WO2016154868A1 - 一种飞行系统、飞行器、声音装置及声音处理方法 - Google Patents

一种飞行系统、飞行器、声音装置及声音处理方法 Download PDF

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Publication number
WO2016154868A1
WO2016154868A1 PCT/CN2015/075436 CN2015075436W WO2016154868A1 WO 2016154868 A1 WO2016154868 A1 WO 2016154868A1 CN 2015075436 W CN2015075436 W CN 2015075436W WO 2016154868 A1 WO2016154868 A1 WO 2016154868A1
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WO
WIPO (PCT)
Prior art keywords
sound
pickup
aircraft
data
speaker
Prior art date
Application number
PCT/CN2015/075436
Other languages
English (en)
French (fr)
Inventor
王铭钰
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201580004355.0A priority Critical patent/CN106029500A/zh
Priority to PCT/CN2015/075436 priority patent/WO2016154868A1/zh
Publication of WO2016154868A1 publication Critical patent/WO2016154868A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/06—Helicopters with single rotor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/165—Management of the audio stream, e.g. setting of volume, audio stream path
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00—Details of transducers, loudspeakers or microphones
    • H04R1/02—Casings; Cabinets ; Supports therefor; Mountings therein
    • H04R1/025—Arrangements for fixing loudspeaker transducers, e.g. in a box, furniture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R3/00—Circuits for transducers, loudspeakers or microphones
    • H04R3/02—Circuits for transducers, loudspeakers or microphones for preventing acoustic reaction, i.e. acoustic oscillatory feedback

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to a flight system, an aircraft, an audio device, and a sound processing method.
  • Speakers are a type of loudspeaker that people often see and use, and they are used in a wide range of fields.
  • the sounding effect can be achieved by installing relevant speaker equipment on the site in advance, so that the staff can directly guide the person present through the speaker, which is very convenient.
  • the existing hand-held speaker device can meet the needs of people in non-fixed places, there are still many places where the use of hand-held speakers is also difficult to bring great convenience to people. For example, in some accident rescues, some people lost during the mountaineering. In general, many staff members were required to bring their handheld speakers to find them, but the steep mountain roads greatly increased the difficulty of rescuers. Or in some large gatherings, the staff can't get close to giving people some information.
  • Embodiments of the present invention provide a flight system, an aircraft, an audio device, and a sound processing method, which can satisfy a user's sound processing requirements in certain specific areas.
  • an embodiment of the present invention provides a flight system including: an aircraft, an acoustic device mounted on the aircraft, wherein the aircraft is used to fly to a target area by automatic control or manual remote control,
  • the sound device is configured to perform a sound processing operation in the target area, wherein the sound processing operation includes playing a sound.
  • the sound device comprises a speaker for playing sound
  • the data corresponding to the sound played by the speaker comprises preset sound data or sound data received from a ground end connected to the data.
  • the flight system further includes a magnetic field shielding component for shielding magnetic properties of the sound device to avoid interference of the sound device with the compass configured in the aircraft.
  • the aircraft includes a controller
  • the controller is configured to receive sound data sent by the ground end, and control the speaker to play a corresponding sound according to the sound data.
  • the aircraft includes a controller
  • the controller is configured to control the speaker to play a sound after detecting that the aircraft flies to a target area.
  • an embodiment of the present invention provides another flight system, including: an aircraft, an acoustic device mounted on the aircraft, wherein the aircraft is used to fly to the target by automatic control or manual remote control a sound device for performing a sound processing operation in the target area, wherein the sound processing operation includes acquiring sound data in the target area.
  • the sound device comprises a pickup for collecting sound data generated in the target area.
  • the flight system further includes a magnetic field shielding component for shielding magnetic properties of the sound device to avoid interference of the sound device with the compass configured in the aircraft.
  • the flight system further includes a noise canceling pickup disposed on the aircraft, the noise canceling pickup for collecting sound data of a component of the aircraft that generates sound during flight.
  • the aircraft is an aircraft including one or more propellers, and the denoising pickups are configured with one or more corresponding to the number of propellers for respectively acquiring sound data generated by the corresponding propellers.
  • the sound device is configured to process the collected sound data of the target area and the sound data collected by each noise canceling pickup when the sound data is collected by the sound pickup device, to The sound data collected by each of the noise canceling pickups is removed from the sound data of the target area, and the processed sound data is sent to the ground end of the data connection.
  • the aircraft includes a controller
  • the controller is configured to process sound data of a target area collected by the pickup and sound data collected by each noise canceling pickup when the sound data is collected by the pickup to generate sound data from the target area
  • the sound data collected by each of the noise canceling pickups is removed, and the processed sound data is sent to the ground end of the data connection.
  • the aircraft includes a controller
  • the controller is configured to trigger the sound device to perform a sound processing operation after detecting that the aircraft flies to a target area.
  • an embodiment of the present invention provides a flight system, including: an aircraft, an acoustic device mounted on the aircraft, wherein the aircraft is used to fly to the target by automatic control or manual remote control
  • the sound device is configured to perform a sound processing operation in the target area, wherein the sound processing operation includes playing a sound and collecting sound in the target area.
  • the sound device comprises a speaker for collecting sound, and a pickup for collecting sound data generated in the target area.
  • the flight system further includes a magnetic field shielding component for shielding magnetic properties of the sound device to avoid interference of the sound device with the compass configured in the aircraft.
  • the flight system further includes a noise canceling pickup disposed on the aircraft, the noise canceling pickup for collecting sound data of a component of the aircraft that generates sound during flight.
  • the aircraft is an aircraft including one or more propellers, and the denoising pickups are configured with one or more corresponding to the number of propellers for respectively acquiring sound data generated by the corresponding propellers.
  • the sound device is configured to process the collected sound data of the target area and the sound data collected by each of the noise canceling pickups when the sound data is collected by the sound pickup device, to The sound data collected by each of the noise canceling pickups is removed from the sound data of the target area, and the processed sound data is sent to the ground end of the data connection.
  • the aircraft includes a controller
  • the controller is configured to process the collected sound data of the target area and the sound data collected by each of the noise canceling pickups when the sound data is collected by the pickup to remove each sound data from the target area
  • the sound data collected by the noise canceling pickup is sent to the ground end of the data connection.
  • the aircraft includes a controller
  • the controller is configured to receive sound data sent by a ground end connected to the data, and control the speaker to play a corresponding sound according to the sound data.
  • the aircraft includes a controller
  • the controller is configured to control the speaker and/or the pickup to perform a sound processing operation after detecting that the aircraft flies to the target area.
  • the aircraft includes a controller
  • the controller is configured to alternately control the operation of the speaker and the pickup to prevent the sound played by the speaker from affecting the sound data collected by the pickup.
  • the aircraft includes a controller
  • the controller is configured to process the sound data collected by the pickup to cancel the sound played by the speaker based on the preset sound feature parameters of the speaker when the sound data is collected by the pickup.
  • the flight system further includes a noise canceling pickup disposed on the speaker; the aircraft includes a controller;
  • the controller is configured to process the sound data collected by the pickup based on the sound feature parameters collected by the noise canceling pickup disposed on the speaker when the sound data is collected by the pickup, to eliminate the sound data The sound played by the speaker.
  • the sound device further includes a processor, and the processor is specifically configured to alternately trigger the speaker and the pickup to work to prevent the sound played by the speaker from collecting sound data from the pickup. Impact.
  • the sound device further includes a processor, and the processor is configured to collect, when the sound collecting data is collected by the pickup, based on a preset sound feature parameter about the speaker, The sound data is processed to eliminate the sound played by the speaker.
  • the flight system further includes a noise canceling pickup disposed on the speaker;
  • the sound device further includes a processor;
  • the processor is specifically configured to: when the sound data is collected by the pickup, process the sound data collected by the pickup based on the sound feature parameters collected by the noise canceling pickup provided by the speaker, so as to eliminate the sound data The sound played by the speaker.
  • an embodiment of the present invention further provides a flight system including an aircraft, a speaker, and a pickup;
  • the aircraft includes: an aircraft body, a controller, and a power component, the speaker and the pickup being mounted on the aircraft body
  • the controller is configured to control the aircraft to the target area and to control the speaker to play sound and/or the pickup to collect sound data during flight of the aircraft.
  • an embodiment of the present invention further provides an aircraft, including: an aircraft body, a controller, and a mounting mechanism for externally connecting the sound device disposed on the aircraft body;
  • the controller is configured to control the flight of the aircraft to the target area by means of automatic control or manual remote control, and is used for controlling the sound device to perform a sound processing operation, wherein the controller is specifically configured to control the sound device to play Sound and / or collect sound data.
  • the aircraft further includes a magnetic field shielding component for shielding magnetic properties of the sound device to avoid interference of the sound device with a compass configured in the aircraft.
  • a magnetic field shielding component for shielding magnetic properties of the sound device to avoid interference of the sound device with a compass configured in the aircraft.
  • the aircraft is an aircraft including one or more propellers
  • the controller is further configured to trigger the sound device to perform a processing operation of the sound data after detecting that the aircraft flies to the target area.
  • the controller is specifically configured to receive sound data sent by the connected ground end, and control the sound device to play a corresponding sound according to the sound data.
  • the aircraft is an aircraft including one or more propellers
  • the controller is further configured to process, when the sound device performs an operation of collecting sound data of a target area, sound data of each propeller and sound data of a target area collected by the sound device, to The sound data of each propeller is removed from the sound data of the target area, and the processed sound data is transmitted to the ground end of the data connection.
  • the external sound device comprises a speaker and a pickup
  • the controller is further configured to alternately control the speaker and the pickup to work to prevent the sound played by the speaker from being collected by the pickup. The impact of sound data.
  • the external sound device includes a speaker and a pickup
  • the controller is further configured to: when the sound pickup data is collected by the sound pickup, based on a preset sound feature parameter about the speaker, the pickup The collected sound data is processed to eliminate the sound played by the speaker.
  • the external sound device includes a speaker and a pickup
  • the controller is further configured to collect the sound data of the speaker based on the acquired sound characteristic parameter of the speaker when the sound pickup data is collected by the sound pickup device The sound data is processed to eliminate the sound played by the speaker.
  • an embodiment of the present invention further provides a sound device, including: a processor, a speaker, and a pickup;
  • the processor is configured to control the speaker to play a sound after the sound device is mounted on the aircraft to fly to the target area, and/or control the sound of the pickup to collect the target area.
  • the sound device further includes a noise canceling pickup, and the noise canceling pickup is disposed on the aircraft body;
  • the processor is specifically configured to collect, by using the denoising pickup, noise data during flight of the aircraft, and when the sound collecting data of the target area is collected by the pickup, the noise data and the sound of the target area collected by the pickup.
  • the data is processed to remove noise data from the sound data of the target area; the processed sound data is transmitted to the ground end, the noise data including data of sounds emitted by the aircraft spiral.
  • the processor is specifically configured to receive sound data sent by the ground end, and control the speaker to play a corresponding sound according to the sound data.
  • the processor is specifically configured to alternately control the speaker as the sound device and the pickup to prevent the sound played by the speaker from affecting the sound data collected by the pickup.
  • the processor is configured to: when the sound data is collected by the pickup, process the sound data collected by the pickup based on a preset sound feature parameter about the speaker, to eliminate the The sound played by the speaker.
  • the sound device further includes a noise canceling pickup disposed on the speaker;
  • the processor is configured to collect sound data of the speaker by using the noise canceling pickup disposed on the speaker, and collect the sound data according to the noise canceling pickup disposed on the speaker when the sound collecting data is collected by the sound pickup device
  • the sound feature parameter processes the sound data collected by the pickup to eliminate the sound played by the speaker.
  • the embodiment of the present invention further provides a sound processing method, including:
  • controlling the sound device to perform a sound processing operation comprises: controlling the sound device to play a sound; and/or controlling the sound device to collect sound data.
  • the method further includes:
  • the noise data including data of sounds emitted by the aircraft spiral
  • the noise data and the sound data of the target area collected by the pickup are processed to remove noise data from the sound data of the target area;
  • the processed sound data is sent to the ground.
  • the sound device includes a speaker, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, including:
  • the speaker is controlled to play a corresponding sound based on the sound data.
  • controlling the sound device mounted on the aircraft to perform a sound processing operation including:
  • the sound device In the flight control process, after detecting that the aircraft flies to the target area, the sound device is controlled to perform a sound processing operation.
  • the sound device comprises a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, comprising:
  • the speaker as the sound device and the pickup are alternately controlled to prevent the sound played by the speaker from affecting the sound data collected by the pickup.
  • the sound device comprises a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, comprising:
  • the sound data collected by the pickup is processed based on a preset sound characteristic parameter with respect to the speaker to eliminate the sound played by the speaker.
  • the sound device comprises a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, comprising:
  • the sound data collected by the pickup is processed based on the sound feature parameters collected by the noise canceling pickup provided by the speaker to eliminate the sound played by the speaker.
  • the flight system of the embodiment of the invention can collect the sound data of the required area according to the needs of the user, and conveniently and quickly realize the requirement of sound collection in certain required areas.
  • FIG. 1 is a schematic structural view of a flight system according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of another flight system according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural view of still another flight system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of still another flight system according to an embodiment of the present invention.
  • Figure 5 is a schematic structural view of an aircraft according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a sound device according to an embodiment of the present invention.
  • FIG. 7 is a schematic flow chart of a sound processing method according to an embodiment of the present invention.
  • the embodiment of the invention provides a system structure for sounding and recording on an aircraft and a corresponding control manner, which can better enable the user to play or record the desired sound in various occasions and various designated areas as needed.
  • the flight system of the embodiment of the present invention includes: an aircraft 110, and a sound device 120 mounted on the aircraft 110, wherein The aircraft 110 is used to fly to a target area by means of automatic control or manual remote control for performing a sound processing operation in the target area, wherein the sound processing operation includes playing a sound.
  • the aircraft 110 may be a multi-rotor aircraft, such as a quadrotor, a six-rotor, etc., which has a load function capable of mounting a certain weight of the sound device 120.
  • the sound device 120 can include a speaker 121 for playing sound.
  • the aircraft 110 can automatically fly according to pre-configured route data, and can also receive flight control data transmitted by the ground end of a wireless-enabled device such as a remote controller, a smart phone, a tablet, a smart wearable device, and based on these flights. Control data for flight.
  • the sound data corresponding to the sound played by the speaker 121 may be preset sound data, and the sound data may be preset in a memory, and the memory may be disposed in the aircraft 110 or may be a separate speaker 121. Connected memory.
  • the speaker 121 is capable of reading sound data in the memory and performing processing and playback. Alternatively, the sound data in the memory is read by the controller in the aircraft 110, and the speaker 121 is controlled to play the sound after being processed.
  • the sound data corresponding to the sound played by the speaker 121 may also be data received to the ground end.
  • the ground end may specifically be a user's smart phone, a tablet computer, a smart wearable device, etc., and the user can use the ground end device to send sound data to the aircraft 110, and the related processor, controller or the like in the aircraft 110 pairs the data.
  • the speaker 121 is controlled to play a sound.
  • the ground end can also serve as a remote control for the aircraft 110 at the same time, through which the user can fly the aircraft 110 to the target area.
  • the magnetic field shielding component may be further disposed in the flight system of the embodiment of the present invention, and the magnetic shielding component may be specifically wrapped in The speaker 121 is shielded from the magnetic properties of the speaker 121.
  • the magnetic field shielding component may be specifically configured to be barrel-shaped and sleeved on the speaker 121. It should be noted that in some current speakers 121, in order to prevent the sound played by the external magnetic field from being disturbed by the external magnetic field, the function of the specific magnetic field shielding is generally used. In this case, even if the compass is arranged in the aircraft 110, the configuration may be omitted.
  • the magnetic field shielding assembly described.
  • the sound may be played in real time (or at a certain time interval) during the flight of the aircraft 110, for example, in a large square, a beach, etc. where some people gather, that is, any area is the target area. It is also possible to trigger the speaker 121 to play a sound after detecting that the aircraft 110 is flying to a specific target area.
  • the controller on the aircraft 110 or the associated processing unit on the speaker 121 after detecting that the current GPS coordinates have entered the coordinate range of the preset target area, triggers the speaker 121 to play the sound in real time (or a certain time interval).
  • the sound can also be controlled by manual control. After the user manually flies the aircraft to a certain position, the sound on the aircraft is triggered by a mechanical switch or a software switch.
  • the aircraft after flying to a certain target area, the aircraft may fall to a certain position suitable for landing in the target area in order to obtain a better sound playing effect, to the surrounding environment at the position. Play sound.
  • the flight system of the embodiment of the invention can solve the defect that the loudspeakers and the like are limited by space, and conveniently and quickly realize the related sounds in certain required areas to meet the user's needs.
  • the flight system of the embodiment of the present invention includes: an aircraft 210, and a sound device 220 mounted on the aircraft 210, wherein The aircraft 210 is configured to fly to a target area by means of automatic control or manual remote control, the sound device 220 is configured to perform a sound processing operation in the target area, wherein the sound processing operation comprises collecting the Sound data generated in the target area.
  • the aircraft 210 may be a multi-rotor aircraft 210, such as a quadrotor, a six-rotor, etc., which has a load function capable of mounting a certain weight of the sound device 220.
  • the sound device 220 can include a pickup 221, such as a microphone, for collecting sound.
  • the aircraft 210 can automatically fly according to pre-configured route data, and can also receive flight control data transmitted by the ground end of a wireless-enabled device such as a remote controller, a smart phone, a tablet, a smart wearable device, and based on these flights. Control data for flight.
  • the pickup 221 is configured to collect sound data, which can specifically collect sound data in the current environment in real time.
  • the sound data collection function can be turned on to collect the sound data.
  • the collected sound data can be transmitted and encoded by the controller in the aircraft 210, transmitted to the corresponding ground end, and decoded and played by the ground end, and the ground end can be specifically a user's smart phone, tablet computer, and smart wearable device. Wait.
  • the magnetic field shielding component may be further disposed in the flight system of the embodiment of the present invention, and the magnetic shielding component may be specifically wrapped in The pickup 221 shields the magnetic properties of the pickup 221 .
  • the flight system further includes a noise canceling pickup 230, and the noise canceling pickup 230 can be closely attached to the motor accessory to optimally collect the position of the sound of the motor and the propeller. .
  • These noise canceling pickups 230 can specifically transmit the collected noise sound data to the controller of the aircraft 210 by wire and wirelessly.
  • the controller of the aircraft 210 performs denoising processing on the ambient sound data collected by the pickup 221 according to the received sound data collected by each of the noise canceling pickups 230 to remove each cancellation from the sound data collected by the pickup 221
  • the sound data collected by the noise pickup 230 is transmitted to the ground end connected to the data of the flight system.
  • the noise canceling pickup 230 can specifically transmit the collected noise sound data to the sound device 220 by wire and wirelessly.
  • the processor performs denoising processing to remove the sound data collected by each of the noise canceling pickups 230 from the sound data collected by the pickup 221, and transmits the processed sound data to the data of the flight system. Ground end.
  • the controller of the aircraft 210 or the processor of the sound device 220 may specifically be based on the frequency, amplitude, and the like of the sound collected by the noise canceling pickup 230, characteristic parameters for characterizing the sound, and the respective noise canceling pickups 230 and the pickups.
  • the relative position between the 221 is to complete the noise canceling processing operation of the noise emitted by the collected propeller and the like.
  • the aircraft after flying to a certain target area, in order to obtain a better sound pickup effect, the aircraft may fall to a certain position suitable for landing in the target area to collect the surrounding environment at the position. sound.
  • the flight system of the embodiment of the invention can collect the sound data of the required area according to the needs of the user, and conveniently and quickly realize the requirement of sound collection in certain required areas.
  • FIG. 3 is a schematic structural diagram of still another flight system according to an embodiment of the present invention.
  • the flight system of the embodiment of the present invention includes: an aircraft 310, and an audio device 320 mounted on the aircraft 310.
  • the aircraft 310 is used to fly to a target area by means of automatic control or manual remote control, and the sound device 320 is configured to perform a sound processing operation in the target area, wherein the sound processing operation includes playing a sound and The sound generated in the target area is acquired.
  • the aircraft 310 may be a multi-rotor aircraft 310, such as a quadrotor, a six-rotor, etc., but may of course be a single propeller helicopter having a load function capable of mounting a certain weight of the sound device 320.
  • the sound device 320 may include a speaker 321 for playing sound and a pickup 322 for collecting sound, such as a microphone.
  • the aircraft 310 can automatically fly according to pre-configured route data, and can also receive flight control data transmitted by the ground end of a wireless-enabled device such as a remote controller, a smart phone, a tablet, a smart wearable device, and based on these flights. Control data for flight.
  • the present invention is not limited, for example, the sound device 320 may be played after the UAV takes off or Collect sounds.
  • the target area may be an area previously configured by GPS coordinates in the UAV, and in manual control, any area of the sound that is desired to be played or collected by the user operating the UAV.
  • the sound data corresponding to the sound played by the speaker 321 may be preset sound data, and the sound data may be preset in a memory, and the memory may be disposed in the aircraft 310 or may be a separate speaker 321 Connected memory.
  • the speaker 321 is capable of reading sound data in the memory and performing processing and playing. Alternatively, the sound data in the memory is read by the controller in the aircraft 310, and the speaker 321 is controlled to play the sound after being processed.
  • the sound data corresponding to the sound played by the speaker 321 may also be data received to the ground end.
  • the ground end may specifically be a user's smart phone, a tablet computer, a smart wearable device, etc., and the user can use the ground end device to send sound data to the aircraft 310, and the related processor, controller or the like in the aircraft 310 pairs the data.
  • the speaker 321 is controlled to play a sound.
  • the ground end can also serve as a remote control of the aircraft 310 at the same time, by which the user can fly to the target area via the ground-end device remote control aircraft 310.
  • the pickup 322 is configured to collect sound data, which specifically collects sound data in the current environment in real time.
  • the sound data collection function can be turned on to collect the sound data.
  • the collected sound data can be transmitted and encoded by the controller in the aircraft 310, and then transmitted to the corresponding ground end, which is decoded and played by the ground end, and the ground end can specifically be a user's smart phone, tablet computer, and smart wearable device. Wait.
  • the flight system further includes a noise canceling pickup 330, and the noise canceling pickup 330 can be closely attached to the motor accessory to optimally collect the position of the sound of the motor and the propeller. .
  • These noise canceling pickups 330 can specifically transmit the collected noise sound data to the controller of the aircraft 310 by wire and wirelessly.
  • the controller of the aircraft 310 performs denoising processing on the ambient sound data collected by the pickup 322 according to the received sound data collected by each of the noise canceling pickups 330 to remove each cancellation from the sound data collected by the pickup 322.
  • the sound data collected by the noise pickup 330 is sent to the ground end connected to the data of the flight system.
  • the noise canceling pickup 330 can specifically transmit the collected noise sound data to the sound device 320 by wire and wirelessly.
  • the processor performs denoising processing to remove the sound data collected by each of the noise canceling pickups 330 from the sound data collected by the pickup 322, and transmits the processed sound data to the data of the flight system. Ground end.
  • the magnetic field shielding component may be further disposed in the flight system of the embodiment of the present invention, and the magnetic shielding component is specifically configured. It may be wrapped around the speaker 321 and the pickup 322 to shield the magnetic properties of the speaker 321 and the pickup 322.
  • the function of the specific magnetic field shielding is generally used. In this case, even if the compass is arranged in the aircraft 310, it may not be used.
  • the magnetic field shielding assembly is configured.
  • the speaker 321 and the pickup 322 can be controlled by the controller according to the user's needs.
  • the controller can be used to alternately control the operation of the speaker 321 and the pickup 322 to prevent the sound played by the speaker 321 from affecting the sound data collected by the pickup 322.
  • the speaker 321 is controlled to broadcast for 1 minute, and then the pickup 322 is controlled to collect sound for 1 minute; or when the ground end detects that the sound data for playing is transmitted, the speaker 321 is controlled to broadcast, otherwise, the pickup 322 is controlled to collect. sound.
  • the controller can be used to preset the sound data when the pickup 322 collects sound data.
  • the sound characteristic parameter played by the speaker 321 processes the sound data collected by the pickup 322 to eliminate the sound played by the speaker 321 .
  • a noise canceling pickup 330 can be disposed in close contact with the speaker 321 for use in the sound characteristics collected by the noise canceling pickup 330 disposed in the speaker 321 when the sound data is collected by the pickup 322
  • the parameters, and the relative position between the speaker and the pickup process the sound data collected by the pickup 322 to cancel the sound played by the speaker 321 .
  • the sound device 320 can include a processor for performing sound processing in addition to the speaker 321 and the pickup 322. Therefore, the processor of the sound device 320 can be specifically used as needed.
  • the speaker 321 and the pickup 322 are alternately triggered to operate to avoid the influence of the sound played by the speaker 321 on the sound data collected by the pickup 322. Or, specifically, when the sound data is collected by the pickup 322, the sound data collected by the pickup 322 is processed based on the preset sound feature parameters played by the speaker 321 to eliminate the playing of the speaker 321 sound. Or, specifically, when the sound data is collected by the pickup 322, the sound data collected by the pickup 322 is processed based on the sound feature parameters collected by the noise canceling pickup 330 disposed in the speaker 321 to eliminate The sound played by the speaker 321 .
  • the aircraft After flying to a certain target area, the aircraft can land in a suitable fall position in the target area for better sound playback or pickup effects to play sounds or collect sounds in the surrounding environment at the location. .
  • the embodiment of the invention is based on the configuration of the speaker and the sound collecting device of the aircraft, which can solve the defect that the sound amplifying device is limited by space, and can also obtain the sound of the relevant area in real time, and achieve the purpose of communicating with relevant personnel in the target area to a certain extent. Especially in the search and rescue of complex areas such as some mountains, it can better meet the user's demand for voice and radio.
  • FIG. 4 is a schematic structural diagram of still another flight system according to an embodiment of the present invention.
  • the flight system of the embodiment of the present invention includes an aircraft, a speaker 21, and a pickup 22, wherein the aircraft includes: an aircraft body 11, a controller (not shown) and a power assembly 12 mounted on the aircraft body 11 for controlling the aircraft to a target area and for controlling during flight of the aircraft
  • the speaker 21 plays sound and/or the pickup 22 collects sound data.
  • the speaker 21 may be connected to the controller by wired or wireless communication, and receive a play command or a stop play command sent by the controller, sound data to be played, and the pickup 22 Similarly, the controller may be connected to the controller through a wired or wireless manner, receive an acquisition command sent by the controller, or stop the acquisition command, and send the collected sound data to the controller.
  • a noise canceling pickup 3 may be disposed adjacent to the power pack 12 of the aircraft.
  • the noise canceling pickup 3 can also be connected to the controller by wire or wirelessly, and the sound of the module of the motor, the propeller and the like in the collected power component 12 is sent to the controller.
  • the controller receives the sound data transmitted by the pickup 22, and according to the sound characteristic parameters such as frequency and amplitude in the sound data collected by the noise canceling pickup 3, and between the respective noise canceling pickups 3 and the pickup 22
  • the sound data collected by the pickup 22 is subjected to denoising processing to remove the sound included in the sound component 12 collected by the pickup 22 to achieve the purpose of denoising.
  • the controller may alternately operate the speaker 21 and the pickup 22 based on a certain time interval, and control the pickup 22 to stop collecting sound when the speaker 21 plays the sound. Data; and when the pickup 22 collects sound data, then control stops the speaker 21 from playing the sound.
  • the sound characteristic parameters such as the frequency and the amplitude of the sound played by the speaker 21, the relative position, and the like can be known. If the speaker 21 and the pickup 22 operate simultaneously, the controller can be based on a known speaker. The sound characteristic parameter is subjected to denoising processing on the sound data collected by the pickup 22 to remove the sound data generated by the speaker 21.
  • a noise canceling pickup is disposed on the speaker 21, and the sound data played by the speaker 21 is collected by the noise canceling pickup to obtain a sound characteristic parameter, and then the sound data collected by the pickup 22 is performed according to the obtained sound characteristic parameter. Denoising processing removes sound data generated by the speaker 21.
  • the speaker 21 itself has a magnetic field shielding function.
  • the pickup 22 is then configured with a magnetic field shield assembly 4 to shield the magnetics of the pickup 22 from interference with the compass in the aircraft.
  • the magnetic noise shielding assembly can also be configured for the noise canceling pickup 3 as needed.
  • a processor may be disposed in the sound device, and the processor controls the control of the speaker 21, the pickup 22, and the sound involved in the controller.
  • the embodiment of the invention is based on the configuration of the speaker and the sound collecting device of the aircraft, which can solve the defect that the sound amplifying device is limited by space, and can also obtain the sound of the relevant area in real time, and achieve the purpose of communicating with relevant personnel in the target area to a certain extent. Especially in the search and rescue of complex areas such as some mountains, it can better meet the user's demand for voice and radio.
  • FIG. 5 it is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft of the embodiment of the present invention includes: an aircraft body 410, a controller 411, and an external sound disposed on the aircraft body 410.
  • a mounting mechanism of the device wherein the controller 411 is configured to control the flight of the aircraft to the target area by means of automatic control or manual remote control, and is configured to control the sound device to perform a sound processing operation by using the data transmission module,
  • the controller 411 is specifically configured to control the sound device to play sound and/or collect sound data.
  • the aircraft may further include a data transmission module respectively connected to the controller 411 and the sound device data.
  • the data transmission module may be only one data interface, and the controller 411 is connected to the external sound device data through the data interface.
  • the aircraft further includes a magnetic field shielding assembly for shielding the magnetic properties of the sound device to avoid interference of the sound device with the compass configured in the aircraft.
  • the aircraft may be an aircraft including one or more propellers, such as a single propeller helicopter, a quadrotor aircraft, a six-rotor aircraft, etc.;
  • the controller 411 is further configured to trigger the sound device to perform a processing operation of the sound data after detecting that the aircraft flies to the target area.
  • the controller 411 is specifically configured to receive sound data sent by the connected ground end, and control the sound device to play a corresponding sound according to the sound data.
  • the aircraft is an aircraft including one or more propellers, such as a single propeller helicopter, a quadrotor, a six-rotor aircraft, etc.;
  • the controller 411 is further configured to process, when the sound device performs an operation of collecting sound data of a target area, sound data of each propeller and sound data of a target area collected by the sound device to The sound data of each propeller is removed from the sound data of the target area, and the processed sound data is sent to the ground end of the data connection.
  • the controller 411 can collect sound data of the respective propellers based on the noise canceling pickups 430 disposed on the aircraft body 410.
  • the plug-in sound device comprises a speaker 421 and a pickup 422, and the controller 411 is further configured to alternately control the operation of the speaker 421 and the pickup 422 to prevent the sound of the speaker 421 from playing.
  • the influence of the sound data collected by the pickup 422 is described.
  • the external sound device includes a speaker 421 and a pickup 422, and the controller 411 is further configured to: when the sound data is collected by the pickup 422, based on a preset sound characteristic parameter about the speaker 421, The sound data collected by the pickup 422 is processed to eliminate the sound played by the speaker 421.
  • the external sound device includes a speaker 421 and a pickup 422, and the controller 411 is further configured to: when the sound data is collected by the pickup 422, based on the collected sound characteristic parameter of the speaker 421, The sound data collected by the pickup 422 is processed to eliminate the sound played by the speaker 421.
  • the flight system of the embodiment of the invention can solve the defect that the sound amplification device such as the speaker 421 is limited by space, and conveniently and quickly realize the related sound in certain required areas to meet the user's needs.
  • FIG. 6 it is a schematic structural diagram of a sound device according to an embodiment of the present invention.
  • the sound device of the embodiment of the present invention can be mounted on an aircraft.
  • the sound device includes: a processor 523 and a speaker. 521 and a pickup 522.
  • the processor 523 is configured to control the speaker 521 to play a sound after the sound device is mounted on the aircraft to fly to the target area, and/or control the pickup 522 to collect the target area. the sound of.
  • the processor 523 can be connected to a controller in the aircraft through a data transmission interface, and then communicate with the ground end device through the controller in the aircraft. Of course, the processor 523 can also directly communicate with the ground end device by wire or wirelessly.
  • the sound device further includes a noise canceling pickup 524, and the noise canceling pickup 524 is disposed on the aircraft body;
  • the processor 523 is configured to collect, by using the noise canceling pickup 524, noise data during flight of the aircraft, and collect the sound data of the target area when the sound pickup data is collected by the sound pickup unit 522.
  • the sound data of the target area is processed to remove noise data from the sound data of the target area; the processed sound data is transmitted to the ground end, the noise data including data of sounds emitted by the aircraft spiral.
  • the processor 523 is specifically configured to receive sound data sent by the ground end, and control the speaker 521 to play a corresponding sound according to the sound data.
  • the processor 523 is specifically configured to alternately control the speaker 521 as the sound device and the pickup 522 to prevent the sound played by the speaker 521 from affecting the sound data collected by the pickup 522. .
  • the processor 523 is configured to process the sound data collected by the pickup 522 based on the preset sound feature parameters of the speaker 521 when the sound data is collected by the pickup 522, To eliminate the sound played by the speaker 521.
  • the sound device further includes a noise canceling pickup 524 disposed on the speaker 521;
  • the processor 523 is configured to collect sound data of the speaker 521 through the noise canceling pickup 524 disposed on the speaker 521, and when the sound data is collected by the pickup 522, based on the speaker 521 disposed above The sound characteristic parameters collected by the noise canceling pickup 524 are processed, and the sound data collected by the pickup 522 is processed to eliminate the sound played by the speaker 521.
  • the flight system of the embodiment of the invention can solve the defect that the sound amplification device such as the speaker 521 is limited by space, and conveniently and quickly realize the related sound in some required areas to meet the user's needs.
  • FIG. 7 is a schematic flowchart of a sound processing method according to an embodiment of the present invention
  • the method in the embodiment of the present invention may be performed by a controller in an aircraft, or may be processed by a separate data processing function.
  • the processor and the processing device are executed, and the processor is configurable on the corresponding sound device.
  • the method includes:
  • S701 It is detected whether the sound processing operation is performed; if yes, the following S702 is performed; otherwise, the step is continued.
  • S702 Control a sound device mounted on the aircraft to perform a sound processing operation
  • controlling the sound device to perform a sound processing operation comprises: controlling the sound device to play a sound; and/or controlling the sound device to collect sound data.
  • the aircraft may be determined whether the sound processing operation is performed based on the current position of the aircraft, or whether a sound processing trigger instruction of the ground control terminal is received during the flight of the aircraft. After flying to a certain target area, the aircraft can land in a suitable fall position in the target area for better sound playback or pickup effects to play sounds or collect sounds in the surrounding environment at the location. .
  • the sound device includes a sound pickup
  • the method may further include:
  • the noise data including data of sounds emitted by the aircraft spiral
  • the noise data and the sound data of the target area collected by the pickup are processed to remove noise data from the sound data of the target area;
  • the processed sound data is sent to the ground.
  • the sound device includes a speaker, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, including:
  • the speaker is controlled to play a corresponding sound based on the sound data.
  • controlling the playing of the sound by the sound device specifically means that when the sound data transmitted by the ground end is received, the sound data is parsed, and the corresponding sound is controlled by the speaker based on the analyzed data.
  • controlling the sound device mounted on the aircraft to perform a sound processing operation includes:
  • the sound device After detecting that the aircraft is flying to the target area, the sound device is controlled to perform a sound processing operation.
  • the sound device includes a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, including:
  • the speaker as the sound device and the pickup are alternately controlled to prevent the sound played by the speaker from affecting the sound data collected by the pickup.
  • the speaker is alternately controlled to play sound, and the pickup collects sound data.
  • the sound device includes a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, including:
  • the sound data collected by the pickup is processed based on a preset sound characteristic parameter with respect to the speaker to eliminate the sound played by the speaker.
  • the sound device includes a speaker and a pickup, and the sound device controlled to be mounted on the aircraft performs a sound processing operation, including:
  • the sound data collected by the pickup is processed based on the sound feature parameters collected by the noise canceling pickup provided by the speaker to eliminate the sound played by the speaker.
  • the flight system of the embodiment of the invention can solve the defect that the loudspeakers and the like are limited by space, and conveniently and quickly realize the related sounds in certain required areas to meet the user's needs.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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Abstract

一种飞行系统、飞行器、声音装置及声音处理方法，所述飞行系统包括：飞行器（110）、挂载在所述飞行器上的声音装置（120），所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，所述的声音处理操作包括播放声音以及声音的采集。本发明可以解决扬声器等扩音设备受空间局限的缺陷。

Description

一种飞行系统、飞行器、声音装置及声音处理方法 技术领域
本发明涉及电子技术领域，尤其涉及一种飞行系统、飞行器、声音装置及声音处理方法。
背景技术
近年来，随着科学技术的高速发展，人们对高新技术可以带来的便利也越来越关注。扬声器是一种人们经常见到和使用的扩音设备，使用领域非常广泛。一般在室内环境或者固有场地，可以通过在场地上事先安装相关的扬声设备，从而达到扩音的效果，使得工作人员可以直接通过扬声器给在场人员进行指引，非常方便。
在一些非固定区域，或者一些无法事先安装扬声设备的区域，人们也可以使用另外一些手持扬声器设备，在固定的地方去播放事先录制的音频信息或者现场解说，给工作人员减少了不少工作量，增添了工作效率。
虽然现有手持扬声器装置能够满足人们在非固定场所使用的需求，但是仍有许多场所使用手持扬声器也难以给人们带来很大的便利。比如，在一些事故救援中，有人在登山途中走失，一般情况需要派许多工作人员带着手持扬声器去寻找，但是陡峭的山路大大增加了救援人员的难度。或是在一些大型集会中，工作人员无法靠近给人们传达一些信息。
发明内容
本发明实施例提供了一种飞行系统、飞行器、声音装置及声音处理方法，可以满足用户在某些特定区域的声音处理需求。
一方面，本发明实施例提供了一种飞行系统，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音。
其中可选地，所述声音装置包括用于播放声音的扬声器，所述扬声器播放的声音所对应的数据包括预置的声音数据、或从数据相连的地面端接收到的声音数据。
其中可选地，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
其中可选地，所述飞行器包括控制器；
所述控制器，用于接收所述地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在检测到所述飞行器飞行至目标区域后，控制所述扬声器播放声音。
第二方面，本发明实施例提供了另一种飞行系统，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括采集所述目标区域中的声音数据。
其中可选地，所述声音装置包括用于采集所述目标区域中产生的声音数据的拾音器。
其中可选地，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
其中可选地，所述飞行系统还包括消噪拾音器，所述消噪拾音器设置在所述飞行器上，所述消噪拾音器用于采集所述飞行器在飞行过程中产生声音的部件的声音数据。
其中可选地，所述飞行器为包括一个或者多个螺旋桨的飞行器，所述消噪拾音器对应于螺旋桨的数量配置一个或者多个，分别用于采集对应螺旋桨产生的声音数据。
其中可选地，所述声音装置，具体用于在通过所述拾音器采集声音数据时，对采集到的所述目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在所述拾音器采集声音数据时，对所述拾音器采集到的目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在检测到所述飞行器飞行至目标区域后，触发所述声音装置进行声音处理操作。
第三方面，本发明实施例提供了又一种飞行系统，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音和采集所述目标区域中的声音。
其中可选地，所述声音装置包括扬声器和拾音器，所述扬声器用于播放声音，所述拾音器用于采集所述目标区域中产生的声音数据。
其中可选地，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
其中可选地，所述飞行系统还包括消噪拾音器，所述消噪拾音器设置在所述飞行器上，所述消噪拾音器用于采集所述飞行器在飞行过程中产生声音的部件的声音数据。
其中可选地，所述飞行器为包括一个或者多个螺旋桨的飞行器，所述消噪拾音器对应于螺旋桨的数量配置一个或者多个，分别用于采集对应螺旋桨产生的声音数据。
其中可选地，所述声音装置，具体用于在所述拾音器采集声音数据时，对采集到的所述目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在所述拾音器采集声音数据时，对采集到的目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
其中可选地，所述飞行器包括控制器；
所述控制器，用于接收数据相连的地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在检测到所述飞行器飞行至目标区域后，控制所述扬声器和/或拾音器进行声音处理操作。
其中可选地，所述飞行器包括控制器；
所述控制器，用于交替控制所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
其中可选地，所述飞行器包括控制器；
所述控制器，用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述飞行系统还包括设置在所述扬声器上的消噪拾音器；所述飞行器包括控制器；
所述控制器，用于在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述声音装置还包括处理器；所述处理器，具体用于交替触发所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据的影响。
其中可选地，所述声音装置还包括处理器；所述处理器，具体用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述飞行系统还包括设置在所述扬声器上的消噪拾音器；所述声音装置还包括处理器；
所述处理器，具体用于在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
第四方面，本发明实施例还提供了再一种飞行系统，包括飞行器、扬声器以及拾音器；所述飞行器包括：飞行器主体、控制器和动力组件，所述扬声器和拾音器挂载在所述飞行器主体上，所述控制器用于控制飞行器至目标区域，并用于在飞行器飞行过程中控制所述扬声器播放声音和/或拾音器采集声音数据。
第五方面，本发明实施例还提供了一种飞行器，包括：飞行器主体、控制器、配置在所述飞行器主体上的用于外接声音装置的挂载机构；其中，
所述控制器，用于通过自动控制或者手动遥控控制的方式控制飞行器飞行至目标区域，并用于控制所述声音装置进行声音处理操作，其中，所述控制器具体用于控制所述声音装置播放声音和/或采集声音数据。
其中可选地，所述飞行器还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免所述声音装置对所述飞行器中配置的指南针的干扰。
其中可选地，所述飞行器为包括一个或者多个螺旋桨的飞行器；
所述控制器，还用于在检测到所述飞行器飞行至目标区域后，触发所述声音装置进行声音数据的处理操作。
其中可选地，所述控制器，具体用于接收相连的地面端发送的声音数据，并根据该声音数据控制所述声音装置播放对应的声音。
其中可选地，所述飞行器为包括一个或者多个螺旋桨的飞行器；
所述控制器，还用于在所述声音装置执行对目标区域的声音数据的采集操作时，对各螺旋桨的声音数据和所述声音装置采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除各螺旋桨的声音数据，并将处理后的声音数据发送至数据相连的地面端。
其中可选地，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于交替控制所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据的影响。
其中可选地，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于在所述拾音器采集声音数据时，基于采集的所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
第六方面，本发明实施例还提供了一种声音装置，包括：处理器、扬声器以及拾音器；
所述处理器，用于在所述声音装置挂载在飞行器上飞行至目标区域后，控制所述扬声器播放声音、和/或控制所述拾音器采集所述目标区域的声音。
其中可选地，所述声音装置还包括消噪拾音器，所述消噪拾音器配置在所述飞行器主体上；
所述处理器，具体用于通过所述消噪拾音器采集飞行器飞行过程中的噪声数据，在所述拾音器采集目标区域的声音数据时，对各噪音数据和所述拾音器采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；将处理后的声音数据发送至地面端，所述噪声数据包括飞行器螺旋发出的声音的数据。
其中可选地，所述处理器，具体用于接收地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
其中可选地，所述处理器，具体用于交替控制所述作为声音装置的扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
其中可选地，所述处理器，具体用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述声音装置还包括配置在所述扬声器上的消噪拾音器；
所述处理器，具体用于通过所述配置在扬声器上的消噪拾音器采集所述扬声器的声音数据，在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
第七方面，本发明实施例还提供了一种声音处理方法，包括：
控制挂载在所述飞行器上的声音装置进行声音处理操作；
其中，控制声音装置进行声音处理操作包括：控制所述声音装置播放声音；和/或，控制所述声音装置采集声音数据。
其中可选地，所述方法还包括：
采集飞行器飞行过程中的噪声数据，所述噪声数据包括飞行器螺旋发出的声音的数据；
在所述拾音器采集目标区域的声音数据时，对各噪音数据和所述拾音器采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；
将处理后的声音数据发送至地面端。
其中可选地，所述声音装置包括扬声器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
接收地面端发送的声音数据；
根据该声音数据控制所述扬声器播放对应的声音。
其中可选地，所述在飞行控制过程中，控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
飞行控制过程中，在检测到所述飞行器飞行至目标区域后，控制所述声音装置进行声音处理操作。
其中可选地，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
交替控制所述作为声音装置的扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
其中可选地，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
采集所述扬声器的声音数据；
在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
本发明实施例的飞行系统可以根据用户需要采集所需区域的声音数据，方便快捷地实现在某些需要的区域进行声音采集的需求。
 附图说明
图1是本发明实施例的一种飞行系统的结构示意图；
图2是本发明实施例的另一种飞行系统的结构示意图；
图3是本发明实施例的又一种飞行系统的结构示意图；
图4是本发明实施例的再一种飞行系统的结构示意图；
图5是本发明实施例的一种飞行器的结构示意图；
图6是本发明实施例的一种声音装置的结构示意图；
图7是本发明实施例的一种声音处理方法的流程示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供一种在飞行器上进行扬声与录音的系统结构以及相应的控制方式，可较好地使用户根据需要在各种场合、各种指定区域播放或者录取所希望的声音。
请参见图1，是本发明实施例的一种飞行系统的结构示意图，本发明实施例的所述飞行系统包括：飞行器110，挂载在所述飞行器110上的声音装置120，其中，所述飞行器110用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置120用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音。
所述飞行器110可以为多旋翼飞行器，例如四旋翼、六旋翼等，该飞行器110具有负载功能，能够挂载一定重量的声音装置120。所述的声音装置120可以包括用于播放声音的扬声器121。所述飞行器110能够根据预先配置的航线数据自动飞行，也可以接收诸如遥控器、智能手机、平板电脑、智能可穿戴设备等带无线功能的设备的地面端发送的飞行控制数据，并基于这些飞行控制数据进行飞行。
所述扬声器121播放的声音所对应的声音数据可以为预置的声音数据，该声音数据可以预先预置在一个存储器中，该存储器可以配置在飞行器110中，也可以为一个单独的与扬声器121相连的存储器。该扬声器121能够读取存储器中的声音数据，并进行处理后播放。或者由飞行器110中的控制器读取存储器中的声音数据，经过处理后控制所述扬声器121播放声音。
所述扬声器121播放的声音所对应的声音数据也可以是接收至地面端的数据。该地面端具体可以为用户的智能手机、平板电脑、智能可穿戴设备等，用户可以使用这些地面端设备向飞行器110发送声音数据，飞行器110中相关的处理器、或控制器等装置对这些数据进行处理后，控制所述扬声器121播放声音。地面端也可以同时作为所述飞行器110的遥控控制器，用户通过这些地面端设备遥控飞行器110飞行至目标区域。
飞行器110中如果配置了指南针，则为了避免扬声器121中的磁铁等机构影响指南针中读取地球磁场，在本发明实施例的飞行系统中还可以配置磁场屏蔽组件，该磁场屏蔽组件具体可以包裹在所述扬声器121上，以对扬声器121的磁性进行屏蔽。该磁场屏蔽组件具体可以设置为桶形，套设于所述扬声器121上。需要说明的是，当前的某些扬声器121中，为了避免其播放的声音受到外部磁场的干扰，一般具体磁场屏蔽的功能，在此情况下，即使飞行器110中配置了指南针，也可以不用配置所述的磁场屏蔽组件。
在本发明实施例中，具体可以在飞行器110飞行过程中实时（或一定时间间隔）播放声音，例如在一些人员聚集的大广场、海滩等，也就是说任意区域均为所述的目标区域。也可以在检测到飞行器110飞行到一个特定的目标区域后，再触发扬声器121播放声音。飞行器110上的控制器或者扬声器121上的相关处理单元在检测到当前的GPS坐标进入到预置的目标区域的坐标范围内后，即触发扬声器121实时（或一定时间间隔）播放声音。当然，也可以通过手动控制的方式控制声音的播放。用户手动遥控飞行器飞行至某个位置后，通过机械开关或者软件开关等触发飞行器上的扬声器播放声音。
在本发明实施例中，飞行器在飞行至某个目标区域后，为了获取更好的声音播放效果，可以降落到该目标区域中的某个适于降落的位置，以向该位置处的周围环境播放声音。
本发明实施例的飞行系统可以解决扬声器等扩音设备受空间局限的缺陷，方便快捷地实现在某些需要的区域播放相关的声音，满足用户需求。
再请参见图2，是本发明实施例的另一种飞行系统的结构示意图，本发明实施例的所述飞行系统包括：飞行器210，挂载在所述飞行器210上的声音装置220，其中，所述飞行器210用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置220用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括采集所述目标区域中产生的声音数据。
所述飞行器210可以为多旋翼飞行器210，例如四旋翼、六旋翼等，该飞行器210具有负载功能，能够挂载一定重量的声音装置220。所述的声音装置220可以包括用于采集声音的拾音器221，如麦克风。所述飞行器210能够根据预先配置的航线数据自动飞行，也可以接收诸如遥控器、智能手机、平板电脑、智能可穿戴设备等带无线功能的设备的地面端发送的飞行控制数据，并基于这些飞行控制数据进行飞行。
所述拾音器221用于采集声音数据，其具体可以实时采集当前环境中的声音数据。当然也可以在所述飞行器210飞行到指定的目标区域后，开启声音数据的采集功能采集声音数据。采集到的声音数据可以通过飞行器210中的控制器进行传输编码后，传输给对应的地面端，由地面端解码并播放，该地面端具体可以为用户的智能手机、平板电脑、智能可穿戴设备等。
飞行器210中如果配置了指南针，则为了避免拾音器221中的磁铁等机构影响指南针中读取地球磁场，在本发明实施例的飞行系统中还可以配置磁场屏蔽组件，该磁场屏蔽组件具体可以包裹在所述拾音器221上，以对拾音器221的磁性进行屏蔽。
另外，带旋翼的飞行器210在飞行过程中，动力组件中的电机及螺旋桨在转动过程中会产生较强的声音，并被拾音器221采集到。这些声音作为噪声需要被去除。具体的，在本发明实施例中，所述飞行系统还包括消噪拾音器230，这些消噪拾音器230可以紧贴在电机附件，以能够最好地采集到电机及螺旋桨的声音的位置为最优。这些消噪拾音器230具体可通过有线与无线的方式将采集到的噪声声音数据发送给飞行器210的控制器。飞行器210的控制器根据接收到的各个消噪拾音器230采集到的声音数据对所述拾音器221采集到的环境声音数据进行消噪处理，以从所述拾音器221采集到的声音数据中去除各个消噪拾音器230采集到的声音数据，并将处理后的声音数据发送至于本飞行系统数据相连的地面端。
具体的，如果所述包括拾音器221的声音装置220中具有声音处理与传输的功能，则这些消噪拾音器230具体可通过有线与无线的方式将采集到的噪声声音数据发送给声音装置220的处理器，由该处理器进行消噪处理，以从所述拾音器221采集到的声音数据中去除各个消噪拾音器230采集到的声音数据，并将处理后的声音数据发送至于本飞行系统数据相连的地面端。
其中，所述飞行器210的控制器或者所述声音装置220的处理器具体可以基于消噪拾音器230采集到的声音的频率、振幅等用于表征声音的特征参数、以及各个消噪拾音器230与拾音器221之间的相对位置来完成对采集到的螺旋桨等机构所发出噪声的消噪处理操作。
在本发明实施例中，飞行器在飞行至某个目标区域后，为了获取更好的拾音效果，可以降落到该目标区域中的某个适于降落的位置，以采集该位置处周围环境中声音。
本发明实施例的飞行系统可以根据用户需要采集所需区域的声音数据，方便快捷地实现在某些需要的区域进行声音采集的需求。
再请参见图3，是本发明实施例的又一种飞行系统的结构示意图，本发明实施例的所述飞行系统包括：飞行器310，挂载在所述飞行器310上的声音装置320，其中，所述飞行器310用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置320用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音和采集所述目标区域中产生的声音。
所述飞行器310可以为多旋翼飞行器310，例如四旋翼、六旋翼等，当然也可以为单个螺旋桨的直升机，该飞行器310具有负载功能，能够挂载一定重量的声音装置320。所述的声音装置320可以包括：用于播放声音的扬声器321和用于采集声音的拾音器322，如麦克风。所述飞行器310能够根据预先配置的航线数据自动飞行，也可以接收诸如遥控器、智能手机、平板电脑、智能可穿戴设备等带无线功能的设备的地面端发送的飞行控制数据，并基于这些飞行控制数据进行飞行。
至少在目标区域中执行声音播放或采集声音，而是否在除所述目标区域外的区域中播放或者采集声音本发明并不限定，例如，所述声音装置320可以在UAV起飞后，一直播放或采集声音。所述目标区域可以为一个预先在UAV中通过GPS坐标配置的一个区域，而在手动控制时，则可以为操作UAV的用户所希望的播放或采集声音的任意一个区域。
所述扬声器321播放的声音所对应的声音数据可以为预置的声音数据，该声音数据可以预先预置在一个存储器中，该存储器可以配置在飞行器310中，也可以为一个单独的与扬声器321相连的存储器。该扬声器321能够读取存储器中的声音数据，并进行处理后播放。或者由飞行器310中的控制器读取存储器中的声音数据，经过处理后控制所述扬声器321播放声音。
所述扬声器321播放的声音所对应的声音数据也可以是接收至地面端的数据。该地面端具体可以为用户的智能手机、平板电脑、智能可穿戴设备等，用户可以使用这些地面端设备向飞行器310发送声音数据，飞行器310中相关的处理器、或控制器等装置对这些数据进行处理后，控制所述扬声器321播放声音。地面端也可以同时作为所述飞行器310的遥控控制器，用户通过这些地面端设备遥控飞行器310飞行至目标区域。
所述拾音器322用于采集声音数据，其具体可以实时采集当前环境中的声音数据。当然也可以在所述飞行器310飞行到指定的目标区域后，开启声音数据的采集功能采集声音数据。采集到的声音数据可以通过飞行器310中的控制器进行传输编码后，传输给对应的地面端，由地面端解码并播放，该地面端具体可以为用户的智能手机、平板电脑、智能可穿戴设备等。
另外，旋翼飞行器310在飞行过程中，动力组件中的电机及螺旋桨在转动过程中会产生较强的声音，并被拾音器322采集到。这些声音作为噪声需要被去除。具体的，在本发明实施例中，所述飞行系统还包括消噪拾音器330，这些消噪拾音器330可以紧贴在电机附件，以能够最好地采集到电机及螺旋桨的声音的位置为最优。这些消噪拾音器330具体可通过有线与无线的方式将采集到的噪声声音数据发送给飞行器310的控制器。飞行器310的控制器根据接收到的各个消噪拾音器330采集到的声音数据对所述拾音器322采集到的环境声音数据进行消噪处理，以从所述拾音器322采集到的声音数据中去除各个消噪拾音器330采集到的声音数据，并将处理后的声音数据发送至于本飞行系统数据相连的地面端。
具体的，如果所述包括拾音器322的声音装置320中具有声音处理与传输的功能，则这些消噪拾音器330具体可通过有线与无线的方式将采集到的噪声声音数据发送给声音装置320的处理器，由该处理器进行消噪处理，以从所述拾音器322采集到的声音数据中去除各个消噪拾音器330采集到的声音数据，并将处理后的声音数据发送至于本飞行系统数据相连的地面端。
飞行器310中如果配置了指南针，则为了避免扬声器321或拾音器322中的磁铁等机构影响指南针中读取地球磁场，在本发明实施例的飞行系统中还可以配置磁场屏蔽组件，该磁场屏蔽组件具体可以包裹在所述扬声器321和拾音器322上，以对扬声器321和拾音器322的磁性进行屏蔽。
其中，需要说明的是，当前的某些扬声器321中，为了避免其播放的声音受到外部磁场的干扰，一般具体磁场屏蔽的功能，在此情况下，即使飞行器310中配置了指南针，也可以不用配置所述的磁场屏蔽组件。
在飞行过程中，为了避免所述扬声器321播放的声音干扰所述拾音器322的声音采集，可以根据用户需要通过控制器来对所述扬声器321和拾音器322进行控制。所述控制器可用于交替控制所述扬声器321和所述拾音器322工作，以避免所述扬声器321播放的声音对所述拾音器322采集到的声音数据影响。具体如：控制所述扬声器321播音1分钟，然后控制所述拾音器322采集声音1分钟；或者，当检测到地面端发送用于播放的声音数据时，控制扬声器321播音，否则，控制拾音器322采集声音。
或者，由于扬声器321播音的频率、振幅等声音特征参数、以及扬声器与拾音器之间的相对位置可以已知，因此，所述控制器可用于在所述拾音器322采集声音数据时，基于预置的所述扬声器321播放的声音特征参数，对所述拾音器322采集到的声音数据进行处理，以消除所述扬声器321播放的声音。
或者，可以配置一个消噪拾音器330紧贴与扬声器321上，所述控制器可用于在所述拾音器322采集声音数据时，基于设置在所述扬声器321上述的消噪拾音器330采集到的声音特征参数、以及扬声器与拾音器之间的相对位置，对所述拾音器322采集到的声音数据进行处理，以消除所述扬声器321播放的声音。
可以理解的是，所述声音装置320除了可包括所述的扬声器321和拾音器322外，还可以包括一个进行声音处理的处理器，因此，所述声音装置320的处理器可以根据需要，具体用于交替触发所述扬声器321和所述拾音器322工作，以避免所述扬声器321播放的声音对所述拾音器322采集到的声音数据的影响。或者，具体用于在所述拾音器322采集声音数据时，基于预置的所述扬声器321播放的声音特征参数，对所述拾音器322采集到的声音数据进行处理，以消除所述扬声器321播放的声音。或者，具体用于在所述拾音器322采集声音数据时，基于设置在所述扬声器321上述的消噪拾音器330采集到的声音特征参数，对所述拾音器322采集到的声音数据进行处理，以消除所述扬声器321播放的声音。
飞行器在飞行至某个目标区域后，为了获取更好的声音播放或者拾音效果，可以降落到该目标区域中的某个适于降落的位置，以播放声音或采集该位置处周围环境中声音。
本发明实施例基于飞行器配置扬声与收音设备，可以解决扩音设备受空间局限的缺陷，并且还能够实时获取到相关区域的声音，在一定程度上达到了与目标区域中相关人员通信的目的，特别是在某些山区等复杂区域搜救时，能够较好地满足用户对扬声与收音的需求。
再请参见图4，是本发明实施例的再一种飞行系统的结构示意图，本发明实施例的所述飞行系统包括飞行器、扬声器21以及拾音器22，其中，所述飞行器包括：飞行器主体11、控制器（图中未示出）和动力组件12，所述扬声器21和拾音器22挂载在所述飞行器主体11上，所述控制器用于控制飞行器至目标区域，并用于在飞行器飞行过程中控制所述扬声器21播放声音和/或拾音器22采集声音数据。
在本发明实施例中，所述扬声器21可通过有线或无线通信的方式连接至所述控制器，接收所述控制器发送的播放命令或停止播放命令、待播放的声音数据，所述拾音器22同样可通过有线或无线的方式连接与所述控制器，接收所述控制器发送的采集命令或停止采集命令，向所述控制器发送采集到的声音数据。
为了避免飞行器飞行过程中所述动力组件12产生的声音，可以在飞行器的动力组件12附近配置消噪拾音器3。该消噪拾音器3同样可以通过有线或者无线的方式连接至所述控制器，将采集到的动力组件12中电机、螺旋桨等模块的声音发送给所述控制器。所述控制器在接收到所述拾音器22发送的声音数据的同时，根据消噪拾音器3采集到的声音数据中的频率、振幅等声音特征参数、以及各个消噪拾音器3与拾音器22之间的相对位置，对拾音器22采集到的声音数据进行去噪处理，以去除所述拾音器22采集到的声音数据中的包括动力组件12发出的声音，达到去噪目的。
而为了避免扬声器21播放的声音对拾音器22的干扰，所述控制器可以基于一定的时间间隔使所述扬声器21与拾音器22交替工作，及扬声器21播放声音时，控制所述拾音器22停止采集声音数据；而在所述拾音器22采集声音数据时，则控制停止所述扬声器21播放声音。或者，由于扬声器21播放的声音的频率以及振幅等声音特征参数以及相对位置等都可以为已知，如果所述扬声器21和所述拾音器22同时工作，则所述控制器可以根据已知的扬声器的声音特征参数，对拾音器22采集到的声音数据进行去噪处理，去除扬声器21产生的声音数据。或者，紧贴在所述扬声器21上也配置消噪拾音器，通过消噪拾音器采集扬声器21播放的声音数据，得到声音特征参数，然后根据得到的声音特征参数，对拾音器22采集到的声音数据进行去噪处理，去除扬声器21产生的声音数据。
在本发明实施例中，所述扬声器21本身具备磁场屏蔽功能。所述拾音器22则配置了磁场屏蔽组件4，以屏蔽所述拾音器22的磁性，避免其对飞行器中的指南针的干扰。根据需要还可以对所述的消噪拾音器3配置磁场屏蔽组件。
需要说明的是，在其他实施例中，可以在声音装置中配置一处理器，由该处理器来执行上述控制器所涉及的对所述扬声器21、拾音器22的控制以及声音的处理功能。
本发明实施例基于飞行器配置扬声与收音设备，可以解决扩音设备受空间局限的缺陷，并且还能够实时获取到相关区域的声音，在一定程度上达到了与目标区域中相关人员通信的目的，特别是在某些山区等复杂区域搜救时，能够较好地满足用户对扬声与收音的需求。
再请参见图5，是本发明实施例的一种飞行器的结构示意图，本发明实施例的所述飞行器包括：飞行器主体410、控制器411、配置在所述飞行器主体410上的用于外接声音装置的挂载机构；其中，所述控制器411，用于通过自动控制或者手动遥控控制的方式控制飞行器飞行至目标区域，并用于通过所述数据传输模块控制所述声音装置进行声音处理操作，其中，所述控制器411具体用于控制所述声音装置播放声音和/或采集声音数据。
可选地，所述飞行器中还可以包括分别与所述控制器411和所述声音装置数据相连的数据传输模块。所述数据传输模块可以仅仅为一个数据接口，所述控制器411通过该数据接口与外挂的声音装置数据相连。
可选地，所述飞行器还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免所述声音装置对所述飞行器中配置的指南针的干扰。
可选地，所述飞行器可以为包括一个或者多个螺旋桨的飞行器，例如单个螺旋桨的直升机、四旋翼飞行器、六旋翼飞行器等；
所述控制器411，还用于在检测到所述飞行器飞行至目标区域后，触发所述声音装置进行声音数据的处理操作。
可选地，所述控制器411，具体用于接收相连的地面端发送的声音数据，并根据该声音数据控制所述声音装置播放对应的声音。
可选地，所述飞行器为包括一个或者多个螺旋桨的飞行器，例如单个螺旋桨的直升机、四旋翼飞行器、六旋翼飞行器等；
所述控制器411，还用于在所述声音装置执行对目标区域的声音数据的采集操作时，对各螺旋桨的声音数据和所述声音装置采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除各螺旋桨的声音数据，并将处理后的声音数据发送至数据相连的地面端。所述控制器411可以基于配置在飞行器主体410上的消噪拾音器430来采集各个螺旋桨的声音数据。
可选地，所述外挂的声音装置包括扬声器421和拾音器422，所述控制器411，还用于交替控制所述扬声器421和所述拾音器422工作，以避免所述扬声器421播放的声音对所述拾音器422采集到的声音数据的影响。
可选地，所述外挂的声音装置包括扬声器421和拾音器422，所述控制器411，还用于在所述拾音器422采集声音数据时，基于预置的关于所述扬声器421的声音特征参数，对所述拾音器422采集到的声音数据进行处理，以消除所述扬声器421播放的声音。
可选地，所述外挂的声音装置包括扬声器421和拾音器422，所述控制器411，还用于在所述拾音器422采集声音数据时，基于采集的所述扬声器421的声音特征参数，对所述拾音器422采集到的声音数据进行处理，以消除所述扬声器421播放的声音。
具体的，上述涉及的控制器411的用途的具体实现可参考图1至图4对应实施例中的相关描述，在此不赘述。
本发明实施例的飞行系统可以解决扬声器421等扩音设备受空间局限的缺陷，方便快捷地实现在某些需要的区域播放相关的声音，满足用户需求。
再请参见图6，是本发明实施例的一种声音装置的结构示意图，本发明实施例的所述声音装置可挂载在飞行器上，具体的，所述声音装置包括：处理器523、扬声器521以及拾音器522；所述处理器523，用于在所述声音装置挂载在飞行器上飞行至目标区域后，控制所述扬声器521播放声音、和/或控制所述拾音器522采集所述目标区域的声音。
所述处理器523可以通过一数据传输接口与所述飞行器中的控制器相连，进而通过所述飞行器中控制器与地面端设备通信。当然，所述处理器523也可以通过有线或者无线的方式直接与地面端设备通信。
可选地，所述声音装置还包括消噪拾音器524，所述消噪拾音器524配置在所述飞行器主体上；
所述处理器523，具体用于通过所述消噪拾音器524采集飞行器飞行过程中的噪声数据，在所述拾音器522采集目标区域的声音数据时，对各噪音数据和所述拾音器522采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；将处理后的声音数据发送至地面端，所述噪声数据包括飞行器螺旋发出的声音的数据。
可选地，所述处理器523，具体用于接收地面端发送的声音数据，并根据该声音数据控制所述扬声器521播放对应的声音。
可选地，所述处理器523，具体用于交替控制所述作为声音装置的扬声器521和所述拾音器522工作，以避免所述扬声器521播放的声音对所述拾音器522采集到的声音数据影响。
可选地，所述处理器523，具体用于在所述拾音器522采集声音数据时，基于预置的关于所述扬声器521的声音特征参数，对所述拾音器522采集到的声音数据进行处理，以消除所述扬声器521播放的声音。
可选地，所述声音装置还包括配置在所述扬声器521上的消噪拾音器524；
所述处理器523，具体用于通过所述配置在扬声器521上的消噪拾音器524采集所述扬声器521的声音数据，在所述拾音器522采集声音数据时，基于设置在所述扬声器521上述的消噪拾音器524采集到的声音特征参数，对所述拾音器522采集到的声音数据进行处理，以消除所述扬声器521播放的声音。
具体的，上述声音装置中相关结构模块的具体实现可参考图1至图4对应实施例的描述，在此不赘述。
本发明实施例的飞行系统可以解决扬声器521等扩音设备受空间局限的缺陷，方便快捷地实现在某些需要的区域播放相关的声音，满足用户需求。
再请参见图7，是本发明实施例的一种声音处理方法的流程示意图，本发明实施例的所述方法可以由飞行器中的控制器执行，也可以由一个单独的具有数据处理功能的处理器、处理装置执行，该处理器可配置在对应的声音装置上，具体的，所述方法包括：
S701：检测是否执行声音处理操作；若是，则执行下述的S702，否则，继续执行本步骤。
S702：控制挂载在飞行器上的声音装置进行声音处理操作；
其中，控制声音装置进行声音处理操作包括：控制所述声音装置播放声音；和/或，控制所述声音装置采集声音数据。
具体的，可以是在所述飞行器的飞行过程中，基于飞行器当前所处的位置、或是否接收到地面控制端的声音处理触发指令等来确定是否执行声音处理操作。飞行器在飞行至某个目标区域后，为了获取更好的声音播放或者拾音效果，可以降落到该目标区域中的某个适于降落的位置，以播放声音或采集该位置处周围环境中声音。
其中可选的，所述声音装置包括拾音器，所述方法还可以包括：
采集飞行器飞行过程中的噪声数据，所述噪声数据包括飞行器螺旋发出的声音的数据；
在所述拾音器采集目标区域的声音数据时，对各噪音数据和所述拾音器采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；
将处理后的声音数据发送至地面端。
其中可选地，所述声音装置包括扬声器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
接收地面端发送的声音数据；
根据该声音数据控制所述扬声器播放对应的声音。
也就是说，控制所述声音装置播放声音具体是指：在接收到地面端发送的声音数据时，即对该声音数据进行解析操作，并基于解析后的数据控制扬声器播放对应的声音。
其中可选地，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
在检测到所述飞行器飞行至目标区域后，控制所述声音装置进行声音处理操作。
也就是说，在控制所述声音装置进行声音处理操作之前，还可以检测飞行器是否飞行至目标区域，在检测到飞行至目标区域后，控制进行声音处理操作。
其中可选地，所述声音装置同时包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
交替控制所述作为声音装置的扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
即交替控制所述扬声器播放声音，所述拾音器采集声音数据。
其中可选地，所述声音装置同时包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
其中可选地，所述声音装置同时包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
采集所述扬声器的声音数据；
在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
具体的，本发明实施例中所述方法所涉及的各个步骤的具体实现可参考图1至图4对应实施例中，相关功能组件的具体功能实现方式，在此不赘述。
本发明实施例的飞行系统可以解决扬声器等扩音设备受空间局限的缺陷，方便快捷地实现在某些需要的区域播放相关的声音，满足用户需求。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器（processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (50)

  1. 一种飞行系统，其特征在于，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音。
  2. 如权利要求1所述的飞行系统，其特征在于，所述声音装置包括用于播放声音的扬声器，所述扬声器播放的声音所对应的数据包括预置的声音数据、或从数据相连的地面端接收到的声音数据。
  3. 如权利要求1或2所述的飞行系统，其特征在于，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
  4. 如权利要求2所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于接收所述地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
  5. 如权利要求2所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在检测到所述飞行器飞行至目标区域后，控制所述扬声器播放声音。
  6. 一种飞行系统，其特征在于，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括采集所述目标区域中的声音数据。
  7. 如权利要求6所述的飞行系统，其特征在于，所述声音装置包括用于采集所述目标区域中产生的声音数据的拾音器。
  8. 如权利要求6或7所述的飞行系统，其特征在于，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
  9. 如权利要求7所述的飞行系统，其特征在于，所述飞行系统还包括消噪拾音器，所述消噪拾音器设置在所述飞行器上，所述消噪拾音器用于采集所述飞行器在飞行过程中产生声音的部件的声音数据。
  10. 如权利要求9所述的飞行系统，其特征在于，所述飞行器为包括一个或者多个螺旋桨的飞行器，所述消噪拾音器对应于螺旋桨的数量配置一个或者多个，分别用于采集对应螺旋桨产生的声音数据。
  11. 如权利要求9所述的飞行系统，其特征在于，
    所述声音装置，具体用于在通过所述拾音器采集声音数据时，对采集到的所述目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
  12. 如权利要求9所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在所述拾音器采集声音数据时，对所述拾音器采集到的目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
  13. 如权利要求6所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在检测到所述飞行器飞行至目标区域后，触发所述声音装置进行声音处理操作。
  14. 一种飞行系统，其特征在于，包括：飞行器，挂载在所述飞行器上的声音装置，其中，所述飞行器用于通过自动控制或者手动遥控控制的方式飞行至目标区域，所述声音装置用于在所述目标区域中进行声音处理操作，其中，所述的声音处理操作包括播放声音和采集所述目标区域中的声音。
  15. 如权利要求14所述的飞行系统，其特征在于，所述声音装置包括扬声器和拾音器，所述扬声器用于播放声音，所述拾音器用于采集所述目标区域中产生的声音数据。
  16. 如权利要求14或15所述的飞行系统，其特征在于，所述飞行系统还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免该声音装置对所述飞行器中配置的指南针的干扰。
  17. 如权利要求15所述的飞行系统，其特征在于，所述飞行系统还包括消噪拾音器，所述消噪拾音器设置在所述飞行器上，所述消噪拾音器用于采集所述飞行器在飞行过程中产生声音的部件的声音数据。
  18. 如权利要求17所述的飞行系统，其特征在于，所述飞行器为包括一个或者多个螺旋桨的飞行器，所述消噪拾音器对应于螺旋桨的数量配置一个或者多个，分别用于采集对应螺旋桨产生的声音数据。
  19. 如权利要求17所述的飞行系统，其特征在于，
    所述声音装置，具体用于在所述拾音器采集声音数据时，对采集到的所述目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
  20. 如权利要求17所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在所述拾音器采集声音数据时，对采集到的目标区域的声音数据和各个消噪拾音器采集到的声音数据进行处理，以从所述目标区域的声音数据中去除各个消噪拾音器采集到的声音数据，并将处理后的声音数据发送至数据相连的地面端。
  21. 如权利要求15所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于接收数据相连的地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
  22. 如权利要求15所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在检测到所述飞行器飞行至目标区域后，控制所述扬声器和/或拾音器进行声音处理操作。
  23. 如权利要求15所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于交替控制所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
  24. 如权利要求15所述的飞行系统，其特征在于，所述飞行器包括控制器；
    所述控制器，用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  25. 如权利要求15所述的飞行系统，其特征在于，所述飞行系统还包括设置在所述扬声器上的消噪拾音器；所述飞行器包括控制器；
    所述控制器，用于在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  26. 如权利要求15所述的飞行系统，其特征在于，所述声音装置还包括处理器；所述处理器，具体用于交替触发所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据的影响。
  27. 如权利要求15所述的飞行系统，其特征在于，所述声音装置还包括处理器；所述处理器，具体用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  28. 如权利要求15所述的飞行系统，其特征在于，所述飞行系统还包括设置在所述扬声器上的消噪拾音器；所述声音装置还包括处理器；
    所述处理器，具体用于在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  29. 一种飞行系统，其特征在于，包括飞行器、扬声器以及拾音器；所述飞行器包括：飞行器主体、控制器和动力组件，所述扬声器和拾音器挂载在所述飞行器主体上，所述控制器用于控制飞行器至目标区域，并用于在飞行器飞行过程中控制所述扬声器播放声音和/或拾音器采集声音数据。
  30. 一种飞行器，其特征在于，包括：飞行器主体、控制器、配置在所述飞行器主体上的用于外接声音装置的挂载机构；其中，
    所述控制器，用于通过自动控制或者手动遥控控制的方式控制飞行器飞行至目标区域，并用于控制所述声音装置进行声音处理操作，其中，所述控制器具体用于控制所述声音装置播放声音和/或采集声音数据。
  31. 如权利要求30所述的飞行器，其特征在于，所述飞行器还包括磁场屏蔽组件，所述磁场屏蔽组件用于屏蔽所述声音装置的磁性，以避免所述声音装置对所述飞行器中配置的指南针的干扰。
  32. 如权利要求30所述的飞行器，其特征在于，所述飞行器为包括一个或者多个螺旋桨的飞行器；
    所述控制器，还用于在检测到所述飞行器飞行至目标区域后，触发所述声音装置进行声音数据的处理操作。
  33. 如权利要求30所述的飞行器，其特征在于，
    所述控制器，具体用于接收相连的地面端发送的声音数据，并根据该声音数据控制所述声音装置播放对应的声音。
  34. 如权利要求30所述的飞行器，其特征在于，所述飞行器为包括一个或者多个螺旋桨的飞行器；
    所述控制器，还用于在所述声音装置执行对目标区域的声音数据的采集操作时，对各螺旋桨的声音数据和所述声音装置采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除各螺旋桨的声音数据，并将处理后的声音数据发送至数据相连的地面端。
  35. 如权利要求30所述的飞行器，其特征在于，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于交替控制所述扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据的影响。
  36. 如权利要求30所述的飞行器，其特征在于，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  37. 如权利要求30所述的飞行器，其特征在于，所述外挂的声音装置包括扬声器和拾音器，所述控制器，还用于在所述拾音器采集声音数据时，基于采集的所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  38. 一种声音装置，其特征在于，包括：处理器、扬声器以及拾音器；
    所述处理器，用于在所述声音装置挂载在飞行器上飞行至目标区域后，控制所述扬声器播放声音、和/或控制所述拾音器采集所述目标区域的声音。
  39. 如权利要求38所述的声音装置，其特征在于，所述声音装置还包括消噪拾音器，所述消噪拾音器配置在所述飞行器主体上；
    所述处理器，具体用于通过所述消噪拾音器采集飞行器飞行过程中的噪声数据，在所述拾音器采集目标区域的声音数据时，对各噪音数据和所述拾音器采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；将处理后的声音数据发送至地面端，所述噪声数据包括飞行器螺旋发出的声音的数据。
  40. 如权利要求38所述的声音装置，其特征在于，
    所述处理器，具体用于接收地面端发送的声音数据，并根据该声音数据控制所述扬声器播放对应的声音。
  41. 如权利要求38所述的声音装置，其特征在于，
    所述处理器，具体用于交替控制所述作为声音装置的扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
  42. 如权利要求38所述的声音装置，其特征在于，
    所述处理器，具体用于在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  43. 如权利要求38所述的声音装置，其特征在于，所述声音装置还包括配置在所述扬声器上的消噪拾音器；
    所述处理器，具体用于通过所述配置在扬声器上的消噪拾音器采集所述扬声器的声音数据，在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  44. 一种声音处理方法，其特征在于，包括：
    控制挂载在所述飞行器上的声音装置进行声音处理操作；
    其中，控制声音装置进行声音处理操作包括：控制所述声音装置播放声音；和/或，控制所述声音装置采集声音数据。
  45. 如权利要求44所述的方法，其特征在于，还包括：
    采集飞行器飞行过程中的噪声数据，所述噪声数据包括飞行器螺旋发出的声音的数据；
    在所述拾音器采集目标区域的声音数据时，对各噪音数据和所述拾音器采集到的目标区域的声音数据进行处理，以从所述目标区域的声音数据中去除噪声数据；
    将处理后的声音数据发送至地面端。
  46. 如权利要求44所述的方法，其特征在于，所述声音装置包括扬声器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
    接收地面端发送的声音数据；
    根据该声音数据控制所述扬声器播放对应的声音。
  47. 如权利要求44所述的方法，其特征在于，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
    在检测到所述飞行器飞行至目标区域后，控制所述声音装置进行声音处理操作。
  48. 如权利要求44所述的方法，其特征在于，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
    交替控制所述作为声音装置的扬声器和所述拾音器工作，以避免所述扬声器播放的声音对所述拾音器采集到的声音数据影响。
  49. 如权利要求44所述的方法，其特征在于，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
    在所述拾音器采集声音数据时，基于预置的关于所述扬声器的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
  50. 如权利要求44所述的方法，其特征在于，所述声音装置包括扬声器和拾音器，所述控制挂载在所述飞行器上的声音装置进行声音处理操作，包括：
    采集所述扬声器的声音数据；
    在所述拾音器采集声音数据时，基于设置在所述扬声器上述的消噪拾音器采集到的声音特征参数，对所述拾音器采集到的声音数据进行处理，以消除所述扬声器播放的声音。
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