the recorded audio signal, and the amplified audio signal is controlled within a first specified range; similarly, when the unmanned aerial vehicle is in a landing state, the analog gain of the analog microphone can be increased so as to improve the amplification degree of the recorded audio signal, and the amplified audio signal is controlled within a second specified range. Wherein the maximum value of both the first specified range and the second specified range is smaller than the clipping point, which can be understood as the maximum value at which the audio signal is not clipped. In addition, the first designated range and the second designated range may be the same range or different ranges, and may be specifically set by those skilled in the art according to actual needs, and the embodiments of the present application are not limited.
Of course, in some alternative examples, for the unmanned aerial vehicle carrying the digital microphone, the digital gain of the digital microphone may be adjusted to control the amplification factor of the recorded audio signal, which is similar to the method for adjusting the analog gain and will not be described herein.
The unmanned aerial vehicle records the oar sound in the flight state, so that the recorded oar sound is more vivid, stereo sound effect can be recorded, specifically, two or more microphones can be arranged for recording according to actual requirements, a stereo enhancement method based on a phase position can be adopted for recording obtained stereo audio signals, and compression noise is realized and the recorded stereo effect is enhanced mainly by adjusting a phase spectrum of the recorded audio signals. Or the energy-based stereo enhancement method can be adopted to enhance the recorded stereo sound effect by adjusting the energy of the recorded audio signal.
For the audio signal recorded by the unmanned aerial vehicle, the audio signal is not only the sound wave with a single frequency, but also the sound waves with various frequencies are superposed, so that the intensity of the signals with different frequencies can be adjusted through equalization processing. Specifically, the equalizer can separate signals with different frequencies and adopt amplification or reduction with different degrees, thereby changing the sound effect. The equalizer used may be an equalizer for processing analog signals or an equalizer for processing digital signals. For example, when the unmanned aerial vehicle is in a flight state, for the audio signal obtained by recording and amplified by the front-end circuit, it may be considered to adopt an equalizer to appropriately reduce the signals with different frequencies, that is, reduce the amplitude thereof, while ensuring the equalization between the signals with different frequencies, so as to ensure the recording effect.
The recorded voice of the unmanned aerial vehicle in the landing state is the voice in the environment, and because the voice recorded in the environment has the problem of too small audio signal, the recording effect will be greatly affected by circuit noise, fuselage vibration noise, fan noise and the like in the unmanned aerial vehicle, so that the voice enhancement processing and the noise reduction processing need to be carried out on the recorded audio signal. For the human voice enhancement processing of the audio signal, a method similar to the stereo enhancement processing can be adopted, and for the noise reduction processing of the audio signal, wiener filtering can be adopted to realize noise reduction, or the scene can be intelligently identified through an AI algorithm to reduce noise so as to correct the waveform of the recorded audio signal. In addition, since the microphone is usually provided with an acoustic resistance material to prevent the microphone from being damaged by too much recorded sound, and the acoustic resistance material is mainly used for suppressing high-frequency signals, when recording human voice in the environment, in order to avoid too little recorded sound, the high-frequency signals can be amplified by an equalizer, that is, the amplitude of the high-frequency signals is increased.
It is to be understood that, in the above embodiments, to adjust the parameters of the microphone and process the recorded audio signal is only an example, and a person skilled in the art may select more microphone parameters and process the recorded audio signal according to requirements, which is not listed in this application, in addition, for adjusting the parameters of the microphone and processing the recorded audio signal, a management chip built in the unmanned aerial vehicle may determine the working state of the unmanned aerial vehicle, and then automatically execute the adjustment according to a pre-stored processing algorithm corresponding to the working state, where the processing algorithm may be to perform parameter adjustment on the microphone and process the recorded audio signal by using the method shown in one or more embodiments, and different working states of the unmanned aerial vehicle may correspond to different processing algorithms. It is of course also possible that the user decides at his discretion which algorithm to use for processing the audio signal. A flow chart for adjusting the microphone parameters and processing the recorded audio signals when the unmanned aerial vehicle is in a flight state and in a landing state is illustrated in fig. 2.
As shown in fig. 2, the method comprises the following steps:
s201, determining the working state of the unmanned aerial vehicle; executing S202 to S204 when the unmanned aerial vehicle is determined to be in the flight state, and executing S205 to S207 when the unmanned aerial vehicle is determined to be in the landing state;
s202, reducing the analog gain;
s203, stereo enhancement processing;
s204, carrying out equalization processing;
s205, increasing the analog gain;
s206, denoising and human voice enhancing;
and S207, equalizing.
The description of the previous embodiments can be referred to for how to determine the operating state of the unmanned aerial vehicle, and the specific procedures of each process, and are not further described here.
The present application further provides an apparatus for recording an unmanned aerial vehicle, fig. 3 is an apparatus for recording an unmanned aerial vehicle according to an exemplary embodiment of the present application, and as shown in fig. 3, the apparatus 30 includes a processor 301, a memory 302 for storing processor executable instructions, an internal bus 304, and a network interface 303;
wherein the processor 301 is configured to determine an operating state of the unmanned aerial vehicle in a case of recording through the recording device, the operating state including a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
The specific implementation process of the recording apparatus provided by the present application may refer to the description of the above method embodiment, and is not described herein again.
The present application further provides a chip integrated on an unmanned aerial vehicle, fig. 4 is a chip illustrated in an exemplary embodiment of the present application, and as shown in fig. 4, the chip 40 includes a processor 401 and a memory 402, where the memory 402 is used to store instructions, and the processor 401 calls the instructions stored in the memory 402 to implement the following operations: determining the working state of the unmanned aerial vehicle under the condition of recording through a recording device, wherein the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
The specific implementation process of the chip provided by the present application may refer to the description of the above method embodiment, and is not described herein again.
The present application further provides an unmanned aerial vehicle, fig. 5 is an unmanned aerial vehicle shown in an exemplary embodiment of the present application, and as shown in fig. 5, an unmanned aerial vehicle 50 includes a chip 40 and a recording device 501, the chip 40 includes a processor 401 and a memory 402, the memory 402 is used for storing instructions, and the processor 401 calls the instructions stored in the memory 402 to implement the following operations: determining the working state of the unmanned aerial vehicle 50 under the condition of recording through the recording device 501, wherein the working state comprises a flight state and a landing state;
adjusting parameters of the recording device 501 according to the working state of the unmanned aerial vehicle 50;
and performing recording operation according to the adjusted parameters of the recording device 501.
The specific implementation process related to the unmanned aerial vehicle provided by the application can refer to the description of the above method embodiment, and is not described herein again.
The present application further provides an unmanned aerial vehicle recording system, fig. 6 is an unmanned aerial vehicle recording system according to an exemplary embodiment of the present application, and as shown in fig. 6, the unmanned aerial vehicle recording system includes the unmanned aerial vehicle 50 shown in fig. 5 and a specific application 601, and the specific application 601 is installed on the electronic device 60, wherein the processor 401, in response to a request of the specific application 601, invokes the instructions stored in the memory 402 to implement the following operations:
determining the working state of the unmanned aerial vehicle 50 under the condition of recording through the recording device 501, wherein the working state comprises a flight state and a landing state;
adjusting parameters of the recording device 501 according to the working state of the unmanned aerial vehicle 50;
and performing recording operation according to the adjusted parameters of the recording device 501.
The specific implementation process of the recording system of the unmanned aerial vehicle provided by the application can refer to the description of the above method embodiment, and is not repeated herein.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted over a computer-readable storage medium. The computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method and apparatus provided by the embodiments of the present application are described in detail above, and the principle and the embodiments of the present application are explained herein by applying specific examples, and the description of the embodiments above is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (67)
1. A method of recording by an unmanned aerial vehicle, comprising:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
2. The method of claim 1, wherein the determining the operating state of the UAV comprises:
determining the working state of the unmanned aerial vehicle according to the received working state message of the unmanned aerial vehicle; and/or
Analyzing the characteristics of the recorded audio signals to determine the operating state of the unmanned aerial vehicle; and/or
And determining the working state of the unmanned aerial vehicle according to the acquired motor rotating speed of the unmanned aerial vehicle.
3. The method of claim 2, wherein the operational status messages include a message indicating that the UAV is in flight and a message indicating that the UAV is in landing.
4. The method of claim 2, wherein the characteristic of the audio signal comprises an energy of the audio signal;
the determining the working state of the unmanned aerial vehicle comprises:
when the energy of the audio signal is larger than a first preset threshold value, determining that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
5. The method of claim 4, wherein the determining the operating state of the UAV further comprises:
when the energy of the audio signal changes from being smaller than the first preset threshold value to being larger than the first preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the energy of the audio signal changes from being larger than the first preset threshold value to being smaller than the first preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
6. The method of claim 2, wherein determining the operating state of the UAV based on the obtained motor speed of the UAV comprises:
when the rotating speed of the motor is greater than a second preset threshold value, determining that the unmanned aerial vehicle is in a flying state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
7. The method of claim 6, wherein determining the operating state of the UAV based on the obtained motor speed of the UAV further comprises:
when the rotating speed of the motor is changed from being smaller than the second preset threshold value to being larger than the second preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
8. The method of claim 1, wherein the parameters of the audio recording device comprise:
analog gain of the recording device.
9. The method of claim 8, wherein the adjusting the parameters of the audio recording device comprises:
when the unmanned aerial vehicle is in a flight state, adjusting the analog gain of the recording equipment to control the recorded audio signal within a first specified range;
and when the unmanned aerial vehicle is in a landing state, adjusting the analog gain of the recording equipment so as to control the recorded audio signal within a second specified range.
10. The method of claim 1, further comprising:
and when the recorded audio signal is a stereo audio signal, enhancing the recorded stereo audio signal.
11. The method of claim 10, wherein the enhancing the recorded stereo audio signal comprises:
enhancing the stereo audio signal based on phase; or
Enhancing the stereo audio signal based on energy.
12. The method of claim 1, further comprising:
and when the recorded audio signal is a human voice audio signal, performing human voice enhancement processing and noise reduction processing on the recorded human voice audio signal.
13. The method of claim 1, wherein the recording device is a microphone.
14. An apparatus for recording by an unmanned aerial vehicle, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
15. The apparatus of claim 14, wherein the processor is configured to:
determining the working state of the unmanned aerial vehicle according to the received working state message of the unmanned aerial vehicle; and/or
Analyzing the characteristics of the recorded audio signals to determine the operating state of the unmanned aerial vehicle; and/or
And determining the working state of the unmanned aerial vehicle according to the acquired motor rotating speed of the unmanned aerial vehicle.
16. The apparatus of claim 15, wherein the operational status message comprises a message indicating that the UAV is in flight and a message indicating that the UAV is in landing.
17. The apparatus of claim 15, wherein the characteristic of the audio signal comprises an energy of the audio signal;
the processor is configured to:
when the energy of the audio signal is larger than a first preset threshold value, determining that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
18. The apparatus of claim 17, wherein the processor is configured to:
when the energy of the audio signal changes from being smaller than the first preset threshold value to being larger than the first preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the energy of the audio signal changes from being larger than the first preset threshold value to being smaller than the first preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
19. The apparatus of claim 15, wherein the processor is configured to:
when the rotating speed of the motor is greater than a second preset threshold value, determining that the unmanned aerial vehicle is in a flying state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
20. The apparatus of claim 19, wherein the processor is configured to:
when the rotating speed of the motor is changed from being smaller than the second preset threshold value to being larger than the second preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
21. The apparatus of claim 14, wherein the parameters of the sound recording device comprise:
analog gain of the recording device.
22. The apparatus of claim 21, wherein the processor is configured to:
when the unmanned aerial vehicle is in a flight state, adjusting the analog gain of the recording equipment to control the recorded audio signal within a first specified range;
and when the unmanned aerial vehicle is in a landing state, adjusting the analog gain of the recording equipment so as to control the recorded audio signal within a second specified range.
23. The apparatus of claim 14, wherein the processor is configured to:
and when the recorded audio signal is a stereo audio signal, enhancing the recorded stereo audio signal.
24. The apparatus of claim 23, wherein the processor is configured to:
enhancing the stereo audio signal based on phase; or
Enhancing the stereo audio signal based on energy.
25. The apparatus of claim 14, wherein the processor is configured to:
and when the recorded audio signal is a human voice audio signal, performing human voice enhancement processing and noise reduction processing on the recorded human voice audio signal.
26. The apparatus of claim 14, wherein the sound recording device is a microphone.
27. A chip applied to an unmanned aerial vehicle is characterized by comprising a processor and a memory, wherein the memory is used for storing instructions, and the processor calls the instructions stored by the memory to realize the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
28. The chip of claim 27, wherein the processor is specifically configured to:
determining the working state of the unmanned aerial vehicle according to the received working state message of the unmanned aerial vehicle; and/or
Analyzing the characteristics of the recorded audio signals to determine the operating state of the unmanned aerial vehicle; and/or
And determining the working state of the unmanned aerial vehicle according to the acquired motor rotating speed of the unmanned aerial vehicle.
29. The chip of claim 28, wherein the operational status messages comprise a message indicating that the UAV is in flight and a message indicating that the UAV is in landing.
30. The chip of claim 28, wherein the characteristic of the audio signal comprises an energy of the audio signal;
the processor is specifically configured to:
when the energy of the audio signal is larger than a first preset threshold value, determining that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
31. The chip of claim 30, wherein the processor is specifically configured to:
when the energy of the audio signal changes from being smaller than the first preset threshold value to being larger than the first preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the energy of the audio signal changes from being larger than the first preset threshold value to being smaller than the first preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
32. The chip of claim 28, wherein the processor is specifically configured to:
when the rotating speed of the motor is greater than a second preset threshold value, determining that the unmanned aerial vehicle is in a flying state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
33. The chip of claim 32, wherein the processor is specifically configured to:
when the rotating speed of the motor is changed from being smaller than the second preset threshold value to being larger than the second preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
34. The chip of claim 27, wherein the parameters of the audio recording device include:
analog gain of the recording device.
35. The chip of claim 34, wherein the processor is specifically configured to:
when the unmanned aerial vehicle is in a flight state, adjusting the analog gain of the recording equipment to control the recorded audio signal within a first specified range;
and when the unmanned aerial vehicle is in a landing state, adjusting the analog gain of the recording equipment so as to control the recorded audio signal within a second specified range.
36. The chip of claim 27, wherein the processor is specifically configured to:
and when the recorded audio signal is a stereo audio signal, enhancing the recorded stereo audio signal.
37. The chip of claim 36, wherein the processor is specifically configured to:
enhancing the stereo audio signal based on phase; or
Enhancing the stereo audio signal based on energy.
38. The chip of claim 27, wherein the processor is specifically configured to:
and when the recorded audio signal is a human voice audio signal, performing human voice enhancement processing and noise reduction processing on the recorded human voice audio signal.
39. The chip of claim 27, wherein the recording device is a microphone.
40. An unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with a chip and a recording device, the chip comprises a processor and a memory, the memory is used for storing instructions, and the processor calls the instructions stored by the memory to realize the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
41. The UAV of claim 40 wherein the processor is specifically configured to:
determining the working state of the unmanned aerial vehicle according to the received working state message of the unmanned aerial vehicle; and/or
Analyzing the characteristics of the recorded audio signals to determine the operating state of the unmanned aerial vehicle; and/or
And determining the working state of the unmanned aerial vehicle according to the acquired motor rotating speed of the unmanned aerial vehicle.
42. The UAV of claim 41, wherein the operational status messages comprise a message indicating that the UAV is in flight and a message indicating that the UAV is in landing.
43. The UAV of claim 41 wherein the characteristic of the audio signal comprises an energy of the audio signal;
the processor is specifically configured to:
when the energy of the audio signal is larger than a first preset threshold value, determining that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
44. The UAV according to claim 43 wherein the processor is specifically configured to:
when the energy of the audio signal changes from being smaller than the first preset threshold value to being larger than the first preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the energy of the audio signal changes from being larger than the first preset threshold value to being smaller than the first preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
45. The UAV of claim 41, wherein the processor is specifically configured to:
when the rotating speed of the motor is greater than a second preset threshold value, determining that the unmanned aerial vehicle is in a flying state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
46. The UAV of claim 45 wherein the processor is specifically configured to:
when the rotating speed of the motor is changed from being smaller than the second preset threshold value to being larger than the second preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
47. The UAV of claim 40 wherein the parameters of the sound recording device include:
analog gain of the recording device.
48. The UAV of claim 47, wherein the processor is specifically configured to:
when the unmanned aerial vehicle is in a flight state, adjusting the analog gain of the recording equipment to control the recorded audio signal within a first specified range;
and when the unmanned aerial vehicle is in a landing state, adjusting the analog gain of the recording equipment so as to control the recorded audio signal within a second specified range.
49. The UAV of claim 40 wherein the processor is specifically configured to:
and when the recorded audio signal is a stereo audio signal, enhancing the recorded stereo audio signal.
50. The UAV of claim 49 wherein the processor is specifically configured to:
enhancing the stereo audio signal based on phase; or
Enhancing the stereo audio signal based on energy.
51. The UAV of claim 40 wherein the processor is specifically configured to:
and when the recorded audio signal is a human voice audio signal, performing human voice enhancement processing and noise reduction processing on the recorded human voice audio signal.
52. The UAV according to claim 40 wherein the sound recording device is a microphone.
53. An unmanned aerial vehicle recording system, comprising an unmanned aerial vehicle and a designated application, wherein a chip and a recording device are installed on the unmanned aerial vehicle, the designated application is installed on an electronic device, the unmanned aerial vehicle is in communication connection with the electronic device, the chip comprises a processor and a memory, the memory is used for storing instructions, and when the processor responds to a request of the designated application, the processor calls the instructions stored in the memory to realize the following operations:
determining the working state of the unmanned aerial vehicle under the condition of recording through the recording equipment; the working state comprises a flight state and a landing state;
adjusting parameters of the recording equipment according to the working state of the unmanned aerial vehicle;
and carrying out recording operation according to the adjusted parameters of the recording equipment.
54. The UAV recording system of claim 53, wherein the processor is specifically configured to:
determining the working state of the unmanned aerial vehicle according to the received working state message of the unmanned aerial vehicle; and/or
Analyzing the characteristics of the recorded audio signals to determine the operating state of the unmanned aerial vehicle; and/or
And determining the working state of the unmanned aerial vehicle according to the acquired motor rotating speed of the unmanned aerial vehicle.
55. The UAV recording system of claim 54 wherein the operational status messages include a message indicating that the UAV is in flight and a message indicating that the UAV is in landing.
56. The UAV recording system of claim 54 wherein the characteristic of the audio signal comprises an energy of the audio signal;
the processor is specifically configured to:
when the energy of the audio signal is larger than a first preset threshold value, determining that the unmanned aerial vehicle is in a flight state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
57. The UAV recording system of claim 56, wherein the processor is specifically configured to:
when the energy of the audio signal changes from being smaller than the first preset threshold value to being larger than the first preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the energy of the audio signal changes from being larger than the first preset threshold value to being smaller than the first preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
58. The UAV recording system of claim 54 wherein the processor is specifically configured to:
when the rotating speed of the motor is greater than a second preset threshold value, determining that the unmanned aerial vehicle is in a flying state; otherwise, determining that the unmanned aerial vehicle is in a landing state.
59. The UAV recording system of claim 58 wherein the processor is specifically configured to:
when the rotating speed of the motor is changed from being smaller than the second preset threshold value to being larger than the second preset threshold value, determining that the unmanned aerial vehicle enters a flight state;
and when the rotating speed of the motor is changed from being larger than the second preset threshold value to being smaller than the second preset threshold value, determining that the unmanned aerial vehicle enters a landing state.
60. The UAV recording system of claim 53 wherein the parameters of the recording device include:
analog gain of the recording device.
61. The UAV recording system of claim 60 wherein the processor is specifically configured to:
when the unmanned aerial vehicle is in a flight state, adjusting the analog gain of the recording equipment to control the recorded audio signal within a first specified range;
and when the unmanned aerial vehicle is in a landing state, adjusting the analog gain of the recording equipment so as to control the recorded audio signal within a second specified range.
62. The UAV recording system of claim 53, wherein the processor is specifically configured to:
and when the recorded audio signal is a stereo audio signal, enhancing the recorded stereo audio signal.
63. The UAV recording system of claim 62, wherein the processor is specifically configured to:
enhancing the stereo audio signal based on phase; or
Enhancing the stereo audio signal based on energy.
64. The UAV recording system of claim 53, wherein the processor is specifically configured to:
and when the recorded audio signal is a human voice audio signal, performing human voice enhancement processing and noise reduction processing on the recorded human voice audio signal.
65. The UAV recording system of claim 53 wherein the recording device is a microphone.
66. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-13.
67. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-13.
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| PCT/CN2020/095351 WO2021248364A1 (en) | 2020-06-10 | 2020-06-10 | Audio recording method and apparatus for unmanned aerial vehicle, chip, unmanned aerial vehicle, and system |
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| CN113748688A true CN113748688A (en) | 2021-12-03 |
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