WO2021248364A1

WO2021248364A1 - Audio recording method and apparatus for unmanned aerial vehicle, chip, unmanned aerial vehicle, and system

Info

Publication number: WO2021248364A1
Application number: PCT/CN2020/095351
Authority: WO
Inventors: 薛政; 莫品西; 边云锋; 刘洋
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2021-12-16
Also published as: CN113748688A

Abstract

The present application provides an audio recording method for an unmanned aerial vehicle, comprising: in the case of audio recording by means of an audio recording device, determining a working state of an unmanned aerial vehicle, the working state comprising a flight state and a landing state; and adjusting the parameters of the audio recording device according to the working state of the unmanned aerial vehicle, and performing an audio recording operation according to the adjusted parameters of the audio recording device. In this way, the audio recording effect can be ensured no matter whether the unmanned aerial vehicle is in a flight state or in a landing state. The present application further provides an audio recording apparatus for an unmanned aerial vehicle, a chip, an unmanned aerial vehicle, an audio recording system for an unmanned aerial vehicle, a computer-readable storage medium and a computer program product containing instructions.

Description

Unmanned aerial vehicle recording method, device, chip, unmanned aerial vehicle, system

Technical field

This application relates to unmanned aerial vehicles, in particular to an unmanned aerial vehicle recording method, an unmanned aerial vehicle recording device, a chip, an unmanned aerial vehicle, an unmanned aerial vehicle recording system, a computer-readable storage medium, and a computer program product.

Background technique

Due to the strong paddle sound when the UAV is working, it is rarely equipped with a recording function. The sound effects of the pictures taken are often synthesized during post-processing, and the synthesized sound effects will lack a sense of presence. For a few unmanned aerial vehicles with recording function, only a single propeller sound can be recorded, and because the propeller sound emitted by the unmanned aerial vehicle is too loud, there will be overload problems, which affect the recording effect, and it is impossible to record other than the propeller sound. Environmental sound.

Summary of the invention

The embodiments of the present application provide a recording method of an unmanned aerial vehicle, an unmanned aerial vehicle recording device, a chip, an unmanned aerial vehicle, and an unmanned aerial vehicle recording system.

In the first aspect, an embodiment of the present application provides a recording method for an unmanned aerial vehicle, including:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.

In the second aspect, an embodiment of the present application provides a recording device for an unmanned aerial vehicle, including:

processor;

A memory for storing processor executable instructions;

Wherein, the processor is configured to:

In a third aspect, an embodiment of the present application provides a chip installed on an unmanned aerial vehicle, including a processor and a memory, the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations :

In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle is equipped with a chip and a microphone, the chip includes a processor and a memory, the memory is used to store instructions, and the processor calls the The instructions stored in the memory are used to implement the following operations:

In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle recording system, including an unmanned aerial vehicle and a designated application, the unmanned aerial vehicle is equipped with a chip and a microphone, the designated application is installed in an electronic device, and the unmanned aerial vehicle In communication with the electronic device, the chip includes a processor and a memory, the memory is used to store instructions, and when the processor responds to a request of the application, the instructions stored in the memory are invoked to implement the following operations :

In a sixth aspect, the present application provides a computer-readable storage medium, including instructions, which when run on a computer, cause the computer to execute the method described in the first aspect.

In a seventh aspect, the present application provides a computer program product containing instructions that, when the instructions run on a computer, cause the computer to execute the method described in the first aspect.

This application determines whether the UAV's working status is in flight or on the ground, and adjusts the parameters of the recording device according to the working state of the UAV to record, so that the audio can be ensured regardless of whether the UAV is in flight or on the ground. Recording effect.

Description of the drawings

Fig. 1 is a flowchart of a recording method for an unmanned aerial vehicle according to an exemplary embodiment of the present application.

Fig. 2 is a flowchart of adjusting the parameters of the recording device and processing the recorded audio signal when the unmanned aerial vehicle is in the flying state and in the landing state according to an exemplary embodiment of the present application.

Fig. 3 is an unmanned aerial vehicle recording device shown in an exemplary embodiment of the present application.

Fig. 4 is a chip shown in an exemplary embodiment of the present application.

Fig. 5 is an unmanned aerial vehicle shown in an exemplary embodiment of the present application.

Fig. 6 is an unmanned aerial vehicle recording system shown in an exemplary embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

Regarding the unmanned aerial vehicle without the recording function, or the unmanned aerial vehicle with the recording function can only record a single propeller sound and also has the problem of overload, the embodiment of the present application first proposes a recording method for the unmanned aerial vehicle, which can be applied in The computer hardware installed in the unmanned aerial vehicle may be, for example, a management chip mounted in the unmanned aerial vehicle. The unmanned aerial vehicle is also equipped with at least one recording device, and the management chip controls the recording process of the recording device. Or the method can also be applied to a system composed of terminal equipment or an application on the terminal device and a management chip on an unmanned aerial vehicle. For example, an application on the terminal device can issue a command to control the management chip on an unmanned aerial vehicle. In order to realize the control of the recording process of the microphone on the unmanned aerial vehicle, the terminal device may be, for example, an unmanned aerial vehicle remote control, a mobile phone terminal, a tablet computer, a notebook computer, a PC terminal, and the like.

Fig. 1 is a flow chart of a recording method for an unmanned aerial vehicle according to an exemplary embodiment of the present application. As shown in Fig. 1, the method includes:

S101: Determine the working state of the unmanned aerial vehicle in the case of recording through the recording device; the working state includes the flight state and the landing state;

S102: Adjust the parameters of the recording device according to the working state of the unmanned aerial vehicle;

S103: Perform a recording operation according to the adjusted parameters of the recording device.

The recording device may be a microphone, a voice recorder, or a voice recorder, etc., which is not limited in this application. For the convenience of description, a microphone will be used as an example for description below.

Since the unmanned aerial vehicle works in different states, the sound level is different. For example, in the flight state (when in motion or suspended state), the sound of the propeller is extremely large. At this time, the maximum sound pressure level of the propeller sound may be greater than The maximum recording sound pressure level of the microphone causes the problem of overloading the propeller sound to be recorded. For example, when the maximum sound pressure level of the propeller sound is 135db and the maximum sound pressure level of the microphone is 128db, the propeller sound to be recorded is relative to the microphone In terms of overload, the audio signal recorded by the microphone will be clipped at this time, resulting in the subsequent failure to restore a clear and complete blade sound. In the landing state, since the blades are no longer rotating at this time, the main recorded sound is the human voice in the environment, but because there is a certain distance between the microphone and the sound source, the human voice to be recorded will be too small. At the same time, due to the internal circuit noise, fuselage vibration noise, fan noise, etc., the unmanned aerial vehicle itself will cause interference to the already too small human voice to be recorded. Therefore, when the unmanned aerial vehicle performs recording in different working states, the parameters of the microphone need to be adjusted accordingly to ensure the quality of the recording. How to adjust the parameters of the microphone according to different scenes will be introduced in the following embodiments.

It should be noted that in S101, considering that recording may have different requirements for recording mono, dual-channel stereo or multi-channel stereo, the number of microphones used to record audio signals can be one or multiple , The specific number can be set according to demand. And when setting multiple microphones, you can use different microphones to record in different scenarios. For example, when recording a mono audio signal, you can set microphone 1 and microphone 2 respectively, which can be used when the UAV is in flight. When the UAV is on the ground, use the microphone 2 to record. Among them, the microphone 1 and the microphone 2 can be of the same specification or different specifications. Those skilled in the art can perform according to their needs. Configuration, of course, preferably, you can configure a microphone suitable for the scene to record according to different recording scenes, thereby reducing the adjustment of the microphone parameters, for example, when the unmanned aerial vehicle is in flight, the sound of the recording is too loud. You can choose to configure a microphone with a lower sensitivity for recording. Conversely, when the UAV is on the ground, you can choose to configure a microphone with a higher sensitivity for recording because the recorded human voice is small.

In one embodiment, the working state of the unmanned aerial vehicle may be determined before the recording is started, and how to adjust the microphone parameters is determined according to the determined working state of the unmanned aerial vehicle, and then the recording is started; of course, the recording may also be started. After that, the working status of the unmanned aerial vehicle is determined in real time, and then the parameters of the microphone are adjusted according to the working status of the unmanned aerial vehicle for recording.

In order to obtain the working state of the unmanned aerial vehicle, the embodiment of the present application also provides a method for determining the working state of the unmanned aerial vehicle. Several methods for determining the working state of the unmanned aerial vehicle will be introduced below.

In one embodiment, the operating status of the unmanned aerial vehicle can be determined based on the received operating status message of the unmanned aerial vehicle. Specifically, it can be judged by receiving the flight control status message sent by the flight control module inside the unmanned aerial vehicle. The working status of the human aircraft. Among them, the flight control module is used to collect the working status data of the unmanned aerial vehicle measured by the sensors in real time, and to receive the control commands and data transmitted by the terminal equipment used to remotely control the unmanned aerial vehicle. Various working conditions are controlled, and the working status data of the UAV and working status parameters such as the engine and the onboard power system are transmitted to the remote control terminal in real time.

In the case of recording audio signals, it can establish real-time communication with the flight control module, obtain the real-time working status of the unmanned aerial vehicle from the flight control module, and determine that the unmanned aerial vehicle is in the flying state when a message indicating that the unmanned aerial vehicle is in flight is received. ; When receiving a message indicating that the UAV is on the ground, it is determined that the UAV is on the ground. And after confirming the working status message of the unmanned aerial vehicle, correspondingly adjust the parameters of the recorded audio signal. Of course, the flight control module can also actively send an indication message in real time, and it can send a message indicating the real-time working status of the unmanned aerial vehicle during the working process of the unmanned aerial vehicle. Furthermore, when the working state of the unmanned aerial vehicle changes, It can also send a message indicating the transition of the unmanned aerial vehicle's working state. For example, it can send a message indicating that the unmanned aerial vehicle enters the landing state when the unmanned aerial vehicle is switched from the flying state to the landing state. The state correspondingly adjusts the parameters of the recorded audio signal to ensure the recording effect.

Since it is necessary to establish real-time communication with the flight control module when acquiring the unmanned aerial vehicle through the flight control module, it is necessary to ensure that the communication connection is not interrupted, but the unmanned aerial vehicle may have a problem of poor communication signal during the working process, which will cause problems. This may lead to the problem of failure to obtain the operating status of the unmanned aerial vehicle. In order to avoid the limitation of coupling with the flight control module, the embodiments of the present application also provide other methods for determining the operating status of the unmanned aerial vehicle. In one embodiment, the motion state of the unmanned aerial vehicle can be determined by analyzing the characteristics of the recorded audio signal. For example, in the case of recording an audio signal, the energy of the audio signal recorded in real time can be used to determine the unmanned aerial vehicle's performance. In the working state, since the UAV mainly records the sound of the propeller when in flight, and mainly records the human voice in the environment when it is on the ground, there is a great difference in the amplitude between the recorded sound of the propeller and the audio signal of the human voice. Moreover, the amplitude of the audio signal can reflect the energy of the audio signal, so the working state of the UAV can be judged by analyzing and calculating the energy of the recorded audio signal. For example, by defining a first preset threshold, when the energy of the recorded audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state. Wherein, the specific value of the first preset threshold can be determined by those skilled in the art according to actual needs, which is not limited in the embodiment of the present application. Based on the definition of the first preset threshold, when the UAV is switching the working state, when the energy of the recorded audio signal changes from less than the first preset threshold to greater than the first preset threshold in real-time analysis, It can be determined that the unmanned aerial vehicle has entered the flying state; on the contrary, when the energy of the recorded audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle has entered the landing state. In some cases, taking into account that there may be short-term noise interference, it can also be that the energy of the recorded audio signal changes from less than the first preset threshold to greater than the first preset threshold, and there is no rebound within a period of time. When it is less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the flying state, and the determination that the unmanned aerial vehicle enters the landing state can also be judged based on the same principle.

When the working state of the unmanned aerial vehicle is determined by analyzing the energy of the recorded audio signal, there may sometimes be a problem of noise interference, leading to misjudgment that the unmanned aerial vehicle is switching the working state. Therefore, the embodiment of the present application also provides a determination method. In an embodiment, the working state of the unmanned aerial vehicle can be determined by the obtained motor speed of the unmanned aerial vehicle. Since the unmanned aerial vehicle is in flight state, the blades of the unmanned aerial vehicle rotate at a high speed. The speed is extremely large; while the UAV is in the landing state, the blades are close to stop rotating, at this time the motor speed is small, so the motor speed of the UAV can also reflect the working status of the UAV, which can be done by collecting the motor speed in real time. judge. Similar to the method shown in the previous embodiment, the second preset threshold can also be defined to determine that the drone is in a flying state when the motor speed is greater than the second preset threshold; otherwise, it is determined that the drone is in a landing state. When the unmanned aerial vehicle is switching the working state, when the motor speed changes from less than the second preset threshold to greater than the second preset threshold, it is determined that the drone enters the flying state; on the contrary, when the motor speed changes from greater than the second preset threshold When the preset threshold value is changed to be less than the second preset threshold value, it is determined that the drone enters the landing state.

In some optional examples, the working status of the unmanned aerial vehicle can also be determined by detecting the zero-crossing rate of the recorded audio signal, pitch detection, etc., which will not be listed here. It can be understood that in consideration of obtaining the judgment result faster, the working state of the unmanned aerial vehicle can be determined by only one method shown in the above-mentioned embodiment. Under the condition of ensuring the accuracy of the judgment result, the above can be selected. The two or more methods shown can be freely combined to determine the working state of the unmanned aerial vehicle. The specific selection is not limited in the embodiment of the present application.

After determining the working state of the UAV, the parameters of the microphone need to be adjusted accordingly to ensure the recording effect. For example, the gain parameter, working frequency or frequency response of the microphone can be adjusted. The specific adjustment can be freely set according to the working state of the UAV. Certainly, this application is not limited. The following will cite an example of adjusting the gain parameter of the microphone according to the working state of the unmanned aerial vehicle.

Take an unmanned aerial vehicle equipped with an analog microphone as an example. The unmanned aerial vehicle’s propeller sound is too loud when it is in flight, and the ambient human voice recorded when it is on the ground is too small, so you can adjust the unmanned aerial vehicle in different working states accordingly. The analog gain of the analog microphone. The analog gain can be understood as the multiple that the front circuit in the analog microphone amplifies the recorded audio signal. Since the analog microphone converts the acoustic signal into an electrical signal (audio signal), the electrical signal obtained is relatively weak, and it needs to pass the front The subsequent transmission and processing can only be carried out after the built-in circuit is further amplified. Therefore, the degree of amplification of the recorded audio signal can be adjusted by adjusting the analog gain, so as to avoid continuing to use the original analog gain, which may cause the amplified audio signal to be clipped.

Specifically, when the unmanned aerial vehicle is in flight, the analog gain of the analog microphone can be lowered to avoid over-amplification of the recorded audio signal, and the amplified audio signal is controlled within the first specified range; similarly, when When the UAV is on the ground, the analog gain of the analog microphone can be increased to increase the degree of amplification of the recorded audio signal, and the amplified audio signal can be controlled within the second specified range. Wherein, the maximum value of the first specified range and the second specified range are both smaller than the clipping point, and the clipping point can be understood as the maximum value at which the audio signal will not be clipped. In addition, the first designated range and the second designated range may be the same range or different ranges, and can be specifically set by those skilled in the art according to actual needs, which are not limited in the embodiment of the present application.

Of course, in some optional examples, for UAVs equipped with digital microphones, the digital gain of the digital microphone can also be adjusted to control the amplification of the recorded audio signal, which is similar to the method of adjusting the analog gain. No further introduction.

Since the unmanned aerial vehicle records the sound of the oars in flight, in order to make the recorded oars more vivid, stereo sound effects can be recorded. Specifically, two or more microphones can be set to record according to actual needs. For the stereo audio signal, you can use a phase-based stereo enhancement method, mainly by adjusting the phase spectrum of the recorded audio signal to achieve compression noise and enhance the stereo effect of the recording. Alternatively, an energy-based stereo enhancement method can be adopted to enhance the recorded stereo sound effect by adjusting the energy of the recorded audio signal.

For the audio signal recorded by the UAV, it is not only a sound wave of a single frequency, but a superposition of sound waves of various frequencies, so the intensity of signals of different frequencies can also be adjusted through equalization processing. Specifically, signals of different frequencies can be separated by an equalizer, and different degrees of amplification or reduction can be adopted to change the sound effect. Among them, the equalizer used may be an equalizer for processing analog signals, or an equalizer for processing digital signals. For example, when the unmanned aerial vehicle is in flight, for the audio signal that is recorded and amplified by the pre-circuit, you can consider using an equalizer to ensure the equalization between the signals of different frequencies, and appropriately perform the processing on the signals of different frequencies. Shrink, that is, reduce its amplitude to ensure the effect of recording.

While the unmanned aerial vehicle is recording the human voice in the environment when it is on the ground, the audio signal in the recording environment is too small. At this time, the internal circuit noise of the unmanned aerial vehicle, the vibration noise of the fuselage, and the fan noise will be affected. It will have a great impact on the recording effect, so it is necessary to perform vocal enhancement processing and noise reduction processing on the recorded audio signal. For the human voice enhancement processing of the audio signal, a method similar to the above stereo enhancement processing can be used, and for the noise reduction processing of the audio signal, the Wiener filter can be used to achieve noise reduction, or the AI algorithm can intelligently identify the scene for noise reduction To correct the waveform of the recorded audio signal. In addition, because the microphone is usually equipped with acoustic resistance material to prevent the recorded sound from damaging the microphone, and the acoustic resistance material is mainly used to suppress high-frequency signals, so when recording the human voice in the environment, in order to avoid recording the sound too much Small, the high-frequency signal can be amplified by the equalizer, that is, its amplitude can be increased.

It can be understood that the adjustment of microphone parameters and the processing of recorded audio signals in the above embodiments are only exemplary, and those skilled in the art can select more microphone parameters to adjust and process the recorded audio signals according to their needs. This application will not enumerate one by one. In addition, for adjusting the microphone parameters and processing the recorded audio signal, the built-in management chip of the unmanned aerial vehicle can determine the working state of the unmanned aerial vehicle according to the pre-stored corresponding The processing algorithm in the working state is automatically executed, where the processing algorithm can be the method shown in one or more of the above embodiments to adjust the microphone parameters and process the recorded audio signal. The different working states of the UAV can correspond to Different processing algorithms. Of course, it is also possible for the user to decide which algorithm to use to process the audio signal. The following uses FIG. 2 to illustrate the flow chart of adjusting microphone parameters and processing the recorded audio signal when the UAV is in flight and in the landing state.

As shown in Figure 2, it includes the following steps:

S201: Determine the working state of the unmanned aerial vehicle; execute S202 to S204 when it is determined that the unmanned aerial vehicle is in the flying state, and execute S205 to S207 when it is determined that the unmanned aerial vehicle is in the landing state;

S202, lower the analog gain;

S203, stereo enhancement processing;

S204, equalization processing;

S205, increase the analog gain;

S206, noise reduction processing and vocal enhancement processing;

S207, equalizing processing.

Among them, how to determine the working status of the unmanned aerial vehicle and the specific process of each processing can refer to the introduction of the previous embodiment, and the introduction is not repeated here.

The present application also provides an unmanned aerial vehicle recording device. FIG. 3 is an unmanned aerial vehicle recording device shown in an exemplary embodiment of the present application. As shown in FIG. 3, the device 30 includes a processor 301 for storing Processor executable instructions memory 302, internal bus 304 and network interface 303;

Wherein, the processor 301 is configured to determine the working state of the unmanned aerial vehicle in the case of recording through the recording device, and the working state includes the flight state and the landing state;

For the specific implementation process involved in the recording device provided in the present application, reference may be made to the description of the above method embodiment, which will not be repeated here.

The present application also provides a chip integrated on an unmanned aerial vehicle. FIG. 4 is a chip shown in an exemplary embodiment of the present application. As shown in FIG. 4, the chip 40 includes a processor 401 and a memory 402, and the memory 402 is used for To store instructions, the processor 401 calls the instructions stored in the memory 402 to implement the following operations: in the case of recording through a recording device, determine the working state of the unmanned aerial vehicle, the working state including the flight state and the landing state;

For the specific implementation process involved in the chip provided in this application, reference may be made to the description of the above method embodiment, and details are not described herein again.

The present application also provides an unmanned aerial vehicle. FIG. 5 is an unmanned aerial vehicle shown in an exemplary embodiment of the present application. As shown in FIG. 5, the unmanned aerial vehicle 50 includes a chip 40 and a recording device 501. The chip 40 includes processing The processor 401 and the memory 402. The memory 402 is used to store instructions. The processor 401 calls the instructions stored in the memory 402 to implement the following operations: in the case of recording through the recording device 501, the operating state of the UAV 50 is determined. Working status includes flight status and landing status;

Adjust the parameters of the recording device 501 according to the working state of the unmanned aerial vehicle 50;

The recording operation is performed according to the adjusted parameters of the recording device 501.

For the specific implementation process related to the unmanned aerial vehicle provided in the present application, reference may be made to the description of the above method embodiment, which will not be repeated here.

This application also provides an unmanned aerial vehicle recording system. FIG. 6 is an unmanned aerial vehicle recording system shown in an exemplary embodiment of this application. As shown in FIG. 6, the unmanned aerial vehicle recording system includes the unmanned aerial vehicle recording system shown in FIG. The human aircraft 50 and the designated application 601. The designated application 601 is installed on the electronic device 60. The processor 401, in response to the request of the designated application 601, calls the instructions stored in the memory 402 to implement the following operations:

In the case of recording through the recording device 501, determine the working state of the unmanned aerial vehicle 50, the working state including the flight state and the landing state;

For the specific implementation process involved in the unmanned aerial vehicle recording system provided in the present application, reference may be made to the description of the above method embodiment, which will not be repeated here.

As for the device embodiment, since it basically corresponds to the method embodiment, the relevant part can refer to the part of the description of the method embodiment. The device embodiments described above are merely illustrative, where the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

In the foregoing embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it can be implemented in the form of a computer program product in whole or in part. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. Computer instructions can be sent from one website site, computer, server, or data center to another website site, computer via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) , Server or data center for transmission. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the application are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the application. The descriptions of the above embodiments are only used to help understand the methods and methods of the application. Core idea; At the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be construed as a limitation to this application .

Claims

An unmanned aerial vehicle recording method, characterized in that it comprises:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.
The method according to claim 1, wherein the determining the working status of the unmanned aerial vehicle comprises:

Determine the working status of the unmanned aerial vehicle according to the received working status message of the unmanned aerial vehicle; and/or

Analyze the characteristics of the recorded audio signal to determine the operating status of the UAV; and/or

Determine the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle.
The method according to claim 2, wherein the working status message includes a message indicating that the unmanned aerial vehicle is in a flying state and a message indicating that the unmanned aerial vehicle is in a landing state.
The method according to claim 2, wherein the characteristics of the audio signal include the energy of the audio signal;

The determining the working status of the unmanned aerial vehicle includes:

When the energy of the audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The method according to claim 4, wherein said determining the working status of the unmanned aerial vehicle further comprises:

When the energy of the audio signal changes from less than the first preset threshold to greater than the first preset threshold, determining that the unmanned aerial vehicle enters a flight state;

When the energy of the audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The method according to claim 2, wherein the determining the operating state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle comprises:

When the motor speed is greater than the second preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The method according to claim 6, wherein the determining the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle further comprises:

When the rotation speed of the motor changes from less than the second preset threshold to greater than the second preset threshold, determining that the unmanned aerial vehicle enters a flying state;

When the rotation speed of the motor changes from greater than the second preset threshold to less than the second preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The method according to claim 1, wherein the parameters of the recording device include:

The analog gain of the recording device.
The method according to claim 8, wherein the adjusting the parameters of the recording device comprises:

When the unmanned aerial vehicle is in flight, adjusting the analog gain of the recording device to control the recorded audio signal within a first specified range;

When the unmanned aerial vehicle is in the landing state, the analog gain of the recording device is adjusted to control the recorded audio signal within the second specified range.
The method according to claim 1, wherein the method further comprises:

When the recorded audio signal is a stereo audio signal, enhance the recorded stereo audio signal.
The method according to claim 10, wherein said enhancing the recorded stereo audio signal comprises:

Enhancing the stereo audio signal based on phase; or

The stereo audio signal is enhanced based on energy.
The method according to claim 1, wherein the method further comprises:

When the recorded audio signal is a human voice audio signal, the recorded human voice audio signal is processed to enhance human voice and reduce noise.
The method according to claim 1, wherein the recording device is a microphone.
An unmanned aerial vehicle recording device, characterized in that it comprises:

processor;

A memory for storing processor executable instructions;

Wherein, the processor is configured to:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.
The device according to claim 14, wherein the processor is configured to:

Determine the working status of the unmanned aerial vehicle according to the received working status message of the unmanned aerial vehicle; and/or

Analyze the characteristics of the recorded audio signal to determine the operating status of the UAV; and/or

Determine the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle.
The apparatus according to claim 15, wherein the working status message includes a message indicating that the unmanned aerial vehicle is in a flying state and a message indicating that the unmanned aerial vehicle is in a landing state.
The device according to claim 15, wherein the feature of the audio signal includes the energy of the audio signal;

The processor is configured to:

When the energy of the audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The device according to claim 17, wherein the processor is configured to:

When the energy of the audio signal changes from less than the first preset threshold to greater than the first preset threshold, determining that the unmanned aerial vehicle enters a flight state;

When the energy of the audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The device according to claim 15, wherein the processor is configured to:

When the motor speed is greater than the second preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The device of claim 19, wherein the processor is configured to:

When the rotation speed of the motor changes from less than the second preset threshold to greater than the second preset threshold, determining that the unmanned aerial vehicle enters a flying state;

When the rotation speed of the motor changes from greater than the second preset threshold to less than the second preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The apparatus according to claim 14, wherein the parameters of the recording device include:

The analog gain of the recording device.
The device according to claim 21, wherein the processor is configured to:

When the unmanned aerial vehicle is in flight, adjusting the analog gain of the recording device to control the recorded audio signal within a first specified range;

When the unmanned aerial vehicle is in a landing state, the analog gain of the recording device is adjusted to control the recorded audio signal within a second specified range.
The device according to claim 14, wherein the processor is configured to:

When the recorded audio signal is a stereo audio signal, enhance the recorded stereo audio signal.
The device according to claim 23, wherein the processor is configured to:

Enhancing the stereo audio signal based on phase; or

The stereo audio signal is enhanced based on energy.
The device according to claim 14, wherein the processor is configured to:

When the recorded audio signal is a human voice audio signal, the recorded human voice audio signal is processed to enhance human voice and reduce noise.
The apparatus according to claim 14, wherein the recording device is a microphone.
A chip applied to an unmanned aerial vehicle, characterized by comprising a processor and a memory, the memory is used to store instructions, and the processor calls the instructions stored in the memory to implement the following operations:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.
The chip according to claim 27, wherein the processor is specifically configured to:

Determine the working status of the unmanned aerial vehicle according to the received working status message of the unmanned aerial vehicle; and/or

Analyze the characteristics of the recorded audio signal to determine the operating status of the UAV; and/or

Determine the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle.
The chip according to claim 28, wherein the working status message includes a message indicating that the unmanned aerial vehicle is in a flying state and a message indicating that the unmanned aerial vehicle is in a landing state.
The chip according to claim 28, wherein the characteristics of the audio signal include energy of the audio signal;

The processor is specifically used for:

When the energy of the audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The chip according to claim 30, wherein the processor is specifically configured to:

When the energy of the audio signal changes from less than the first preset threshold to greater than the first preset threshold, determining that the unmanned aerial vehicle enters a flight state;

When the energy of the audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The chip according to claim 28, wherein the processor is specifically configured to:

When the motor speed is greater than the second preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The chip according to claim 32, wherein the processor is specifically configured to:

When the motor speed changes from less than the second preset threshold to greater than the second preset threshold, determining that the unmanned aerial vehicle enters a flying state;

When the rotation speed of the motor changes from greater than the second preset threshold to less than the second preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The chip according to claim 27, wherein the parameters of the recording device include:

The analog gain of the recording device.
The chip according to claim 34, wherein the processor is specifically configured to:

When the unmanned aerial vehicle is in flight, adjusting the analog gain of the recording device to control the recorded audio signal within a first specified range;

When the unmanned aerial vehicle is in a landing state, the analog gain of the recording device is adjusted to control the recorded audio signal within a second specified range.
The chip according to claim 27, wherein the processor is specifically configured to:

When the recorded audio signal is a stereo audio signal, enhance the recorded stereo audio signal.
The chip according to claim 36, wherein the processor is specifically configured to:

Enhancing the stereo audio signal based on phase; or

The stereo audio signal is enhanced based on energy.
The chip according to claim 27, wherein the processor is specifically configured to:

When the recorded audio signal is a human voice audio signal, the recorded human voice audio signal is processed to enhance human voice and reduce noise.
The chip according to claim 27, wherein the recording device is a microphone.
An unmanned aerial vehicle, characterized in that a chip and a recording device are mounted on the unmanned aerial vehicle, the chip includes a processor and a memory, the memory is used for storing instructions, and the processor calls the instructions stored in the memory Used to achieve the following operations:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.
The unmanned aerial vehicle according to claim 40, wherein the processor is specifically configured to:

Determine the working status of the unmanned aerial vehicle according to the received working status message of the unmanned aerial vehicle; and/or

Analyze the characteristics of the recorded audio signal to determine the operating status of the UAV; and/or

Determine the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle.
The unmanned aerial vehicle according to claim 41, wherein the working status message includes a message indicating that the unmanned aerial vehicle is in a flying state and a message indicating that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle of claim 41, wherein the feature of the audio signal includes the energy of the audio signal;

The processor is specifically used for:

When the energy of the audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle according to claim 43, wherein the processor is specifically configured to:

When the energy of the audio signal changes from less than the first preset threshold to greater than the first preset threshold, determining that the unmanned aerial vehicle enters a flight state;

When the energy of the audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The unmanned aerial vehicle according to claim 41, wherein the processor is specifically configured to:

When the motor speed is greater than the second preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle according to claim 45, wherein the processor is specifically configured to:

When the motor speed changes from less than the second preset threshold to greater than the second preset threshold, determining that the unmanned aerial vehicle enters a flying state;

When the rotation speed of the motor changes from greater than the second preset threshold to less than the second preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The unmanned aerial vehicle of claim 40, wherein the parameters of the recording device include:

The analog gain of the recording device.
The unmanned aerial vehicle according to claim 47, wherein the processor is specifically configured to:

When the unmanned aerial vehicle is in flight, adjusting the analog gain of the recording device to control the recorded audio signal within a first specified range;

When the unmanned aerial vehicle is in a landing state, the analog gain of the recording device is adjusted to control the recorded audio signal within a second specified range.
The unmanned aerial vehicle according to claim 40, wherein the processor is specifically configured to:

When the recorded audio signal is a stereo audio signal, enhance the recorded stereo audio signal.
The unmanned aerial vehicle according to claim 49, wherein the processor is specifically configured to:

Enhancing the stereo audio signal based on phase; or

The stereo audio signal is enhanced based on energy.
The unmanned aerial vehicle according to claim 40, wherein the processor is specifically configured to:

When the recorded audio signal is a human voice audio signal, the recorded human voice audio signal is processed to enhance human voice and reduce noise.
The unmanned aerial vehicle of claim 40, wherein the recording device is a microphone.
An unmanned aerial vehicle recording system, characterized in that it comprises an unmanned aerial vehicle and a designated application, the unmanned aerial vehicle is equipped with a chip and a recording device, the designated application is installed in an electronic device, and the unmanned aerial vehicle is connected to the electronic device. The device is in communication connection, the chip includes a processor and a memory, the memory is used to store instructions, and when the processor responds to a request of the application, the instructions stored in the memory are invoked to implement the following operations:

In the case of recording through a recording device, determine the working state of the unmanned aerial vehicle; the working state includes the flight state and the landing state;

Adjusting the parameters of the recording device according to the working state of the unmanned aerial vehicle;

Perform recording operations according to the adjusted parameters of the recording device.
The unmanned aerial vehicle recording system according to claim 53, wherein the processor is specifically configured to:

Determine the working status of the unmanned aerial vehicle according to the received working status message of the unmanned aerial vehicle; and/or

Analyze the characteristics of the recorded audio signal to determine the operating status of the UAV; and/or

Determine the working state of the unmanned aerial vehicle according to the obtained motor speed of the unmanned aerial vehicle.
The unmanned aerial vehicle recording system according to claim 54, wherein the working status message includes a message indicating that the unmanned aerial vehicle is in a flying state and a message indicating that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle recording system of claim 54, wherein the characteristics of the audio signal include the energy of the audio signal;

The processor is specifically used for:

When the energy of the audio signal is greater than the first preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle recording system according to claim 56, wherein the processor is specifically configured to:

When the energy of the audio signal changes from less than the first preset threshold to greater than the first preset threshold, determining that the unmanned aerial vehicle enters a flight state;

When the energy of the audio signal changes from greater than the first preset threshold to less than the first preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The unmanned aerial vehicle recording system according to claim 54, wherein the processor is specifically configured to:

When the motor speed is greater than the second preset threshold, it is determined that the unmanned aerial vehicle is in a flying state; otherwise, it is determined that the unmanned aerial vehicle is in a landing state.
The unmanned aerial vehicle recording system according to claim 58, wherein the processor is specifically configured to:

When the motor speed changes from less than the second preset threshold to greater than the second preset threshold, determining that the unmanned aerial vehicle enters a flying state;

When the rotation speed of the motor changes from greater than the second preset threshold to less than the second preset threshold, it is determined that the unmanned aerial vehicle enters the landing state.
The unmanned aerial vehicle recording system of claim 53, wherein the parameters of the recording device include:

The analog gain of the recording device.
The unmanned aerial vehicle recording system according to claim 60, wherein the processor is specifically configured to:

When the unmanned aerial vehicle is in flight, adjusting the analog gain of the recording device to control the recorded audio signal within a first specified range;

When the unmanned aerial vehicle is in a landing state, the analog gain of the recording device is adjusted to control the recorded audio signal within a second specified range.
The unmanned aerial vehicle recording system according to claim 53, wherein the processor is specifically configured to:

When the recorded audio signal is a stereo audio signal, the recorded stereo audio signal is enhanced.
The unmanned aerial vehicle recording system according to claim 62, wherein the processor is specifically configured to:

Enhancing the stereo audio signal based on phase; or

The stereo audio signal is enhanced based on energy.
The unmanned aerial vehicle recording system according to claim 53, wherein the processor is specifically configured to:

When the recorded audio signal is a human voice audio signal, the recorded human voice audio signal is processed to enhance human voice and reduce noise.
The unmanned aerial vehicle recording system of claim 53, wherein the recording device is a microphone.
A computer-readable storage medium, characterized by comprising instructions, which when run on a computer, causes the computer to execute the method according to any one of claims 1-13.
A computer program product containing instructions, characterized in that, when the instructions are run on a computer, the computer is caused to execute the method according to any one of claims 1-13.