WO2021208032A1 - Procédé et système de traitement audio, ainsi que plateforme mobile et dispositif électronique - Google Patents

Procédé et système de traitement audio, ainsi que plateforme mobile et dispositif électronique Download PDF

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Publication number
WO2021208032A1
WO2021208032A1 PCT/CN2020/085168 CN2020085168W WO2021208032A1 WO 2021208032 A1 WO2021208032 A1 WO 2021208032A1 CN 2020085168 W CN2020085168 W CN 2020085168W WO 2021208032 A1 WO2021208032 A1 WO 2021208032A1
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WIPO (PCT)
Prior art keywords
audio signal
movable platform
electronic device
state parameter
initial
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PCT/CN2020/085168
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English (en)
Chinese (zh)
Inventor
薛政
莫品西
刘洋
边云锋
Original Assignee
深圳市大疆创新科技有限公司
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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 CN202080038664.0A priority Critical patent/CN113924609A/zh
Priority to PCT/CN2020/085168 priority patent/WO2021208032A1/fr
Publication of WO2021208032A1 publication Critical patent/WO2021208032A1/fr

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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

Definitions

  • This application relates to the field of audio processing, and in particular to an audio processing method and system, a movable platform, electronic equipment, and a computer-readable storage medium.
  • Movable platforms such as unmanned aerial vehicles, mobile robots, etc.
  • the movable platform may need to be assisted by sound Operation.
  • a speaker is usually installed on a mobile device, and the control terminal connected to the mobile platform collects the user’s voice signal and transmits it to the mobile platform, which is played through the speaker of the mobile platform, but it can be moved.
  • the movement process of the platform may affect the playback of the voice signal, resulting in poor audio processing effects.
  • one of the objectives of the present invention is to provide an audio processing method and system, a movable platform, an electronic device, and a computer-readable storage medium.
  • an audio processing method including:
  • a target audio signal is generated according to the state parameter and the initial audio signal, and the target audio signal is used to be played on the movable platform and/or an electronic device communicatively connected with the movable platform.
  • a movable platform including:
  • the power system is arranged in the fuselage and is used to drive the movable platform to move;
  • the first processor is set in the body and is used to obtain the initial audio signal; obtain the state parameter generated during the movement; and generate the target audio signal according to the state parameter and the initial audio signal, and the target
  • the audio signal is used for playing on the movable platform and/or an electronic device communicatively connected with the movable platform.
  • an electronic device including:
  • a memory for storing executable instructions of the second processor
  • the second communication module is used to obtain the state parameters generated by the movable platform during the movement process from the movable platform;
  • the second processor calls the executable instruction, and when the executable instruction is executed, it is used to execute: obtain an initial audio signal; generate a target audio signal according to the state parameter and the initial audio signal, and The target audio signal is used for playing on the movable platform and/or with the electronic device.
  • an audio processing system including a movable platform and an electronic device communicatively connected with the movable platform;
  • the movable platform is used to: obtain an initial audio signal and obtain state parameters generated during the movement; generate a target audio signal according to the state parameters and the initial audio signal;
  • the electronic device and/or the movable platform is used to: play the target audio signal.
  • an audio processing system including a movable platform and an electronic device communicatively connected with the movable platform;
  • the movable platform is used to: obtain state parameters generated during the movement and feed back to the electronic device;
  • the electronic device is used to: obtain an initial audio signal; generate a target audio signal according to the state parameter and the initial audio signal;
  • the electronic device and/or the movable platform are also used to: play the target audio signal.
  • a computer-readable storage medium having computer instructions stored thereon, and when the instructions are executed by a processor, the method described in any one of the first aspects is implemented.
  • the influence of the movement process of the movable platform on the audio signal is comprehensively considered, and the state parameters generated by the movable platform during the movement are obtained. According to the state parameters and the initial audio signal Generate the target audio signal, thereby ensuring a good playback effect of the final target audio signal.
  • Fig. 1 is a structural diagram of an unmanned aerial system according to an exemplary embodiment of the present application.
  • Fig. 2 is a schematic flowchart of an audio processing method according to an exemplary embodiment of this application.
  • Fig. 3A is a schematic structural diagram of a movable device according to an exemplary embodiment of this application.
  • Fig. 3B is a schematic structural diagram of a second type of movable device according to an exemplary embodiment of the present application.
  • Fig. 3C is a schematic structural diagram of a third type of movable device according to an exemplary embodiment of the present application.
  • Fig. 4A is a structural diagram of an electronic device according to an exemplary embodiment of the application.
  • Fig. 4B is a structural diagram of a second electronic device according to an exemplary embodiment of the present application.
  • Fig. 4C is a structural diagram of a third electronic device according to an exemplary embodiment of the present application.
  • Fig. 5A is a structural diagram of an audio processing system according to an exemplary embodiment of this application.
  • Fig. 5B is a structural diagram of another audio processing system according to an exemplary embodiment of the present application.
  • embodiments of the present application provide an audio processing method to obtain state parameters of a movable platform during movement, and generate a target audio signal based on the state parameters and the initial audio signal. It can be seen that The method comprehensively considers the influence of the movement process of the movable platform on the audio signal when generating the target audio signal, thereby ensuring a good playback effect of the final target audio signal.
  • the method can be applied to a movable platform, and can also be applied to an electronic device that is communicatively connected with the movable platform, where the movable platform includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, Unmanned boats or mobile robots, etc.
  • the electronic devices include but are not limited to mobile phones, computers, personal tablets, remote controllers, personal digital assistants (PDAs) or smart wearable devices.
  • the unmanned aerial vehicle may be a small or large unmanned aerial vehicle.
  • the unmanned aerial vehicle may be a rotorcraft, for example, a multi-rotor unmanned aerial vehicle propelled by a plurality of propelling devices through the air.
  • the embodiments of the present application are not limited to this, the unmanned aerial vehicle It can also be other types of unmanned aerial vehicles.
  • Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application.
  • a rotary wing unmanned aerial vehicle is taken as an example for description.
  • the unmanned aerial vehicle 100 may include an unmanned aerial vehicle 110, a display device 130 and a remote control device 140.
  • the unmanned aerial vehicle 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame.
  • the UAV 110 can wirelessly communicate with the remote control device 140 and the display device 130.
  • the unmanned aerial vehicle 110 may be an agricultural unmanned aerial vehicle or an unmanned aerial vehicle for industrial applications, and there is a need for cyclic operation.
  • the frame may include a fuselage and a tripod (also called a landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected to the fuselage, and is used for supporting the UAV 110 when it lands.
  • the power system 150 may include one or more electronic governors (referred to as ESCs) 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 to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152.
  • ESCs electronic governors
  • the motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the unmanned aerial vehicle 110, and the power enables the unmanned aerial vehicle 110 to realize one or more degrees of freedom of movement.
  • UAV 110 may rotate about one or more rotation axes.
  • the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch).
  • the motor 152 may be a DC motor or an AC motor.
  • the motor 152 may be a brushless motor or a brushed motor.
  • the flight control system 160 may include a flight controller 161 and a sensing system 162.
  • the sensing system 162 is used to measure the attitude information of the unmanned aerial vehicle, that is, the position information and state information of the unmanned aerial vehicle 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity.
  • the sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer.
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • the flight controller 161 is used to control the flight of the unmanned aerial vehicle 110.
  • the flight of the unmanned aerial vehicle 110 can be controlled according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the unmanned aerial vehicle 110 according to pre-programmed program instructions, and can also control the unmanned aerial vehicle 110 by responding 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 is used to carry the camera 123.
  • the flight controller 161 can control the movement of the pan/tilt 120 through the motor 122.
  • 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.
  • the pan/tilt 120 may be independent of the unmanned aerial vehicle 110 or a part of the unmanned aerial vehicle 110.
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the pan/tilt may be located on the top of the unmanned aerial vehicle or on the bottom of the unmanned aerial vehicle.
  • the photographing device 123 may be, for example, a device for capturing images, such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and take pictures under the control of the flight controller.
  • the imaging device 123 of this embodiment at least includes a photosensitive element, and the photosensitive element is, for example, a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 can also be directly fixed on the UAV 110, so the pan/tilt 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located on the ground end of the unmanned aerial vehicle 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110.
  • the image photographed by the photographing device 123 may also be displayed on the display device 130. It should be understood that the display device 130 may be an independent device or integrated in the remote control device 140.
  • the remote control device 140 is located on the ground end of the unmanned aerial vehicle 100 and can communicate with the unmanned aerial vehicle 110 in a wireless manner for remote control of the unmanned aerial vehicle 110.
  • FIG. 2 is a schematic flowchart of an audio processing method according to an exemplary embodiment of this application.
  • the method can be applied to a mobile platform or an electronic device communicatively connected to the mobile platform.
  • Methods include:
  • step S201 an initial audio signal is acquired.
  • step S202 the state parameters generated during the movement of the movable platform are acquired.
  • step S203 a target audio signal is generated according to the state parameter and the initial audio signal, and the target audio signal is used for playing on the movable platform and/or an electronic device communicatively connected with the movable platform .
  • Obtaining the state parameters generated by the movable platform during the movement process includes: obtaining the state parameters from the components on the movable platform during the movement of the movable platform.
  • the state parameters generated by the movable platform during the movement can be obtained based on the load on the movable platform.
  • 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, a temperature sensor, an anemometer, a mechanical arm, a mechanical claw, a timer, a communication module, a power supply module, or a processor, memory, etc. arranged on the movable platform.
  • the vision sensor includes but is not limited to monocular vision sensor or binocular vision sensor, etc.
  • the positioning technology applied by the satellite positioning module includes but not limited to GPS (Global Positioning System, Global Positioning System), GNSS (Global Navigation System) Satellite System, global navigation satellite system) or RTK (Real-time kinematic, real-time dynamic differential), etc.
  • the communication protocol applied by the communication module includes but not limited to near field communication protocol (such as Bluetooth, infrared, WiFi or UWB, etc.) Or mobile network communication protocol (such as 3G, 4G, etc.).
  • the processor may be a central processing unit (Central Processing Unit, CPU), other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuits, ASICs), ready-made Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory may include at least one type of storage medium.
  • the storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM). ), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), magnetic memory, magnetic disks, optical disks, etc.
  • the memory may be an internal storage unit of the movable 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 equipped on the removable platform, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory.
  • the memory may also include both an internal storage unit of the movable platform and an external storage device.
  • the memory is used to store computer programs and other programs and data required by the device.
  • the memory can also be used to temporarily store data that has been output or will be output.
  • the state parameters generated during the movement of the movable platform can be obtained directly or indirectly based on the load of the movable platform; for example, the speed, acceleration, angular velocity, and rotation of the movable platform can be obtained based on an inertial measurement unit.
  • Parameters such as direction or moving distance; obtain the wind speed of the current environment based on an anemometer; obtain the distance between the movable platform and the obstacle based on a visual sensor or infrared sensor; obtain the current geographic location or moving distance based on the satellite positioning module; Obtain the remaining available power of the movable platform based on the power module; obtain the communication parameters (such as bandwidth, delay, etc.) between the movable platform and the electronic device based on the communication module; obtain the internal temperature of the device based on a temperature sensor or The ambient temperature of the environment, the running time is obtained based on the processor or the timer, etc.
  • the movable platform is an unmanned aerial vehicle, and the state parameters generated during the flight 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 the ascent speed , Descent speed, flight speed or rotation speed, etc.; the acceleration of the movable platform includes but not limited to ascending acceleration, descent acceleration, flight acceleration or rotation acceleration, etc.; the movement distance includes but not limited to the flight height, the aircraft and the user Straight-line distance or horizontal distance between.
  • the audio processing method may be executed by a movable platform, and after acquiring the state parameter, the movable platform 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 the current environment or an audio signal pre-stored on the movable platform.
  • audio signals can be collected from the current environment in the following ways:
  • the movable platform is provided with a first microphone, and the first microphone can collect audio signals from the current environment.
  • the electronic device communicatively connected with the movable platform is provided with a second microphone, and the second microphone can collect audio signals from the current environment, and then the electronic device will collect audio signals from the current environment. The collected audio signal is transmitted to the movable platform.
  • 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 means either or one of the two .
  • the audio processing method may be executed by an electronic device communicatively connected with the mobile platform, and after acquiring the state parameter, the movable platform transmits the state parameter to the communication terminal
  • the communication terminal generates a target audio signal according to the state parameters and the initial audio signal; wherein, the initial audio signal includes, but is not limited to, audio signals collected from the current environment or audio signals pre-stored by the communication terminal.
  • audio signals can be collected from the current environment in the following ways:
  • the movable platform is provided with a first microphone, and 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 equipment.
  • the electronic device communicatively connected with the movable platform is provided with a second microphone, and the second microphone can collect audio signals from the current environment.
  • 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 means either or one of the two .
  • the mobile platform communicates with the electronic device in a wireless manner.
  • a mobile device can access a wireless network based on a communication standard to communicate with the electronic device, such as WiFi, 3G, or 4G, or a combination thereof.
  • the mobile platform receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the electronic device and the mobile platform may establish a connection through near field communication (NFC), for example, may be based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies are implemented.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the embodiment of the present application does not impose any restrictions on the number of the first microphones and the installation positions on the movable platform, and the number of the second microphones and the installation on the electronic device There are no restrictions on the location, and specific settings can be made according to actual application scenarios.
  • the movable platform or the electronic device may obtain the 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 device are different, so that the adjustment of the initial audio signal is realized based on the state parameter, and the The target audio signal of the state parameter.
  • the influence of the movement process of the movable platform on the audio signal is comprehensively considered, thereby ensuring a good playback effect of the final target audio signal.
  • the audio adjustment parameter for the initial audio signal may be obtained according to the state parameter and the first pre-stored correspondence; the first correspondence indicates the audio corresponding to different parameter values of the state parameter Adjust the different parameter values of the parameters.
  • the embodiment of the present application does not impose any restriction on the representation form of the first correspondence relationship, and specific settings can be made according to actual application scenarios.
  • the first correspondence relationship may be expressed by a function equation relationship, such as a function f(x), where x is the parameter value of the state parameter, so that f(x), that is, the value of the audio adjustment parameter.
  • f(x) the parameter value of the audio adjustment parameter
  • A, B, and C represent different parameter values of the state parameter
  • a, b, and c represent Different parameter values of audio adjustment parameters.
  • it can also be represented by a change curve that reflects the value correspondence between the state parameter and the audio adjustment parameter.
  • each different parameter value of the state parameter can be set to correspond to the different parameter value of the audio adjustment parameter, or several parameter values of the state parameter (for example, within a range) can be set.
  • Several parameter values of) correspond to a parameter value of the audio adjustment parameter, which is not limited in the embodiment of the present application.
  • the audio adjustment parameter may be a parameter related to time and/or frequency
  • the movable platform or the electronic device may obtain the audio adjustment parameter according to the state parameter
  • the audio adjustment parameter adjusts the initial audio signal in the time domain and/or the frequency domain, and uses the adjusted audio signal as the audio signal, so as to obtain a target audio signal that meets the state parameter.
  • the influence of the movement process of the movable platform on the audio signal is comprehensively considered, thereby ensuring a good playback effect of the final target audio signal.
  • the audio adjustment parameter may be a parameter related to audio modulation, audio gain, audio noise reduction, or change in sound quality, etc.
  • the mobile device may perform an adjustment to all parameters according to the audio adjustment parameter.
  • the initial audio signal undergoes at least one adjustment process as follows: the initial audio signal may be subjected to modulation processing, gain processing, noise reduction processing, or voice change processing according to the audio adjustment parameters.
  • the audio adjustment parameters are parameters related to audio modulation, and the audio adjustment parameters include, but are not limited to, parameters related to frequency, phase, or amplitude.
  • 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.
  • the movable platform or the electronic device may superimpose the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal to generate the target audio signal. This embodiment realizes the superposition of the adjusted audio signal and the initial audio signal, which is beneficial to improve the audio playback effect.
  • the movable platform or the electronic device may superimpose the adjusted audio signal with one of the audio signals included in the initial audio signal; wherein, the one This kind of audio signal is different from the initial audio signal used to generate the adjusted audio signal, or one of the audio signals may also be used to generate the initial audio signal corresponding to the adjusted audio signal.
  • the initial audio signal includes the audio signal collected by the movable platform, the electronic Audio signals collected by the device and pre-stored audio signals.
  • the initial audio signal used to generate 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 that is superimposed is the Audio signals collected by electronic devices or pre-stored audio signals.
  • the initial audio signal used to generate the adjusted audio signal is the audio signal collected by the electronic device, and one of the audio signals included in the initial audio signal that is superimposed is the available Audio signals collected by the mobile platform or pre-stored audio signals.
  • the initial audio signal used to generate the adjusted audio signal is a pre-stored audio signal, and one of the audio signals included in the initial audio signal that is superimposed is the audio collected by the electronic device Signal or audio signal collected by the movable platform.
  • the movable platform or the electronic device may also perform superposition processing on the adjusted audio signal and multiple audio signals included in the initial audio signal; wherein, the multiple audio signals Are different from the initial audio signal used to generate the adjusted audio signal, or one of the multiple audio signals may also be used to generate the initial audio signal corresponding to the adjusted audio signal .
  • the embodiment of the application does not impose any restriction on this.
  • the mobile device or the electronic device may also obtain a pre-stored audio signal according to the state parameter and a pre-stored second corresponding relationship, 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.
  • an audio signal related to the state parameter is acquired as the target audio signal based on the second correspondence relationship, and the influence of the state parameter is comprehensively considered to ensure a good playback effect.
  • the embodiment of the present application does not impose any restriction on the representation form of the second correspondence relationship, and specific settings can be made according to actual application scenarios.
  • the second correspondence relationship may be represented by a function equation relationship, or may also be represented by a correspondence table between different parameter values of the state parameters and different audio signals, or may also be represented by different parameter values and different values of the state parameters.
  • the corresponding relationship between the audio signals is represented by the change curve.
  • each different parameter value of the state parameter can be set to correspond to a different audio signal, or several parameter values of the state parameter (such as several parameter values within a range) can be set. ) Corresponds to the same audio signal, which is not limited in the embodiment of the present application.
  • the target audio signal may be played through the first speaker of the movable platform, or the audio signal may be played through the second speaker of the electronic device according to actual scene requirements, Or it can be played on the mobile platform or the electronic device at the same time.
  • the embodiment of the present application does not impose any restrictions on the number of the first speakers and the installation positions on the movable platform, and the number of the second speakers and the installation on the electronic device. There are no restrictions on the location, and specific settings can be made according to actual application scenarios.
  • the movable platform or the electronic device may first determine whether the state parameter meets the preset conditions, if the The state parameter meets the preset condition, and then the target audio signal is played through the movable platform and/or the electronic device communicatively connected with the movable platform.
  • This embodiment realizes that the target audio signal is selectively played based on preset conditions, and the user can set conditions related to the state parameters according to actual needs, so as to meet the individual needs of the user.
  • the preset condition is determined based on at least one of the following state parameters: the speed, acceleration, angular velocity, rotation direction, running time, moving distance of the movable platform, the rotation angle of the pan/tilt, and the internal temperature of the device , The ambient temperature, wind speed, the distance between the movable platform and the obstacle, the remaining available power of the movable platform, or the communication parameters between the movable platform and the electronic device, etc.
  • the preset condition includes but is not limited to at least one of the following: the state parameter indicates that the movable platform is in an accelerating state, and the state parameter indicates the distance between the movable platform and an obstacle Less than a specified threshold, the state parameter indicates that the movable platform has performed a rotating operation, the state parameter indicates that the movable platform has stopped moving, the state parameter indicates that the moving distance exceeds the specified distance value, and the state parameter indicates that the remaining The available power is less than a specified value, the state parameter indicates that the movable platform or the electronic device has not received the signal sent by the other party within the specified time, the state parameter indicates that the internal temperature of the device is higher than the specified temperature value, or the The status parameter indicates that the ambient temperature is not within the preset range, etc.
  • the movable platform is an unmanned aerial vehicle.
  • the user can control the unmanned aerial vehicle to fly through an electronic device.
  • the camera device on the human aircraft takes pictures along the way and transmits them to the electronic device in real time, so that the user can see the pictures taken in real time, and realize the first-person perspective flight experience.
  • the movable platform may also obtain the state parameters generated during the movement, and then generate the target audio signal according to the state parameters and the obtained initial audio signal (wherein, the target audio signal is generated).
  • the process can be referred to the above description and will not be repeated here) and transmitted to the electronic device, so that the user can watch the real-time picture on the electronic device and hear the sound during the flight, providing the user with a more immersive Experience, optimize the user experience.
  • the mobile device may collect audio signals from the environment through the first microphone, and obtain audio adjustment parameters according to the state parameters, and then adjust the collected audio signals according to the audio adjustment parameters to obtain the adjusted audio
  • the collected audio signal can be subjected to sound effect enhancement processing (such as changing the volume, sound quality, or pitch of the collected audio signal), and the movable platform can use the adjusted audio signal as the target audio signal Therefore, the user can listen to the sound of the unmanned aerial vehicle during flight while watching the real-time picture on the electronic device, providing the user with a more immersive experience and optimizing the user's experience.
  • the state parameter is the acceleration of the movable platform
  • the movable platform may obtain corresponding audio adjustment parameters according to the acceleration, and the audio adjustment parameters are used to adjust the volume of the collected audio signal, Different acceleration corresponds to different volume, so as to obtain the adjusted audio signal.
  • the movable device may also combine the adjusted audio signal with a pre-stored audio signal (such as a specific prompt sound, such as a buzzer). Or pre-recorded sounds, etc.) perform superimposition processing to generate target audio signals and transmit them to the electronic device, so that the user can watch the real-time picture on the electronic device and hear the sound of the unmanned aerial vehicle during flight. Provide a more immersive experience and optimize the user experience.
  • a pre-stored audio signal such as a specific prompt sound, such as a buzzer.
  • the state parameter is a communication parameter between the movable platform and the electronic device, and the movable platform obtains the communication parameters generated during the movement, and then can be based on the communication parameters.
  • Parameters and the acquired initial audio signal to generate the target audio signal (wherein, the process of generating the target audio signal can be referred to the above description, and will not be repeated here), when the state parameter indicates that the mobile platform has not received the signal within the specified time
  • the signal sent by the other party electronic device
  • the movable platform can play the target audio signal, and remind the user of the location of the movable platform through the target audio signal , So as to help users find a mobile platform.
  • the state parameter is the acceleration of the movable platform, and the movable platform or the electronic device acquires acceleration data generated during the movement, and then can be based on the acceleration and the acquired acceleration data.
  • the initial audio signal generates the target audio signal (wherein, the process of generating the target audio signal can be referred to the above description, and will not be repeated here).
  • the movable platform can play The target audio signal, thereby reminding the user to avoid avoidance; or, the electronic device may play the target audio signal, thereby prompting the user operating the movable platform to pay attention to operational safety.
  • the state parameter is the distance between the movable platform and the obstacle
  • the movable platform obtains the distance between the movable platform and the obstacle during movement
  • the movable platform or the electronic device can generate the target audio signal according to the distance between the movable platform and the obstacle and the acquired initial audio signal (wherein, the process of generating the target audio signal can be referred to the above description.
  • the movable platform can play the target audio signal to remind the user to avoid; or, the electronic device can play The target audio signal thus prompts the user operating the movable platform to pay attention to operational safety.
  • the state parameter is the remaining available power of the movable platform
  • the movable platform or the electronic device may generate the target audio according to the remaining available power and the acquired initial audio signal Signal (wherein, the process of generating the target audio signal can be referred to the above description, and will not be repeated here)
  • the process of generating the target audio signal can be referred to the above description, and will not be repeated here
  • the movable platform or the electronic device can play the target audio signal, Therefore, the user who operates the movable platform is prompted that the power of the movable platform is insufficient.
  • the state parameter is the movement distance of the movable platform
  • the movable platform or the electronic device may generate a target audio signal according to the movement distance and the acquired initial audio signal (wherein, the process of generating the target audio signal can be referred to the above description, and will not be repeated here), when the moving distance exceeds a specified distance value, the movable platform or the electronic device can play the target audio signal, thereby Prompt the user operating the movable platform that the moving distance of the movable platform is too far, please pay attention to safe operation.
  • FIG. 3A is a structural diagram of a movable platform 30 according to an exemplary embodiment of this application.
  • the movable equipment includes, but is not limited to, unmanned aerial vehicles, unmanned vehicles, and unmanned vehicles. Ships and mobile robots, etc.
  • the movable platform 30 includes a movable platform 30, which is characterized in that it includes:
  • the fuselage 33 The fuselage 33.
  • the power system 32 is arranged in the fuselage 33 and is used to drive the movable platform 30 to move.
  • the first processor 31 is set in the body 33 and is used to obtain an initial audio signal and obtain state parameters generated during exercise; generate a target audio signal according to the state parameters and the initial audio signal, the The target audio signal is used for playing on the movable platform 30 and/or an electronic device communicatively connected with the movable platform 30.
  • the initial audio signal includes at least one of the following: an audio signal collected from a current environment or a pre-stored audio signal.
  • the movable platform 30 further includes a first microphone 34, the first microphone 34 is installed on the body 33, and the first microphone 34 is used to collect 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 the Audio signals collected by electronic equipment.
  • the first processor 31 is specifically configured to: obtain an audio adjustment parameter for the initial audio signal according to the state parameter; adjust the initial audio signal according to the audio adjustment parameter to generate The target audio signal.
  • the first processor 31 when acquiring the audio adjustment parameter, is specifically configured to: acquire the audio adjustment for the initial audio signal according to the state parameter and the first pre-stored correspondence relationship. Parameter; the first correspondence indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
  • the first processor 31 when adjusting the initial audio signal, is specifically configured to adjust the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
  • the first processor 31 when generating the target audio signal, is further configured to: superimpose the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal, To generate the target audio signal.
  • the first processor 31 when generating the target audio signal, is specifically configured to: superimpose the adjusted audio signal with one of the audio signals included in the initial audio signal Processing; said one of the audio signals is different from the initial audio signal used to generate the instructions corresponding to the adjusted audio signal.
  • the first processor 31 when adjusting the initial audio signal, performs at least one of the following processing methods on the initial audio signal: modulating, gaining, and reducing the initial audio signal. Noise processing or sound quality change processing.
  • the first processor 31 when adjusting the initial audio signal, is specifically configured to perform modulation processing on at least one of the following of the initial audio signal: frequency, phase, or amplitude.
  • the first processor 31 when the target audio signal is generated, is specifically configured to: obtain a pre-stored audio signal according to the state parameter and a second pre-stored correspondence relationship, and combine the pre-stored audio signal The signal is used as the target audio signal; the second correspondence relationship indicates different audio signals corresponding to different parameter values of the state parameter.
  • the movable platform 30 further includes a first speaker 36; the first speaker 36 is installed on the body 33, and the first speaker 36 is used to play the Target audio signal; and/or, the movable platform 30 further includes a first communication module 35 configured to transmit the target audio signal to the electronic device.
  • the first processor 31 is further configured to: if the state parameter satisfies a preset condition, play through the movable platform 30 and/or the electronic device communicatively connected with the movable platform 30 The target audio signal.
  • the preset condition is determined based on at least one of the following state parameters: the speed, acceleration, angular velocity, rotation direction, running time, moving distance, internal temperature of the device, and Wind speed, the distance between the movable platform 30 and the obstacle, the remaining available power of the movable platform 30 or the communication parameters between the movable platform 30 and the electronic device.
  • the preset condition includes at least one of the following: the state parameter indicates that the movable platform 30 is in an accelerating state, and the state parameter indicates the distance between the movable platform 30 and an obstacle Less than a specified threshold, the state parameter indicates that the movable platform 30 has performed a rotating operation, the state parameter indicates that the movable platform 30 stops moving, the state parameter indicates that the moving distance exceeds the 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 has not received the 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 the 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.
  • the implementation described here can be implemented by using application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays ( It is implemented by at least one of an FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • implementations such as procedures or functions may be implemented with a separate software module that allows execution of at least one function or operation.
  • the software codes can be implemented by a software application (or program) written in any suitable programming language, and the software codes can be stored in a memory and executed by the first processor.
  • FIG. 4A is an example diagram of an electronic device 40 according to an exemplary embodiment of this application; the electronic device 40 includes, but is not limited to, mobile phones, computers, personal tablets, remote controllers, and personal digital assistants. (PDA) or smart wearable devices, etc.
  • the electronic device 40 includes: a second processor 41.
  • a memory 42 for storing executable instructions of the second processor 41.
  • the second communication module 43 is configured to obtain the state parameters generated by the movable platform during the movement process from the movable platform.
  • the second processor 41 calls the executable instruction, and when the executable instruction is executed, it is used to execute: obtain an initial audio signal; generate a target audio signal according to the state parameter and the initial audio signal, so The target audio signal is used for playing on the movable platform and/or the electronic device 40.
  • the second processor 41 may be a central processing unit (Central Processing Unit, CPU), or may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (ASICs). ), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the memory 42 stores a computer program of executable instructions of the audio processing method.
  • the memory 42 may include at least one type of storage medium.
  • the storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX). Memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic Storage, magnetic disks, optical discs, etc.
  • the electronic device 40 may cooperate with a network storage device that performs the storage function of the memory 42 through a network connection.
  • the memory 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 equipped on the electronic device 40, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory card (Flash). Card) and so on. Further, the memory 42 may also include both an internal storage unit of the electronic device 40 and an external storage device. The memory 42 is used to store computer programs and other programs and data required by the device. The memory 42 can also be used to temporarily store data that has been output or will be output.
  • a plug-in hard disk equipped on the electronic device 40 such as a plug-in hard disk equipped on the electronic device 40, a smart memory card (Smart Media Card, SMC), a Secure Digital (SD) card, and a flash memory card (Flash). Card) and so on. Further, the memory 42 may also include both an internal storage unit of the electronic device 40 and an external storage device. The memory 42 is used to store computer programs and other programs and data required by the device. The memory 42 can also be used to temporarily
  • the initial audio signal includes at least one of the following: an audio signal collected from a current environment or a pre-stored audio signal.
  • the electronic device 40 further includes a second microphone 44, which is used to collect audio signals in the current environment; and/or, the second communication module 43 It is used to receive the audio signal collected by the movable platform.
  • the second processor 41 is specifically configured to: obtain an audio adjustment parameter for the initial audio signal according to the state parameter; adjust the initial audio signal according to the audio adjustment parameter to generate The target audio signal.
  • the second processor 41 when acquiring the audio adjustment parameter, is specifically configured to: acquire the audio adjustment for the initial audio signal according to the state parameter and the first pre-stored correspondence relationship. Parameter; the first correspondence indicates different parameter values of the audio adjustment parameter corresponding to different parameter values of the state parameter.
  • the second processor 41 when adjusting the initial audio signal, is specifically configured to adjust the initial audio signal in the time domain and/or the frequency domain according to the audio adjustment parameter.
  • the second processor 41 when generating the target audio signal, is further configured to: superimpose the adjusted audio signal obtained by adjusting the initial audio signal with the initial audio signal, To generate the target audio signal.
  • the second processor 41 when generating the target audio signal, is specifically configured to: superimpose the adjusted audio signal with one of the audio signals included in the initial audio signal Processing; said one of the audio signals is different from the initial audio signal used to generate the instructions corresponding to the adjusted audio signal.
  • the second processor 41 when adjusting the initial audio signal, performs at least one of the following processing methods on the initial audio signal: performing modulation processing, gain processing, and reduction processing on the initial audio signal. Noise processing or sound quality change processing.
  • the second processor 41 when adjusting the initial audio signal, is specifically configured to perform modulation processing on at least one of the following of the initial audio signal: frequency, phase, or amplitude.
  • the second processor 41 when the target audio signal is generated, is specifically configured to: obtain a pre-stored audio signal according to the state parameter and a second pre-stored correspondence relationship, and combine the pre-stored audio signal The signal is used as the target audio signal; the second correspondence relationship indicates different audio signals corresponding to different parameter values of the state parameter.
  • the electronic device 40 further includes a second speaker 45; the second speaker 45 is used to play the target audio signal; and/or, the second communication module 43 is used To transmit the target audio signal to the movable platform.
  • the second processor 41 is further configured to: if the state parameter meets a preset condition, play the game through the mobile platform and/or the electronic device 40 communicatively connected with the mobile platform.
  • the target audio signal is further configured to: if the state parameter meets a preset condition, play the game through the mobile platform and/or the electronic device 40 communicatively connected with the mobile platform. The target audio signal.
  • the preset condition is determined based on at least one of the following state parameters: speed, acceleration, angular velocity, rotation direction, running time, moving distance, internal temperature of the device, wind speed of the movable platform , The distance between the movable platform and the obstacle, the remaining available power of the movable platform, or the communication parameters between the movable platform and the electronic device 40.
  • the preset condition includes at least one of the following: the state parameter indicates that the movable platform is in an accelerating state, and the state parameter indicates that the distance between the movable platform and the obstacle is less than a specified distance. Threshold, the state parameter indicates that the movable platform has performed a rotating operation, the state parameter indicates that the movable platform has stopped moving, the state parameter indicates that the moving distance exceeds a specified distance value, and the state parameter indicates the remaining available power Less than a specified value, the state parameter indicates that the movable platform or the electronic device 40 has not received 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.
  • the implementation described here can be implemented by using application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays ( It is implemented by at least one of an FPGA), a processor, a controller, a microcontroller, a microprocessor, and an electronic unit designed to perform the functions described herein.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field programmable gate arrays
  • implementations such as procedures or functions may be implemented with a separate software module that allows execution of at least one function or operation.
  • the software codes can be implemented by software applications (or programs) written in any suitable programming language, and the software codes can be stored in the memory 42 and executed by the second processor 41.
  • an embodiment of the present application also provides an audio processing system, including a movable platform 30 and an electronic device 40 communicatively connected with the movable platform 30.
  • the movable platform 30 is used to: obtain an initial audio signal and obtain state parameters generated during exercise; and generate a target audio signal according to the state parameters and the initial audio signal.
  • the electronic device 40 and/or the movable platform 30 are used to: play the target audio signal.
  • the initial audio signal includes at least one of the following: an audio signal collected from a current environment or a pre-stored audio signal.
  • the movable platform 30 includes a first microphone, and the first microphone is used to collect audio signals in the current environment; and/or, the electronic device 40 includes a second microphone, and the electronic device 40 is also used to feed back the audio signal in the current environment collected by the second microphone to the movable platform 30.
  • the movable platform 30 includes a first speaker; the first speaker is used to play the target audio signal; and/or, the electronic device 40 includes a second speaker, the second speaker The speaker is used to play the target audio signal sent by the movable platform 30.
  • Figure 5B Figure 5B takes the mobile platform as an unmanned aerial vehicle and the electronic device as a mobile phone as an example
  • this application also provides another audio processing system, including the mobile platform 30 and the The movable platform 30 is a communicatively connected electronic device 40.
  • the movable platform 30 is used to obtain the state parameters generated during the movement and feed them back to the electronic device 40.
  • the electronic device 40 is configured to obtain an initial audio signal, and generate 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 also used to: play the target audio signal.
  • the initial audio signal includes at least one of the following: an audio signal collected from a current environment or a pre-stored audio signal.
  • the electronic device 40 includes a second microphone, and the second microphone is used to collect audio signals in the current environment; and/or, the movable platform 30 includes a first microphone. The mobile platform 30 is also used to feed back the audio signal in the current environment collected by the first microphone to the electronic device 40.
  • the movable platform 30 includes a first speaker; the first speaker is used to play the target audio signal sent by the electronic device 40; and/or, the electronic device 40 includes a first speaker Two speakers, the second speaker is used to play the target audio signal.
  • an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the audio processing method of the above-mentioned embodiment are implemented.
  • the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
  • the computer-readable storage medium may be the internal storage unit of the removable platform or the electronic device described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium may also be a removable platform or an external storage device of an electronic device, such as a plug-in hard disk, a smart media card (SMC), an SD card, or a flash memory card equipped on the device. Flash Card) etc.
  • the computer-readable storage medium may also include both a removable platform or an internal storage unit of an electronic device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the charging device, and can also be used to temporarily store data that has been output or will be output.

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Abstract

Les modes de réalisation de la présente invention concernent un procédé et un système de traitement audio, ainsi qu'une plateforme mobile, un dispositif électronique et un support de stockage lisible par ordinateur. Le procédé comprend les étapes consistant à : obtenir un signal audio initial ; obtenir un paramètre d'état généré par une plateforme mobile qui est en cours de déplacement ; et générer un signal audio cible en fonction du paramètre d'état et du signal audio initial, le signal audio cible étant lu sur la plateforme mobile et/ou sur un dispositif électronique connecté à la plateforme mobile de façon à communiquer avec elle. Les modes de réalisation assurent un bon résultat de lecture du signal audio cible final.
PCT/CN2020/085168 2020-04-16 2020-04-16 Procédé et système de traitement audio, ainsi que plateforme mobile et dispositif électronique WO2021208032A1 (fr)

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PCT/CN2020/085168 WO2021208032A1 (fr) 2020-04-16 2020-04-16 Procédé et système de traitement audio, ainsi que plateforme mobile et dispositif électronique

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