CN113924609A - Audio processing method and system, movable platform and electronic equipment - Google Patents

Audio processing method and system, movable platform and electronic equipment Download PDF

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Publication number
CN113924609A
CN113924609A CN202080038664.0A CN202080038664A CN113924609A CN 113924609 A CN113924609 A CN 113924609A CN 202080038664 A CN202080038664 A CN 202080038664A CN 113924609 A CN113924609 A CN 113924609A
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audio signal
movable platform
state parameter
initial
electronic device
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Chinese (zh)
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薛政
莫品西
刘洋
边云锋
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • G01S3/808—Systems for determining direction or deviation from predetermined direction using transducers spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Telephone Function (AREA)
  • Circuit For Audible Band Transducer (AREA)

Abstract

The embodiment of the application provides an audio processing method and system, a movable platform, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: acquiring an initial audio signal and acquiring state parameters generated by the movable platform in the motion process; and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or an electronic device which is in communication connection with the movable platform. The embodiment ensures the good playing effect of the final target audio signal.

Description

Audio processing method and system, movable platform and electronic equipment Technical Field
The present application relates to the field of audio processing, and in particular, to an audio processing method and system, a mobile platform, an electronic device, and a computer-readable storage medium.
Background
Movable platforms (e.g., unmanned aerial vehicles, mobile robots, etc.) are capable of a wide variety of applications (e.g., exploration, cruise, FOV experience, etc.) where the movable platform may need to be acoustically assisted.
In the related art, a speaker is usually installed on the mobile device, and a voice signal of a user is collected at a control end communicatively connected to the mobile platform and transmitted to the mobile platform, and is played through the speaker of the mobile platform.
Disclosure of Invention
It is therefore an object of the present invention to provide an audio processing method and system, a mobile platform, an electronic device and a computer-readable storage medium.
First, a first aspect of the present application provides an audio processing method, including:
acquiring an initial audio signal;
acquiring state parameters generated by a movable platform in a motion process;
and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or an electronic device which is in communication connection with the movable platform.
According to a second aspect of embodiments of the present application, there is provided a movable platform comprising:
a body;
the power system is arranged in the machine body and used for driving the movable platform to move;
the first processor is arranged in the machine body and used for acquiring an initial audio signal; acquiring state parameters generated in the motion process; (ii) a And generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or an electronic device which is in communication connection with the movable platform.
According to a third aspect of embodiments of the present application, there is provided an electronic apparatus, including:
a second processor;
a memory for storing second processor-executable instructions;
the second communication module is used for acquiring state parameters generated by the movable platform in the motion process from the movable platform;
wherein the second processor invokes the executable instructions that, when executed, perform: acquiring an initial audio signal; and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or the electronic equipment.
According to a fourth aspect of embodiments herein, there is provided an audio processing system comprising a movable platform and an electronic device communicatively coupled to the movable platform;
the movable platform is used for: acquiring an initial audio signal and acquiring state parameters generated in a motion process; (ii) a Generating a target audio signal according to the state parameter and the initial audio signal;
the electronic device and/or the movable platform are configured to: and playing the target audio signal.
According to a fifth aspect of embodiments herein, there is provided an audio processing system comprising a movable platform and an electronic device communicatively coupled to the movable platform;
the movable platform is used for: acquiring state parameters generated in the motion process and feeding back the state parameters to the electronic equipment;
the electronic device is configured to: acquiring an initial audio signal; generating a target audio signal according to the state parameter and the initial audio signal;
the electronic device and/or the movable platform are further configured to: and playing the target audio signal.
According to a sixth aspect of embodiments herein, there is provided a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of the first aspects.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
in this embodiment, when the target audio signal is generated, the influence of the motion process of the movable platform on the audio signal is comprehensively considered, the state parameter generated by the movable platform in the motion process is obtained, and the target audio signal is generated according to the state parameter and the initial audio signal, so that a good playing effect of the final target audio signal is ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a block diagram of an unmanned aerial vehicle system shown for the present application according to an exemplary embodiment.
Fig. 2 is a flow chart illustrating an audio processing method according to an exemplary embodiment of the present application.
Fig. 3A is a schematic structural diagram of a mobile device according to an exemplary embodiment of the present application.
Fig. 3B is a schematic structural diagram of a second type of mobile device shown in the present application according to an exemplary embodiment.
Fig. 3C is a schematic structural diagram of a third movable device according to an exemplary embodiment of the present application.
Fig. 4A is a block diagram of an electronic device shown in accordance with an example embodiment of the present application.
Fig. 4B is a block diagram of a second electronic device according to an example embodiment of the present application.
Fig. 4C is a block diagram of a third electronic device shown in the present application according to an example embodiment.
FIG. 5A is a block diagram of an audio processing system according to an exemplary embodiment of the present application.
FIG. 5B is a block diagram of another audio processing system shown in the present application according to an exemplary embodiment.
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, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
For the problems in the related art, the embodiment of the application provides an audio processing method, which obtains a state parameter of a movable platform in a motion process, and generates a target audio signal based on the state parameter and an initial audio signal.
The method can be applied to a movable platform, and also can be applied to an electronic device in communication connection with the movable platform, wherein the movable platform includes but is not limited to an unmanned aerial vehicle, an unmanned ship, a mobile robot, and the like, and the electronic device includes but is not limited to a mobile phone, a computer, a personal tablet, a remote controller, a Personal Digital Assistant (PDA), an intelligent wearable device, and the like.
The following description of the movable platform of the present application uses an unmanned aerial vehicle as an example. It will be apparent to those skilled in the art that other types of unmanned aerial vehicles may be used without limitation, and embodiments of the present application may be applied to various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle may be a small or large unmanned aerial vehicle. In some embodiments, the unmanned aerial vehicle may be a rotary-wing unmanned aerial vehicle (rotocraft), such as a multi-rotor unmanned aerial vehicle that is propelled through air by a plurality of propulsion devices, embodiments of the present application are not so limited, and the unmanned aerial vehicle may be other types of unmanned aerial vehicles.
Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.
Unmanned flight system 100 may include unmanned aerial vehicle 110, display device 130, and remote control device 140. Unmanned aerial vehicle 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan and tilt head 120 carried on the frame. The UAV 110 may be in wireless communication with the remote control device 140 and the display device 130. Unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an industrial application unmanned aerial vehicle, with cyclic operation requirements.
The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rests are connected to the fuselage for support during landing of the UAV 110.
The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the unmanned aerial vehicle 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the UAV 110, which enables the UAV 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the UAV 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.
Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the unmanned aerial vehicle, that is, position information and state information of the unmanned aerial vehicle 110 in space, for example, three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the unmanned aerial vehicle 110, and for example, the flight of the unmanned aerial vehicle 110 may be controlled based on the attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the UAV 110 according to preprogrammed instructions, or may control the UAV 110 in response to one or more remote control signals from the remote control device 140.
The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry the photographing device 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be independent of the unmanned aerial vehicle 110, or may be part of the unmanned aerial vehicle 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located on the top of the UAV as well as on the bottom of the UAV.
The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It is understood that the camera 123 may be directly fixed to the unmanned aerial vehicle 110, and thus the pan/tilt head 120 may be omitted.
The display device 130 is located at the ground end of the unmanned flight system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the remote control device 140.
The remote control device 140 is located at the ground end of the unmanned flight system 100 and can wirelessly communicate with the unmanned aerial vehicle 110 for remote maneuvering of the unmanned aerial vehicle 110.
It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.
Referring to fig. 2, a flow chart of an audio processing method according to an exemplary embodiment of the present application is shown, where the method is applicable to a movable platform or an electronic device communicatively connected to the movable platform, and the method includes:
in step S201, an initial audio signal is acquired.
In step S202, state parameters generated by the movable platform during the movement are acquired.
In step S203, a target audio signal is generated according to the state parameter and the initial audio signal, where the target audio signal is used for playing on the movable platform and/or an electronic device communicatively connected to the movable platform.
Acquiring state parameters generated by the movable platform in the motion process, wherein the state parameters comprise: and acquiring the state parameters from components on the movable platform in the moving process of the movable platform.
Wherein the state parameters generated by the movable platform during motion may be obtained based on a load on the movable platform, in one example, the load includes but is not limited to a vision sensor, a satellite positioning module, an inertial measurement unit, an infrared sensor, a motor, a pan/tilt head, a temperature sensor, an anemometer, a robotic arm, a gripper, a timer, a communication module, a power module, or a processor, a memory, etc. disposed on the movable platform.
Wherein, the vision sensor includes but is not limited to a monocular vision sensor or a binocular vision sensor, etc.; the Positioning technology applied by the Satellite Positioning module includes, but is not limited to, a GPS (Global Positioning System), a GNSS (Global Navigation Satellite System), an RTK (Real-time kinematic differential), and the like; the communication protocol applied by the communication module includes, but is not limited to, a near field communication protocol (such as bluetooth, infrared, WiFi, UWB, or the like) or a mobile network communication protocol (such as 3G, 4G, or the like).
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. The storage may be an internal storage unit of the removable platform, such as a hard disk or a memory. The memory may also be an external storage device of the removable platform, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the removable platform. Further, the memory may also include both internal and external storage units of the movable platform. The memory is used for storing computer programs and other programs and data required by the device. The memory may also be used to temporarily store data that has been output or is to be output.
Accordingly, the state parameters generated by the movable platform in the motion process can be directly or indirectly acquired based on the load of the movable platform; parameters such as the speed, acceleration, angular velocity, direction of rotation or distance of movement of the movable platform may be obtained based on an inertial measurement unit; acquiring the wind speed of the current environment based on an anemometer; acquiring the distance between the movable platform and an obstacle based on a visual sensor or an infrared sensor; acquiring a current geographic position or a moving distance based on the satellite positioning module; acquiring the remaining available electric quantity of the movable platform based on a power supply module; acquiring communication parameters (such as bandwidth, time delay and the like) between the movable platform and the electronic equipment based on a communication module; obtaining the internal temperature of the device or the ambient temperature of the environment based on a temperature sensor, obtaining the running time based on the processor or a timer, and the like.
In one example, the movable platform is an unmanned aerial vehicle, and the state parameters generated by the unmanned aerial vehicle during the flight process can be obtained based on the load of the unmanned aerial vehicle, wherein the speed of the movable platform includes but is not limited to ascending speed, descending speed, flight speed or rotation speed, and the like; acceleration of the movable platform includes, but is not limited to, a rising acceleration, a falling acceleration, a flying acceleration, a turning acceleration, or the like; the movement distance includes, but is not limited to, a flight altitude, a straight line distance or a horizontal distance between the aircraft and the user, and the like.
In an embodiment, the audio processing method may be performed by a movable platform, which generates a target audio signal from the state parameter and the initial audio signal after acquiring the state parameter; wherein the initial audio signal includes, but is not limited to, an audio signal captured from a current environment or an audio signal pre-stored by the movable platform.
The audio signal can be collected from the current environment in the following ways:
in one implementation, the movable platform is provided with a first microphone that can capture audio signals from the current environment.
In another implementation, an electronic device communicatively coupled to the movable platform is provided with a second microphone, the second microphone may capture audio signals from a current environment, and the electronic device then transmits the audio signals captured from the current environment to the movable platform.
That is, the audio signal collected from the current environment includes the audio signal collected by the movable platform and/or the audio signal collected by the electronic device; wherein and/or represent either or both.
In another embodiment, the audio processing method may be performed by an electronic device communicatively connected to the mobile platform, and the mobile platform transmits the status parameters to the communication terminal after acquiring the status parameters; the communication terminal generates a target audio signal according to the state parameter and the initial audio signal; wherein the initial audio signal includes, but is not limited to, an audio signal collected from a current environment or an audio signal pre-stored by the communication terminal.
The audio signal can be collected from the current environment in the following ways:
in one implementation, the movable platform is provided with a first microphone, the first microphone can collect audio signals from the current environment, and then the movable platform transmits the audio signals collected from the current environment to the electronic device.
In another implementation, an electronic device communicatively coupled to the movable platform is provided with a second microphone that captures audio signals from the current environment.
That is, the audio signal collected from the current environment includes the audio signal collected by the movable platform and/or the audio signal collected by the electronic device; wherein and/or represent either or both.
Wherein the movable platform is in wireless communication with the electronic device. In an exemplary embodiment, the removable device may access a wireless network based on a communication standard to enable communication with the electronic device, such as WiFi, 3G or 4G, or a combination thereof. In one exemplary embodiment, the movable platform receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. As an example, the electronic device and the movable platform may establish a connection through Near Field Communication (NFC), which may be implemented based on, for example, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
It is understood that, in the embodiments of the present application, there is no limitation on the number of the first microphones and the installation positions on the movable platform, and there is no limitation on the number of the second microphones and the installation positions on the electronic device, and the number and the installation positions may be specifically set according to an actual application scenario.
In some embodiments, the movable platform or the electronic device may obtain an audio adjustment parameter for the initial audio signal according to the state parameter, and then adjust the initial audio signal according to the audio adjustment parameter to generate the target audio signal. The audio adjustment parameters acquired by the movable platform or the electronic equipment are different according to different parameter values of the state parameters, so that the initial audio signal is adjusted based on the state parameters, and a target audio signal conforming to the state parameters is generated. In this embodiment, the influence of the motion process of the movable platform on the audio signal is comprehensively considered when the target audio signal is generated, so that a good playing effect of the final target audio signal is ensured.
Acquiring an audio adjustment parameter for the initial audio signal according to the first corresponding relationship between the state parameter and a pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
It can be understood that, in the embodiment of the present application, no limitation is imposed on the representation form of the first corresponding relationship, and specific setting may be performed according to an actual application scenario. In an example, the first corresponding relationship may be expressed as a functional equation relationship, such as a function f (x), where x is a parameter value of the state parameter, so as to obtain f (x), that is, a parameter value of the audio adjustment parameter, and of course, the application does not limit the specific functional expression, and may be specifically set according to an actual application scenario. In one example, please refer to table 1, it can also be expressed by a corresponding relationship table of values between the state parameter and the audio adjusting parameter, wherein A, B, C represents different parameter values of the state parameter, and a, b, and c represent different parameter values of the audio adjusting parameter. In one example, the state parameter may be represented by a variation curve representing a numerical correspondence between the state parameter and the audio adjustment parameter.
TABLE 1
Status parameter Audio adjustment parameters
A a
B b
C c
Of course, based on the requirements of the actual application scenario, each different parameter value of the state parameter may be set to correspond to a different parameter value of the audio adjustment parameter, or several parameter values (for example, several parameter values within a range) of the state parameter may be set to correspond to one parameter value of the audio adjustment parameter, which is not limited in this embodiment of the application.
In one implementation, the audio adjustment parameter may be a time and/or frequency related parameter, and after the mobile platform or the electronic device obtains the audio adjustment parameter according to the state parameter, the mobile platform or the electronic device may adjust the initial audio signal in a time domain and/or a frequency domain according to the audio adjustment parameter, and use the adjusted audio signal as the audio signal, thereby obtaining a target audio signal that conforms to the state parameter. Wherein and/or represent both or either of them. In this embodiment, the influence of the motion process of the movable platform on the audio signal is comprehensively considered when the target audio signal is generated, so that a good playing effect of the final target audio signal is ensured.
In an exemplary embodiment, the audio adjustment parameter may be a parameter related to audio modulation, audio gain, audio noise reduction or sound quality change, and the mobile device may perform at least one of the following adjustment processes on the initial audio signal according to the audio adjustment parameter: the initial audio signal may be subjected to modulation processing, gain processing, noise reduction processing, or sound variation processing according to the audio adjustment parameter.
The following description will take the modulation processing of the initial audio signal as an example: the audio adjustment parameter is a parameter related to audio modulation, the audio adjustment parameter includes, but is not limited to, a parameter related to frequency, phase or amplitude, and the movable platform or the electronic device may perform modulation processing on at least one of the following of the initial audio signal according to the audio adjustment parameter: frequency, phase or amplitude.
In some embodiments, after obtaining the audio adjustment parameter for the initial audio signal according to the state parameter and adjusting the initial audio signal according to the audio adjustment parameter to obtain an adjusted audio signal, in order to further improve an audio playing effect, the movable platform or the electronic device may perform a superposition process on the adjusted audio signal obtained by adjusting the initial audio signal and the initial audio signal to generate the target audio signal. The embodiment realizes the superposition of the adjusted audio signal and the initial audio signal, and is beneficial to improving the audio playing effect.
In one implementation, the movable platform or the electronic device may perform a superposition process on the adjusted audio signal and one of the audio signals included in the initial audio signal; wherein one of the audio signals is different from an initial audio signal corresponding to the adjusted audio signal, or the one of the audio signals may also be an initial audio signal corresponding to the adjusted audio signal.
Here, it is described by taking as an example that the one of the audio signals is different from the initial audio signal corresponding to the adjusted audio signal: the initial audio signal comprises an audio signal collected by the movable platform, an audio signal collected by the electronic equipment and a pre-stored audio signal. In an example, the initial audio signal used for generating the adjusted audio signal is an audio signal collected by the movable platform, and one of the audio signals included in the initial audio signal subjected to the superposition is an audio signal collected by the electronic device or a pre-stored audio signal. In an example, the initial audio signal used for generating the adjusted audio signal is an audio signal acquired by the electronic device, and one of the audio signals included in the initial audio signal subjected to the superposition is an audio signal acquired by the movable platform or a pre-stored audio signal. In an example, an initial audio signal used for generating the adjusted audio signal is a pre-stored audio signal, and one of the audio signals included in the initial audio signal that is subjected to the superposition is an audio signal acquired by the electronic device or an audio signal acquired by the movable platform.
It is understood that the movable platform or the electronic device may also perform a superposition process on the adjusted audio signal and the plurality of audio signals included in the initial audio signal; the plurality of audio signals are all different from the initial audio signal used for generating the adjusted audio signal, or one of the plurality of audio signals may also be the initial audio signal used for generating the adjusted audio signal. The embodiments of the present application do not set any limit to this.
In some embodiments, the mobile device or the electronic device may further obtain a pre-stored audio signal according to the second correspondence between the state parameter and a pre-stored parameter, and use the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter. In this embodiment, the audio signal related to the state parameter is obtained as the target audio signal based on the second corresponding relationship, and the influence of the state parameter is comprehensively considered, so that a good playing effect is ensured.
It can be understood that, in the embodiment of the present application, no limitation is imposed on the representation form of the second corresponding relationship, and the specific setting may be performed according to an actual application scenario. For example, the second correspondence may be expressed by a functional equation relationship, or may also be expressed by a correspondence table between different parameter values of the state parameter and different audio signals, or may also be expressed by a change curve representing the correspondence between different parameter values of the state parameter and different audio signals.
Of course, based on the requirements of the actual application scenario, each different parameter value of the state parameter may be set to correspond to a different audio signal, or several parameter values (for example, several parameter values within a range) of the state parameter may be set to correspond to the same audio signal, which is not limited in this embodiment of the application.
After the target audio signal is obtained, the target audio signal may be played through a first speaker of the movable platform or the audio signal may be played through a second speaker of the electronic device, or the target audio signal and the audio signal may be played on the movable platform or the electronic device simultaneously according to actual scene requirements.
It is understood that, in the embodiments of the present application, there is no limitation on the number of the first speakers and the installation positions on the movable platform, and there is no limitation on the number of the second speakers and the installation positions on the electronic device, and the number and the installation positions may be specifically set according to an actual application scenario.
Further, considering that in some scenarios, it may not be necessary to play the target audio signal in real time, the movable platform or the electronic device may first determine whether the state parameter meets a preset condition, and if the state parameter meets the preset condition, play the target audio signal through the movable platform and/or the electronic device communicatively connected to the movable platform. According to the embodiment, the target audio signal is selectively played based on the preset condition, and the user can set the condition related to the state parameter according to the actual requirement, so that the personalized requirement of the user is met.
Wherein the preset condition is determined based on at least one of the following status parameters: the mobile platform comprises a mobile platform, a mobile device and a control system, wherein the mobile platform comprises a speed, an acceleration, an angular speed, a rotating direction, a running time, a moving distance, a rotating angle of a holder, an internal temperature of the device, an ambient temperature, a wind speed, a distance between the mobile platform and an obstacle, a remaining available electric quantity of the mobile platform or a communication parameter between the mobile platform and the electronic device and the like.
In one example, the preset conditions include, but are not limited to, at least one of: the state parameter indicates that the movable platform is in an acceleration state, the state parameter indicates that the distance between the movable platform and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform performs a rotation operation, the state parameter indicates that the movable platform stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available electric quantity is less than a specified value, the state parameter indicates that the movable platform or the electronic equipment does not receive a signal sent by the other party within a specified time, the state parameter indicates that the internal temperature of the equipment is higher than a specified temperature value or the state parameter indicates that the ambient temperature is not within a preset range, and the like.
In an exemplary application scenario, the movable platform is an unmanned aerial vehicle, in a first-person visual angle flight experience scenario of the unmanned aerial vehicle, a user can control the unmanned aerial vehicle to fly through electronic equipment, and in a flight process, a camera device on the unmanned aerial vehicle shoots pictures along the way and transmits the pictures to the electronic equipment in real time, so that the user can see the shot pictures in real time, and the first-person visual angle flight experience is realized.
In this embodiment, in the flight process, the movable platform may further obtain a state parameter generated in the motion process, and then generate a target audio signal according to the state parameter and the obtained initial audio signal (where, the process of generating the target audio signal may refer to the above description, and is not described here again), and transmit the target audio signal to the electronic device, so that a user may view a real-time picture on the electronic device and hear sounds in the flight process, thereby providing a more immersive experience for the user, and optimizing the use experience of the user.
The movable platform can use the adjusted audio signal as a target audio signal, so that a user can watch a real-time picture on the electronic device and hear the sound of the unmanned aerial vehicle in the flight process, more immersive experience is provided for the user, and the use experience of the user is optimized.
As an example, the state parameter is an acceleration of the movable platform, the movable platform may obtain a corresponding audio adjustment parameter according to the acceleration, the audio adjustment parameter is used to adjust a volume of the acquired audio signal, and different accelerations correspond to different volumes, so as to obtain an adjusted audio signal.
Further, in order to further improve the audio playing effect, after the mobile device obtains the adjusted audio signal, the adjusted audio signal and a pre-stored audio signal (such as a specific prompt tone, for example, a buzzing sound or a pre-recorded sound) may be superimposed by the mobile device to generate a target audio signal and transmit the target audio signal to the electronic device, so that a user may watch a real-time picture on the electronic device and hear a sound of the unmanned aerial vehicle during a flight process, thereby providing a more immersive experience for the user and optimizing the use experience of the user.
In an exemplary application scenario, the state parameter is a communication parameter between the movable platform and the electronic device, the movable platform acquires a communication parameter generated during a motion process, and then generates a target audio signal according to the communication parameter and the acquired initial audio signal (where the process of generating the target audio signal may refer to the above description, which is not repeated here), and when the state parameter indicates that the movable platform does not receive a signal sent by an opposite party (electronic device) within a specified time, it indicates that the movable platform is not linked to the electronic device, the movable platform may play the target audio signal, and the user is prompted to find the position of the movable platform by the target audio signal, thereby helping the user to find the movable platform.
In an exemplary application scenario, the state parameter is an acceleration of the movable platform, the movable platform or the electronic device acquires acceleration data generated during a motion process, and then may generate a target audio signal according to the acceleration and the acquired initial audio signal (where the process of generating the target audio signal may refer to the above description, and is not described herein again), and when the acceleration indicates that the movable platform is in an acceleration state, the movable platform may play the target audio signal, thereby prompting a user to avoid; alternatively, the electronic device may play the target audio signal, thereby prompting a user operating the movable platform to pay attention to operational safety.
In an exemplary application scenario, the state parameter is a distance between the movable platform and an obstacle, and the movable platform acquires the distance between the movable platform and the obstacle during a movement process; then, the movable platform or the electronic device may generate a target audio signal according to the distance between the movable platform and the obstacle and the obtained initial audio signal (where, the process of generating the target audio signal may refer to the above description, and is not described herein again), and when the distance between the movable platform and the obstacle is smaller than a specified threshold, the movable platform may play the target audio signal, thereby reminding the user of avoiding; alternatively, the electronic device may play the target audio signal, thereby prompting a user operating the movable platform to pay attention to operational safety.
In an exemplary application scenario, the state parameter is a remaining available power of the movable platform, the movable platform or the electronic device may generate a target audio signal according to the remaining available power and the obtained initial audio signal (where, the process of generating the target audio signal may refer to the above description, and is not described herein again), and when the remaining available power is less than a specified value, the movable platform or the electronic device may play the target audio signal, so as to prompt a user operating the movable platform that the power of the movable platform is insufficient.
In an exemplary application scenario, the state parameter is a movement distance of the movable platform, and the movable platform or the electronic device may generate a target audio signal according to the movement distance and the obtained initial audio signal (where, the process of generating the target audio signal may refer to the above description, and is not described herein again), and when the movement distance exceeds a specified distance value, the movable platform or the electronic device may play the target audio signal, so as to prompt a user operating the movable platform that the movement distance of the movable platform is too far, and please pay attention to operation safety.
It is to be understood that various state parameters may be arbitrarily combined or used alone, and the embodiment of the present application does not set any limitation to this.
Accordingly, referring to FIG. 3A, a block diagram of a movable platform 30 including, but not limited to, an unmanned aerial vehicle, an unmanned ship, a mobile robot, etc., is shown in accordance with an exemplary embodiment of the present application. The movable platform 30 includes a movable platform 30, characterized by comprising:
a body 33.
And the power system 32 is arranged in the machine body 33 and used for driving the movable platform 30 to move.
A first processor 31, disposed in the body 33, for acquiring an initial audio signal and acquiring a state parameter generated during a movement; generating a target audio signal for playing on the movable platform 30 and/or an electronic device communicatively coupled to the movable platform 30 based on the state parameter and the initial audio signal.
In an embodiment, the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
In an embodiment, referring to fig. 3B, the movable platform 30 further includes a first microphone 34, the first microphone 34 is mounted on the body 33, and the first microphone 34 is used for acquiring an audio signal in the current environment; and/or, the movable platform 30 further includes a first communication module 35, the first communication module 35 is located inside the body 33, and the first communication module 35 is configured to receive an audio signal captured by the electronic device.
In an embodiment, the first processor 31 is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the state parameter; and adjusting the initial audio signal according to the audio adjusting parameter to generate the target audio signal.
In an embodiment, when the audio adjustment parameter is obtained, the first processor 31 is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the first corresponding relation between the state parameter and the pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
In an embodiment, when adjusting the initial audio signal, the first processor 31 is specifically configured to: adjusting the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
In an embodiment, in generating the target audio signal, the first processor 31 is further configured to: and overlapping the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal.
In an embodiment, when generating the target audio signal, the first processor 31 is specifically configured to: carrying out superposition processing on the adjusted audio signal and one of the audio signals included in the initial audio signal; the one audio signal is different from an initial audio signal used to generate the indication to which the adjusted audio signal corresponds.
In an embodiment, when adjusting the initial audio signal, the first processor 31 performs at least one of the following processing modes on the initial audio signal: and carrying out modulation processing, gain processing, noise reduction processing or sound quality change processing on the initial audio signal.
In an embodiment, when adjusting the initial audio signal, the first processor 31 is specifically configured to: performing modulation processing on at least one of the following of the initial audio signal: frequency, phase or amplitude.
In an embodiment, when generating the target audio signal, the first processor 31 is specifically configured to: acquiring a pre-stored audio signal according to the second corresponding relation between the state parameter and the pre-stored audio signal, and taking the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter.
In one embodiment, referring to fig. 3C, the movable platform 30 further includes a first speaker 36; the first speaker 36 is mounted on the body 33, and the first speaker 36 is configured to play the target audio signal; and/or, the movable platform 30 further includes a first communication module 35, and the first communication module 35 is configured to transmit the target audio signal to the electronic device.
In an embodiment, the first processor 31 is further configured to: and if the state parameter meets a preset condition, playing the target audio signal through the movable platform 30 and/or the electronic equipment in communication connection with the movable platform 30.
In an embodiment, the preset condition is determined based on at least one of the following status parameters: a speed, an acceleration, an angular velocity, a rotation direction, a running time, a moving distance, a device internal temperature, a wind speed, a distance between the movable platform 30 and an obstacle, a remaining available power amount of the movable platform 30, or a communication parameter between the movable platform 30 and the electronic device of the mobile device.
In an embodiment, the preset condition includes at least one of: the state parameter indicates that the movable platform 30 is in an acceleration state, the state parameter indicates that the distance between the movable platform 30 and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform 30 performs a rotation operation, the state parameter indicates that the movable platform 30 stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available power is less than a specified value, the state parameter indicates that the movable platform 30 or the electronic device does not receive a signal transmitted by the other party within a specified time, or the state parameter indicates that the internal temperature of the device is higher than a specified temperature value.
The various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software code may be implemented by a software application (or program) written in any suitable programming language, which may be stored in memory and executed by the first processor.
Accordingly, please refer to fig. 4A, which is an exemplary diagram of an electronic device 40 according to an exemplary embodiment of the present application; the electronic device 40 includes, but is not limited to, a mobile phone, a computer, a personal tablet, a remote controller, a Personal Digital Assistant (PDA), or a smart wearable device. The electronic device 40 includes: a second processor 41.
A memory 42 for storing instructions executable by the second processor 41.
And a second communication module 43, configured to acquire, from the movable platform, the state parameters generated by the movable platform during the motion.
Wherein the second processor 41 calls the executable instructions, and when the executable instructions are executed, the executable instructions are used for executing: acquiring an initial audio signal; generating a target audio signal from the state parameter and the initial audio signal, the target audio signal for playing on the movable platform and/or with the electronic device 40.
The second Processor 41 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 42 stores a computer program of executable instructions of the audio processing method, and the memory 42 may include at least one type of storage medium including a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. Also, the electronic apparatus 40 may cooperate with a network storage device that performs a storage function of the memory 42 through a network connection. The storage 42 may be an internal storage unit of the electronic device 40, such as a hard disk or a memory of the electronic device 40. The memory 42 may also be an external storage device of the electronic device 40, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the electronic device 40. Further, the memory 42 may also include both internal storage units of the electronic device 40 and external storage devices. The memory 42 is used for storing computer programs and other programs and data required by the device. The memory 42 may also be used to temporarily store data that has been output or is to be output.
In an embodiment, the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
In an embodiment, referring to fig. 4B, the electronic device 40 further includes a second microphone 44, where the second microphone 44 is used for acquiring an audio signal in the current environment; and/or the second communication module 43 is configured to receive the audio signal captured by the movable platform.
In an embodiment, the second processor 41 is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the state parameter; and adjusting the initial audio signal according to the audio adjusting parameter to generate the target audio signal.
In an embodiment, when the audio adjustment parameter is obtained, the second processor 41 is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the first corresponding relation between the state parameter and the pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
In an embodiment, when adjusting the initial audio signal, the second processor 41 is specifically configured to: adjusting the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
In an embodiment, in generating the target audio signal, the second processor 41 is further configured to: and overlapping the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal.
In an embodiment, when generating the target audio signal, the second processor 41 is specifically configured to: carrying out superposition processing on the adjusted audio signal and one of the audio signals included in the initial audio signal; the one audio signal is different from an initial audio signal used to generate the indication to which the adjusted audio signal corresponds.
In an embodiment, when adjusting the initial audio signal, the second processor 41 performs at least one of the following processing on the initial audio signal: and carrying out modulation processing, gain processing, noise reduction processing or sound quality change processing on the initial audio signal.
In an embodiment, when adjusting the initial audio signal, the second processor 41 is specifically configured to: performing modulation processing on at least one of the following of the initial audio signal: frequency, phase or amplitude.
In an embodiment, when generating the target audio signal, the second processor 41 is specifically configured to: acquiring a pre-stored audio signal according to the second corresponding relation between the state parameter and the pre-stored audio signal, and taking the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter.
In an embodiment, referring to fig. 4C, the electronic device 40 further includes a second speaker 45; the second speaker 45 is used for playing the target audio signal; and/or the second communication module 43 is configured to transmit the target audio signal to the movable platform.
In an embodiment, the second processor 41 is further configured to: and if the state parameter meets a preset condition, playing the target audio signal through the movable platform and/or the electronic equipment 40 in communication connection with the movable platform.
In an embodiment, the preset condition is determined based on at least one of the following status parameters: a speed, an acceleration, an angular velocity, a rotation direction, a running time, a moving distance, a device internal temperature, a wind speed of the movable platform, a distance between the movable platform and an obstacle, a remaining available power of the movable platform, or a communication parameter between the movable platform and the electronic device 40.
In an embodiment, the preset condition includes at least one of: the state parameter indicates that the movable platform is in an acceleration state, the state parameter indicates that the distance between the movable platform and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform performs a rotation operation, the state parameter indicates that the movable platform stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available electric quantity is less than a specified value, the state parameter indicates that the movable platform or the electronic device 40 does not receive a signal sent by the other party within a specified time, or the state parameter indicates that the internal temperature of the device is higher than a specified temperature value.
The various embodiments described herein may be implemented using a computer-readable medium such as computer software, hardware, or any combination thereof. For a hardware implementation, the embodiments described herein may be implemented using at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein. For a software implementation, the implementation such as a process or a function may be implemented with a separate software module that allows performing at least one function or operation. The software codes may be implemented by software applications (or programs) written in any suitable programming language, which may be stored in the memory 42 and executed by the second processor 41.
Accordingly, referring to fig. 5A, an audio processing system is further provided in an embodiment of the present application, which includes a movable platform 30 and an electronic device 40 communicatively connected to the movable platform 30.
The movable platform 30 is configured to: acquiring an initial audio signal and acquiring state parameters generated in a motion process; and generating a target audio signal according to the state parameter and the initial audio signal.
The electronic device 40 and/or the movable platform 30 are configured to: and playing the target audio signal.
In an embodiment, the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
In one embodiment, the movable platform 30 includes a first microphone for capturing audio signals in the current environment; and/or the electronic device 40 includes a second microphone, and the electronic device 40 is further configured to feed back the audio signal collected by the second microphone in the current environment to the movable platform 30.
In one embodiment, the movable platform 30 includes a first speaker; the first loudspeaker is used for playing the target audio signal; and/or, the electronic device 40 includes a second speaker, and the second speaker is used for playing the target audio signal sent by the movable platform 30.
For a specific process of generating the target audio signal, reference may be made to the above description, and details are not repeated here.
Accordingly, referring to fig. 5B (fig. 5B illustrates an example where the movable platform is an unmanned aerial vehicle, and the electronic device is a mobile phone), the present application further provides another audio processing system, which includes a movable platform 30 and an electronic device 40 communicatively connected to the movable platform 30.
The movable platform 30 is configured to: and acquiring state parameters generated in the motion process and feeding back the state parameters to the electronic equipment 40.
The electronic device 40 is configured to: and acquiring an initial audio signal, and generating a target audio signal according to the state parameter and the initial audio signal.
The electronic device 40 and/or the movable platform 30 are further configured to: and playing the target audio signal.
In an embodiment, the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
In an embodiment, the electronic device 40 includes a second microphone for capturing audio signals in the current environment; and/or the movable platform 30 comprises a first microphone, and the movable platform 30 is further configured to feed back the audio signal collected by the first microphone in the current environment to the electronic device 40.
In one embodiment, the movable platform 30 includes a first speaker; the first speaker is used for playing the target audio signal sent by the electronic device 40; and/or, the electronic device 40 includes a second speaker, and the second speaker is used for playing the target audio signal.
For a specific process of generating the target audio signal, reference may be made to the above description, and details are not repeated here.
In addition, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the audio processing method of the above-mentioned embodiment. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
The computer readable storage medium may be any internal storage unit, such as a hard disk or a memory, of the mobile platform or the electronic device described in any of the foregoing embodiments. The computer readable storage medium may also be a removable platform or an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer readable storage medium may also include both an internal storage unit and an external storage device of the movable platform or the electronic device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the charging device, and may also be used for temporarily storing data that has been output or is to be output.
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 invention are described in detail above, and the principle and the embodiments of the present invention are explained in detail herein by using specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, 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 invention.

Claims (56)

  1. An audio processing method, comprising:
    acquiring an initial audio signal;
    acquiring state parameters generated by a movable platform in a motion process;
    and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or an electronic device which is in communication connection with the movable platform.
  2. The method of claim 1, wherein the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
  3. The method of claim 2, wherein the audio signal captured from the current environment comprises at least one of: an audio signal captured by a first microphone of the moveable platform or an audio signal captured by a second microphone of the electronic device.
  4. The method of claim 1, wherein generating a target audio signal from the state parameter and the initial audio signal comprises:
    acquiring an audio adjustment parameter aiming at the initial audio signal according to the state parameter;
    and adjusting the initial audio signal according to the audio adjusting parameter to generate the target audio signal.
  5. The method of claim 4, wherein obtaining audio adjustment parameters for the initial audio signal according to the state parameters comprises:
    acquiring an audio adjustment parameter aiming at the initial audio signal according to the first corresponding relation between the state parameter and the pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
  6. The method of claim 4, wherein said adjusting the initial audio signal according to the audio adjustment parameter comprises:
    adjusting the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
  7. The method of claim 4, the generating the target audio signal further comprising:
    and overlapping the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal.
  8. The method of claim 7, wherein the superimposing the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal comprises:
    carrying out superposition processing on the adjusted audio signal and one of the audio signals included in the initial audio signal; the one audio signal is different from the initial audio signal used to generate the adjusted audio signal.
  9. The method of claim 4, wherein the adjusting the initial audio signal comprises at least one of:
    and carrying out modulation processing, gain processing, noise reduction processing or sound changing processing on the initial audio signal.
  10. The method of claim 9, wherein the modulating the initial audio signal comprises:
    performing modulation processing on at least one of the following of the initial audio signal: frequency, phase or amplitude.
  11. The method of claim 1, wherein generating a target audio signal from the state parameter and an initial audio signal comprises:
    acquiring a pre-stored audio signal according to the second corresponding relation between the state parameter and the pre-stored audio signal, and taking the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter.
  12. The method of claim 1, wherein the target audio signal is played through a first speaker of the movable platform and/or a second speaker of the electronic device.
  13. The method of claim 1, further comprising:
    and if the state parameter meets a preset condition, playing the target audio signal through the movable platform and/or the electronic equipment in communication connection with the movable platform.
  14. The method of claim 13, wherein the preset condition is determined based on at least one of the following of the status parameters: a speed, an acceleration, an angular velocity, a direction of rotation, a running time, a distance of movement, a device internal temperature, a wind speed of the movable platform, a distance between the movable platform and an obstacle, a remaining available power of the movable platform, or a communication parameter between the movable platform and the electronic device.
  15. The method of claim 14, wherein the preset condition comprises at least one of:
    the state parameter indicates that the movable platform is in an acceleration state, the state parameter indicates that the distance between the movable platform and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform performs a rotation operation, the state parameter indicates that the movable platform stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available electric quantity is less than a specified value, the state parameter indicates that the movable platform or the electronic equipment does not receive a signal sent by the other party within a specified time, or the state parameter indicates that the internal temperature of the equipment is higher than a specified temperature value.
  16. The method according to claim 1, characterized in that said movable platform comprises at least: unmanned aerial vehicles, unmanned ships, and mobile robots.
  17. A movable platform, comprising:
    a body;
    the power system is arranged in the machine body and used for driving the movable platform to move;
    the first processor is arranged in the machine body and used for:
    acquiring an initial audio signal;
    acquiring state parameters generated in the motion process;
    and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or an electronic device which is in communication connection with the movable platform.
  18. The movable platform of claim 17, wherein the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
  19. The movable platform of claim 18, further comprising a first microphone for capturing audio signals in a current environment;
    and/or the movable platform further comprises a first communication module, and the first communication module is used for receiving the audio signal collected by the electronic equipment.
  20. The movable platform of claim 17, wherein the first processor is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the state parameter; and adjusting the initial audio signal according to the audio adjusting parameter to generate the target audio signal.
  21. The movable platform of claim 20, wherein in obtaining the audio adjustment parameter, the first processor is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the first corresponding relation between the state parameter and the pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
  22. The movable platform of claim 20, wherein in adjusting the initial audio signal, the first processor is specifically configured to: adjusting the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
  23. The movable platform of claim 20, wherein in generating the target audio signal, the first processor is further configured to: and overlapping the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal.
  24. The movable platform of claim 23, wherein in generating the target audio signal, the first processor is specifically configured to: carrying out superposition processing on the adjusted audio signal and one of the audio signals included in the initial audio signal; the one audio signal is different from an initial audio signal used to generate the indication to which the adjusted audio signal corresponds.
  25. The movable platform of claim 20, wherein the first processor, when adjusting the initial audio signal, performs at least one of: and carrying out modulation processing, gain processing, noise reduction processing or sound quality change processing on the initial audio signal.
  26. The movable platform of claim 25, wherein in adjusting the initial audio signal, the first processor is specifically configured to: performing modulation processing on at least one of the following of the initial audio signal: frequency, phase or amplitude.
  27. The movable platform of claim 17, wherein in generating the target audio signal, the first processor is specifically configured to: acquiring a pre-stored audio signal according to the second corresponding relation between the state parameter and the pre-stored audio signal, and taking the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter.
  28. The movable platform of claim 17, further comprising a first speaker; the first loudspeaker is used for playing the target audio signal; and/or the presence of a gas in the gas,
    the movable platform also includes a first communication module for transmitting the target audio signal to the electronic device.
  29. The movable platform of claim 17, wherein the first processor is further configured to: and if the state parameter meets a preset condition, playing the target audio signal through the movable platform and/or the electronic equipment in communication connection with the movable platform.
  30. The movable platform of claim 29, wherein the preset condition is determined based on at least one of the following of the state parameters: a speed, an acceleration, an angular velocity, a direction of rotation, a running time, a distance of movement, a device internal temperature, a wind speed of the movable platform, a distance between the movable platform and an obstacle, a remaining available power of the movable platform, or a communication parameter between the movable platform and the electronic device.
  31. The movable platform of claim 30, wherein the preset conditions comprise at least one of:
    the state parameter indicates that the movable platform is in an acceleration state, the state parameter indicates that the distance between the movable platform and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform performs a rotation operation, the state parameter indicates that the movable platform stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available electric quantity is less than a specified value, the state parameter indicates that the movable platform or the electronic equipment does not receive a signal sent by the other party within a specified time, or the state parameter indicates that the internal temperature of the equipment is higher than a specified temperature value.
  32. The movable platform of claim 17, comprising at least: unmanned aerial vehicles, unmanned ships, and mobile robots.
  33. An electronic device, comprising:
    a second processor;
    a memory for storing second processor-executable instructions;
    the second communication module is used for acquiring state parameters generated by the movable platform in the motion process from the movable platform;
    wherein the second processor invokes the executable instructions that, when executed, perform: acquiring an initial audio signal; and generating a target audio signal according to the state parameter and the initial audio signal, wherein the target audio signal is used for playing on the movable platform and/or the electronic equipment.
  34. The electronic device of claim 33, wherein the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
  35. The electronic device of claim 34, further comprising a second microphone for capturing audio signals in a current environment;
    and/or the second communication module is used for receiving the audio signal collected by the movable platform.
  36. The electronic device of claim 33, wherein the second processor is further configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the state parameter; and adjusting the initial audio signal according to the audio adjusting parameter to generate the target audio signal.
  37. The electronic device of claim 36, wherein in obtaining the audio adjustment parameter, the second processor is specifically configured to: acquiring an audio adjustment parameter aiming at the initial audio signal according to the first corresponding relation between the state parameter and the pre-stored state parameter; the first corresponding relation indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
  38. The electronic device of claim 36, wherein in adjusting the initial audio signal, the second processor is specifically configured to: adjusting the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
  39. The electronic device of claim 36, wherein in generating the target audio signal, the second processor is further configured to: and overlapping the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal.
  40. The electronic device of claim 39, wherein in generating the target audio signal, the second processor is specifically configured to: carrying out superposition processing on the adjusted audio signal and one of the audio signals included in the initial audio signal; the one audio signal is different from an initial audio signal used to generate the indication to which the adjusted audio signal corresponds.
  41. The electronic device of claim 36, wherein when adjusting the initial audio signal, the second processor performs at least one of the following processing on the initial audio signal: and carrying out modulation processing, gain processing, noise reduction processing or sound quality change processing on the initial audio signal.
  42. The electronic device of claim 41, wherein in adjusting the initial audio signal, the second processor is specifically configured to: performing modulation processing on at least one of the following of the initial audio signal: frequency, phase or amplitude.
  43. The electronic device of claim 33, wherein in generating a target audio signal, the second processor is specifically configured to: acquiring a pre-stored audio signal according to the second corresponding relation between the state parameter and the pre-stored audio signal, and taking the pre-stored audio signal as the target audio signal; the second correspondence indicates different audio signals corresponding to different parameter values of the state parameter.
  44. The electronic device of claim 33, further comprising a second speaker; the second loudspeaker is used for playing the target audio signal; and/or the presence of a gas in the gas,
    the second communication module is used for transmitting the target audio signal to the movable platform.
  45. The electronic device of claim 33, wherein the second processor is further configured to: and if the state parameter meets a preset condition, playing the target audio signal through the movable platform and/or the electronic equipment in communication connection with the movable platform.
  46. The electronic device of claim 45, wherein the preset condition is determined based on at least one of the following status parameters: a speed, an acceleration, an angular velocity, a direction of rotation, a running time, a distance of movement, a device internal temperature, a wind speed of the movable platform, a distance between the movable platform and an obstacle, a remaining available power of the movable platform, or a communication parameter between the movable platform and the electronic device.
  47. The electronic device of claim 46, wherein the preset condition comprises at least one of:
    the state parameter indicates that the movable platform is in an acceleration state, the state parameter indicates that the distance between the movable platform and an obstacle is smaller than a specified threshold value, the state parameter indicates that the movable platform performs a rotation operation, the state parameter indicates that the movable platform stops moving, the state parameter indicates that the moving distance exceeds a specified distance value, the state parameter indicates that the remaining available electric quantity is less than a specified value, the state parameter indicates that the movable platform or the electronic equipment does not receive a signal sent by the other party within a specified time, or the state parameter indicates that the internal temperature of the equipment is higher than a specified temperature value.
  48. An audio processing system comprising a movable platform and an electronic device communicatively coupled to the movable platform;
    the movable platform is used for: acquiring an initial audio signal and state parameters generated in the motion process; generating a target audio signal according to the state parameter and the initial audio signal;
    the electronic device and/or the movable platform are configured to: and playing the target audio signal.
  49. The system of claim 48, wherein the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
  50. The system of claim 49, wherein the movable platform comprises a first microphone for capturing audio signals in a current environment;
    and/or the electronic equipment comprises a second microphone, and the electronic equipment is also used for feeding back the audio signals collected by the second microphone in the current environment to the movable platform.
  51. The system of claim 48, wherein the movable platform comprises a first speaker; the first loudspeaker is used for playing the target audio signal; and/or the presence of a gas in the gas,
    the electronic equipment comprises a second loudspeaker, and the second loudspeaker is used for playing the target audio signal sent by the movable platform.
  52. An audio processing system comprising a movable platform and an electronic device communicatively coupled to the movable platform;
    the movable platform is used for: acquiring state parameters generated in the motion process and feeding back the state parameters to the electronic equipment;
    the electronic device is configured to: acquiring an initial audio signal, and generating a target audio signal according to the state parameter and the initial audio signal;
    the electronic device and/or the movable platform are further configured to: and playing the target audio signal.
  53. The system of claim 52, wherein the initial audio signal comprises at least one of: audio signals collected from the current environment or pre-stored audio signals.
  54. The system of claim 53, wherein the electronic device comprises a second microphone for capturing audio signals in the current environment;
    and/or the movable platform comprises a first microphone, and the movable platform is also used for feeding back the audio signals collected by the first microphone in the current environment to the electronic equipment.
  55. The system of claim 52, wherein the movable platform comprises a first speaker; the first loudspeaker is used for playing the target audio signal sent by the electronic equipment;
    and/or the electronic equipment comprises a second loudspeaker, and the second loudspeaker is used for playing the target audio signal.
  56. A computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the method of any one of claims 1 to 16.
CN202080038664.0A 2020-04-16 2020-04-16 Audio processing method and system, movable platform and electronic equipment Pending CN113924609A (en)

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