CN106933133A - Unmanned plane, unmanned aerial vehicle (UAV) control terminal and unmanned aerial vehicle (UAV) control method and system - Google Patents
Unmanned plane, unmanned aerial vehicle (UAV) control terminal and unmanned aerial vehicle (UAV) control method and system Download PDFInfo
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- CN106933133A CN106933133A CN201511024768.3A CN201511024768A CN106933133A CN 106933133 A CN106933133 A CN 106933133A CN 201511024768 A CN201511024768 A CN 201511024768A CN 106933133 A CN106933133 A CN 106933133A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The application proposes a kind of unmanned plane, unmanned aerial vehicle (UAV) control terminal and unmanned aerial vehicle (UAV) control method and system, wherein, unmanned aerial vehicle (UAV) control terminal includes：Voice control module, for obtaining phonetic control command and being sent to unmanned plane, to adjust the parameter of electric machine of flight control modules in the unmanned plane, controls the flight of the unmanned plane；Video reception module, for receiving video image that the unmanned plane shot by camera and showing, wherein, flying quality is included in the video image；Motion-control module, for obtaining motion control instruction and being sent to unmanned plane, so that the cradle head control module of the unmanned plane adjusts the shooting angle of the camera according to the motion control instruction.The overall-in-one control schema mode that voice is combined with behavior is realized, while user's reception video image is met, the effective remote control of intelligence can be carried out to unmanned plane again.
Description
Technical field
The application is related to unmanned aerial vehicle (UAV) control technical field, more particularly to a kind of unmanned plane, unmanned aerial vehicle (UAV) control terminal and unmanned plane
Control method and system.
Background technology
With the development of unmanned air vehicle technique, unmanned plane is increasing in the application demand of every field.At present for unmanned plane
Control is also needed to by the heavy equipment of earth station, and artificial operation is accordingly controlled.
With the popularization of intelligent equipment, for the application field of unmanned plane, a kind of intelligentized control terminal pair of offer is needed badly
Unmanned plane carries out convenient intelligent remote control.
The content of the invention
The application is intended at least solve to a certain extent one of technical problem in correlation technique.
Therefore, first purpose of the application is to propose a kind of unmanned aerial vehicle (UAV) control terminal, the unmanned aerial vehicle (UAV) control terminal is realized
The overall-in-one control schema mode that voice is combined with behavior, while user's reception video image is met, again can be to unmanned plane
The effective remote control of intelligence is carried out, the data interaction efficiency with unmanned plane is not only increased, the control to unmanned plane is improve again
Efficiency processed, while simplifying the heavy control device in ground.
Second purpose of the application is to propose a kind of unmanned plane.
3rd purpose of the application is to propose a kind of unmanned aerial vehicle (UAV) control method.
4th purpose of the application is to propose a kind of unmanned aerial vehicle (UAV) control method.
5th purpose of the application is to propose a kind of unmanned aerial vehicle control system.
It is that, up to above-mentioned purpose, the application first aspect embodiment proposes a kind of unmanned aerial vehicle (UAV) control terminal, including：
Voice control module, for obtaining phonetic control command and being sent to unmanned plane, is flown with adjusting in the unmanned plane
The parameter of electric machine of row control module, controls the flight of the unmanned plane；
Video reception module, for receiving video image that the unmanned plane shot by camera and showing, wherein,
Include the flying quality in the flight control modules in the video image；
Motion-control module, for obtaining motion control instruction and being sent to unmanned plane, so that the head of the unmanned plane
Control module adjusts the shooting angle of the camera according to the motion control instruction.
The unmanned aerial vehicle (UAV) control terminal of the embodiment of the present application, by obtaining phonetic control command and being sent to unmanned plane, to adjust
The parameter of electric machine of flight control modules in the unmanned plane, controls the flight of the unmanned plane；By receive it is described nobody
Video image that machine is shot by camera simultaneously shows, wherein, the flight control mould is included in the video image
Flying quality in block；By obtaining motion control instruction and being sent to unmanned plane, so that the head control of the unmanned plane
Molding root tuber adjusts the shooting angle of the camera according to the motion control instruction.Hereby it is achieved that voice and behavior
The overall-in-one control schema mode being combined, while user's reception video image is met, can carry out intelligence to unmanned plane again has
The remote control of effect, not only increases the data interaction efficiency with unmanned plane, the control efficiency to unmanned plane is improve again, together
When simplify the heavy control device in ground.
It is that, up to above-mentioned purpose, the application second aspect embodiment proposes a kind of unmanned plane, including：
Flight control modules, the phonetic control command for receiving the transmission of unmanned aerial vehicle (UAV) control terminal, according to the voice control
The system instruction adjustment parameter of electric machine, adjusts the flight of the unmanned plane；
Display on the same screen module, it is whole for the video image that the flying quality of flight control modules and camera shoot to be carried out
Symphysis is into the video image comprising the flying quality；
Image transmission module, for sending the video image comprising the flying quality to the unmanned aerial vehicle (UAV) control terminal；
Cradle head control module, for receiving the motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends, according to the fortune
Dynamic control instruction, adjusts the shooting angle of the camera.
The unmanned plane of the embodiment of the present application, by receiving the phonetic control command that unmanned aerial vehicle (UAV) control terminal sends, according to described
Phonetic control command adjusts the parameter of electric machine, adjusts the flight of the unmanned plane；By by the flight number of flight control modules
According to the video image shot with camera carry out integrate generation the video image comprising the flying quality, to it is described nobody
Machine control terminal sends the video image comprising the flying quality；By receiving what the unmanned aerial vehicle (UAV) control terminal sent
Motion control instruction, according to the motion control instruction, adjusts the shooting angle of the camera.Hereby it is achieved that language
The overall-in-one control schema mode that sound is combined with behavior, while user's reception video image is met, can enter to unmanned plane again
The effective remote control of row intelligence, not only increases the data interaction efficiency with unmanned plane, and the control to unmanned plane is improve again
Efficiency, while simplifying the heavy control device in ground.
It is that, up to above-mentioned purpose, the application third aspect embodiment proposes a kind of unmanned aerial vehicle (UAV) control method, including：Obtain voice
Control instruction is simultaneously sent to unmanned plane, and to adjust the parameter of electric machine of flight control modules in the unmanned plane, control is described
The flight of unmanned plane；Receive video image that the unmanned plane shot by camera and show, wherein, the video
Include the flying quality in the flight control modules in image；Obtain motion control instruction and be sent to unmanned plane,
So that the cradle head control module of the unmanned plane adjusts the shooting angle of the camera according to the motion control instruction.
The unmanned aerial vehicle (UAV) control method of the embodiment of the present application, by obtaining phonetic control command and being sent to unmanned plane, to adjust
The parameter of electric machine of flight control modules in the unmanned plane, controls the flight of the unmanned plane；By receive it is described nobody
Video image that machine is shot by camera simultaneously shows, wherein, the flight control mould is included in the video image
Flying quality in block；By obtaining motion control instruction and being sent to unmanned plane, so that the head control of the unmanned plane
Molding root tuber adjusts the shooting angle of the camera according to the motion control instruction.Hereby it is achieved that voice and behavior
The overall-in-one control schema mode being combined, while user's reception video image is met, can carry out intelligence to unmanned plane again has
The remote control of effect, not only increases the data interaction efficiency with unmanned plane, the control efficiency to unmanned plane is improve again, together
When simplify the heavy control device in ground.
It is that, up to above-mentioned purpose, the application fourth aspect embodiment proposes a kind of unmanned aerial vehicle (UAV) control method, including：Receive nobody
The phonetic control command that machine control terminal sends, the parameter of electric machine is adjusted according to the phonetic control command, adjusts the nothing
Man-machine flight；The video image that the flying quality of flight control modules and camera shoot is carried out into integration generation to include
The video image of the flying quality；The video image comprising the flying quality is sent to the unmanned aerial vehicle (UAV) control terminal；
The motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends is received, according to the motion control instruction, is taken the photograph described in regulation
As the shooting angle of head.
The unmanned aerial vehicle (UAV) control method of the embodiment of the present application, by receiving the phonetic control command that unmanned aerial vehicle (UAV) control terminal sends,
The parameter of electric machine is adjusted according to the phonetic control command, the flight of the unmanned plane is adjusted；By by flight control modules
The video image that shoots of flying quality and camera carry out integrating video image of the generation comprising the flying quality, to
The unmanned aerial vehicle (UAV) control terminal sends the video image comprising the flying quality；By receiving the unmanned aerial vehicle (UAV) control end
The motion control instruction for sending is held, according to the motion control instruction, the shooting angle of the camera is adjusted.Thus,
The overall-in-one control schema mode that voice is combined with behavior is realized, while user's reception video image is met, again can be right
Unmanned plane carries out the effective remote control of intelligence, not only increases the data interaction efficiency with unmanned plane, improves again to nobody
The control efficiency of machine, while simplifying the heavy control device in ground.
It is that, up to above-mentioned purpose, the aspect embodiment of the application the 5th proposes a kind of unmanned aerial vehicle control system, including：As described above
Unmanned aerial vehicle (UAV) control terminal and unmanned plane.
The unmanned aerial vehicle control system of the embodiment of the present application, by obtaining phonetic control command and being sent to unmanned plane, to adjust
The parameter of electric machine of flight control modules in the unmanned plane, adjusts the flight of the unmanned plane；By receive it is described nobody
Video image that machine is shot by camera simultaneously shows, wherein, the flight control mould is included in the video image
Flying quality in block；By obtaining motion control instruction and being sent to unmanned plane, so that the head control of the unmanned plane
Molding root tuber adjusts the shooting angle of the camera according to the motion control instruction.Hereby it is achieved that voice and behavior
The overall-in-one control schema mode being combined, while user's reception video image is met, can carry out intelligence to unmanned plane again has
The remote control of effect, not only increases the data interaction efficiency with unmanned plane, the control efficiency to unmanned plane is improve again, together
When simplify the heavy control device in ground.
Brief description of the drawings
The above-mentioned and/or additional aspect of the present invention and advantage will be apparent from the following description of the accompanying drawings of embodiments
Be readily appreciated that, wherein：
Fig. 1 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application one embodiment；
Fig. 2 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment；
Fig. 3 is Voice command speech recognition schematic diagram of the present invention；
Fig. 4 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment；
Fig. 5 is connected fundamental diagram for video connection module of the present invention with unmanned plane；
Fig. 6 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment；
Fig. 7 is connected fundamental diagram for motion-control module of the present invention with unmanned plane；
Fig. 8 is the structural representation of unmanned aerial vehicle (UAV) control glasses；
Fig. 9 is the structural representation of the unmanned plane of the application one embodiment；
Figure 10 is the structural representation of the unmanned plane of the application another embodiment；
Figure 11 is the structural representation of the unmanned plane of the application another embodiment；
Figure 12 is the flow chart of the unmanned aerial vehicle (UAV) control method of the application one embodiment；
Figure 13 is the flow chart of the unmanned aerial vehicle (UAV) control method of the application another embodiment；
Figure 14 is the structural representation of the unmanned aerial vehicle control system of the application one embodiment.
Specific embodiment
Embodiments herein is described below in detail, the example of the embodiment is shown in the drawings, wherein identical from start to finish
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the application, and it is not intended that limitation to the application.
Below with reference to the accompanying drawings describe the embodiment of the present application unmanned plane, unmanned aerial vehicle (UAV) control terminal and unmanned aerial vehicle (UAV) control method and
System.
Fig. 1 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application one embodiment.
As shown in figure 1, the unmanned aerial vehicle (UAV) control terminal includes：
Voice control module 11, for obtaining phonetic control command and being sent to unmanned plane, with adjusting the unmanned plane
The parameter of electric machine of flight control modules, controls the flight of the unmanned plane；
Video reception module 12, for receiving video image that the unmanned plane shot by camera and showing, wherein,
Include the flying quality in the flight control modules in the video image；
Motion-control module 13, for obtaining motion control instruction and being sent to unmanned plane, so that the cloud of the unmanned plane
Platform control module adjusts the shooting angle of the camera according to the motion control instruction.
Specifically, in order to be realized in unmanned aerial vehicle (UAV) control terminal during the sound control function to unmanned plane, it is necessary to carry out software volume
The setting collected.The order that unmanned plane can be identified and perform is preset, these command codes are compiled as sound
Control instruction, then director data is burned in system.
And then, voice control module 11 carries out the collection of voice signal, by the sound control instruction of speech recognition send to
Unmanned plane receiving terminal, after unmanned plane receives the phonetic control command that unmanned aerial vehicle (UAV) control terminal sends, is held by MCU system
Row control command, the parameter of electric machine is adjusted according to the phonetic control command, controls the flight of the unmanned plane.Wherein,
The parameter of electric machine is including voltage and current data etc..
Further, in order to realize that video image receives display function in unmanned aerial vehicle (UAV) control terminal, unmanned plane is beforehand through same
Screen shows (on-screen display, OSD) module by the flying quality of flight control modules and regarding that camera shoots
Frequency image carries out integrating video image of the generation comprising the flying quality, and sends bag to the unmanned aerial vehicle (UAV) control terminal
Video image containing the flying quality.Integrated by OSD module, flying quality be added in video image,
Understand unmanned plane during flying situation so as to more convenient, be easy to experience more preferable flight effect.
Wherein, OSD module is a kind of Display on the same screen technology, and its core is exactly that word, simple figure are superimposed on image
Piece etc., provides the user more additional informations.OSD module obtains the flying quality of flight control modules, will fly
The video image that data shoot with camera is integrated, easy to adjust.Can also adjust aobvious in OSD options in addition
Position, the time of attonity closing display shown.OSD cores are that chip occurs on the screen of a display using character
Show the character for needing.Conventional OSD chips have MAX7456, OSD7556, OSD7516, UPD6456,
MB90092 etc..
And then, video reception module 12 receives video image that the unmanned plane shot by camera wherein, described to regard
Include the flying quality in the flight control modules in frequency image.The video information of moving camera is carried out into coding to translate
Code, video information is shown.
Further, in order to realize passing through control of the motion control instruction to unmanned plane camera angle in unmanned aerial vehicle (UAV) control terminal
System, such as head operation control instruction etc. is, it is necessary to carry out the setting of software editing.Preset unmanned plane cradle head control
These command codes are compiled as motion control instruction, then will instruct number by the order that module can be identified and perform
According to burned in system, the shooting angle of unmanned plane camera is controlled with by cradle head control module.Wherein,
Cradle head control module is used to install the support equipment with fixing camera, can adjust the angle of camera.
And then, motion control instruction is obtained by motion-control module 13 and unmanned plane is sent to, when unmanned plane receives institute
When stating the motion control instruction of unmanned aerial vehicle (UAV) control terminal transmission, by cradle head control module according to the motion control instruction,
Adjust the shooting angle of the camera.The synchronizing function of people and lens direction is realized, so as to reach real-time experiencer
Visual direction change brought visual angle and change.
It should be noted that the type of unmanned aerial vehicle (UAV) control terminal is a lot, for example, include：Unmanned aerial vehicle (UAV) control glasses, nobody
Machine control the helmet, unmanned aerial vehicle (UAV) control wrist-watch or, unmanned aerial vehicle (UAV) control handheld device.
For different terminals, the acquisition process of motion control instruction is different, for example：
When the unmanned aerial vehicle (UAV) control terminal is for control glasses or the control helmet, by the sensor for being preset in head position
Collection head movable information, and according to head movement acquisition of information motion control instruction, adjusted with by head movement mode
The shooting angle of camera on section unmanned plane.
Or,
When the unmanned aerial vehicle (UAV) control terminal is for control wrist-watch or handheld device, by the sensor for being preset in wrist location
Collection Wrist-sport information, and according to Wrist-sport acquisition of information motion control instruction, adjusted with by Wrist-sport mode
The shooting angle of camera on section unmanned plane.
The unmanned aerial vehicle (UAV) control terminal of the embodiment of the present application, by obtaining phonetic control command and being sent to unmanned plane, to adjust
The parameter of electric machine of flight control modules in the unmanned plane, controls the flight of the unmanned plane；By receive it is described nobody
Video image that machine is shot by camera simultaneously shows, wherein, the flight control mould is included in the video image
Flying quality in block；By obtaining motion control instruction and being sent to unmanned plane, so that the head control of the unmanned plane
Molding root tuber adjusts the shooting angle of the camera according to the motion control instruction.Hereby it is achieved that voice and behavior
The overall-in-one control schema mode being combined, while user's reception video image is met, can carry out intelligence to unmanned plane again has
The remote control of effect, not only increases the data interaction efficiency with unmanned plane, the control efficiency to unmanned plane is improve again, together
When simplify the heavy control device in ground.
Fig. 2 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment.
As shown in Fig. 2 the voice control module 11 includes：
Voice receiving unit 111, for gathering acoustic information；
Voice recognition unit 112, is identified for the acoustic model according to training in advance to the acoustic information, obtains
Phonetic control command；
Phonetic order transmitting element 113, for sending the phonetic control command to unmanned plane, to adjust the unmanned plane
The parameter of electric machine of middle flight control modules, controls the flight of the unmanned plane.
Specifically, Fig. 3 is Voice command speech recognition schematic diagram of the present invention, is described as follows referring to Fig. 3：
Speech recognition is divided into training stage and cognitive phase:The first step is system " training " stage, and task is to set up identification
The acoustic model of elementary cell.Second step is " identification " stage.Type selecting according to identifying system disclosure satisfy that will
The recognition methods asked, analyzes the speech characteristic parameter required by this method, according to certain using speech analysis method
Criterion and estimating be compared with system model, recognition result is drawn by judgement.Generally recognizing small vocabulary
Under occasion, frequently with template matching method as shown in Figure 3.
Voice signal is inputed to MCU by unmanned aerial vehicle (UAV) control terminal using microphone, and MCU carries out data with certain frequency
Sampling, then carries out A/D conversions, and the voice initial data after conversion is stored.Due to the phonatory organ of people
Inherent characteristic, voice will have the decay of 6 decibels/frequency multiplication from lip radiation, and feature extraction of this phenomenon to voice can make
Into detrimental effect, it is therefore necessary to carry out high frequency compensation work to signal, that is, pre-process so that signal spectrum is planarized,
Low frequency is maintained in the whole frequency band of high frequency, frequency spectrum can be sought with same signal to noise ratio, in order to carry out spectrum analysis or
Channel parameters are analyzed.
On the basis of speech recognition is completed, voice signal is carried out into coding and is led to and is carried out data transmission.Such as Fig. 1, number biography
Module is sent data to during unmanned plane flies control, and instruction is sent to unmanned plane, so that the rotating speed of controlled motor and direction
Adjustment, so as to reach the purpose of sound control unmanned flight.
Fig. 4 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment.
As shown in figure 4, the video reception module 12 includes：
Image receiving unit 121, for receiving the video image that the unmanned plane is shot by camera, and is demodulated
Treatment；
LCD display 122, for showing the video image, wherein, described flying is included in the video image
Flying quality in row control module.
Fig. 5 is connected fundamental diagram for video connection module of the present invention with unmanned plane.
Referring to Fig. 5, specifically, video receiver and unmanned plane the shooting transport module of unmanned plane use the nothing of 2.4GHZ
Be transmitted for the video of shooting by the camera of moving camera by line transport module, unmanned plane camera part, by AD
Conversion and coding compiling, data signal is carried out by OFDM technology to open up frequency amplification transmitting, then by unmanned aerial vehicle (UAV) control end
End is received, and data are carried out into decoding compiling, carries out DA conversions, realizes real-time Transmission and the reproduction of video image.
Also, integrated by OSD in unmanned plane, the synchronizing information of flying quality can included in unmanned aerial vehicle (UAV) control
In terminal, it is easy to find flight condition in real time, so that preferably familiarization flight.Such design can be saved heavy
The equipment of earth station, so that more succinct and convenient.
Fig. 6 is the structural representation of the unmanned aerial vehicle (UAV) control terminal of the application another embodiment.
As shown in fig. 6, motion-control module 13 includes：
Motional induction unit 131, for gathering movable information by default sensor；
Motion recognition unit 132, is identified for the motion model according to training in advance to the movable information, obtains
Motion control instruction；
Movement instruction transmitting element 133, for sending motion control instruction to the unmanned plane, so that the unmanned plane
Cradle head control module adjusts the shooting angle of the camera according to the motion control instruction.
It should be noted that
In one embodiment, when the unmanned aerial vehicle (UAV) control terminal is for control glasses or the control helmet,
The motional induction unit 131, for gathering head movable information by being preset in the sensor of head position；
Or,
In another embodiment, when the unmanned aerial vehicle (UAV) control terminal is for control wrist-watch or handheld device,
The motional induction unit 131, for gathering Wrist-sport information by being preset in the sensor of wrist location.
During UAV Video is transmitted, the movable information of human body head can be also acquired and compiled by control end sensor
Translate, launch in an identical manner, received by unmanned plane receiving terminal, in sending it to cradle head control end, so as to realize
The real-time mirror image (see Fig. 3) of camera lens and human body head movable information.
Fig. 7 is connected fundamental diagram for motion-control module of the present invention with unmanned plane.
Referring to Fig. 7, specifically, by taking unmanned plane terminal control glasses as an example, illustrate long-range by head movement control information
The shooting angle of camera on regulation unmanned plane.
Be acquired for the movable information of human body head by being preset in the sensor of head position by unmanned plane terminal control glasses
And compiling, obtain motion control instruction and be sent to unmanned plane, after unmanned plane receives motion control instruction, send it to
In cradle head control module, cradle head control module according to the shooting angle of motion control instruction camera, so as to realize camera with
The real-time mirror image of human body head movable information.
In order to more clearly describe the concrete structure of unmanned aerial vehicle (UAV) control terminal, by the unmanned plane terminal control shown in Fig. 8
Glasses processed are illustrated：
Fig. 8 is the structural representation of unmanned aerial vehicle (UAV) control glasses, referring to Fig. 8, is described as follows：
1-image receiving unit；It is responsible for receiving the video image information from unmanned plane.By data carry out decoding and
AD conversion, is sent in display LCD.
2-voice receiving unit；It is made up of Mike, carries out the collection and DA conversions of acoustic information.
3-LCD display；The main flight information for integrating OSD and the video image from unmanned plane shown,
It is presented on before experience has in mind.
4-motional induction unit；It is made up of motion sensor, motion information acquisition is changed by DA.
5-phonetic order transmitting element；Phonetic control command is compiled, is sent data in unmanned plane, controlled
The flare maneuver of unmanned plane processed.
6-voice recognition unit；Mainly responsible speech recognition, the acoustic information of collection is identified to be obtained with algorithm process
Take phonetic control command.
7-ear-hang；The structure is using comfortable advanced structure design, it is ensured that experiencer wears and will not feel well for a long time.
8-movement instruction transmitting element；Identification be compiled from the information that motion sensor is sended over, retransmit to
Cradle head control module, realizes the real-time mirror image control of camera.
Fig. 9 is the structural representation of the unmanned plane of the application one embodiment.
As shown in figure 9, the unmanned plane includes：
Flight control modules 21, the phonetic control command for receiving the transmission of unmanned aerial vehicle (UAV) control terminal, according to the voice
Control instruction adjusts the parameter of electric machine, adjusts the flight of the unmanned plane；
Display on the same screen module 22, for the video image that the flying quality of flight control modules and camera shoot to be carried out
Integrate video image of the generation comprising the flying quality；
Image transmission module 23, for sending the video image comprising the flying quality to the unmanned aerial vehicle (UAV) control terminal；
Cradle head control module 24, for receiving the motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends, according to described
Motion control instruction, adjusts the shooting angle of the camera.
The present embodiment is directed to sound control instruction and the motion control that unmanned plane side sends according to unmanned aerial vehicle (UAV) control terminal
The response operation of instruction, and the process that the video image for carrying flying quality is sent to unmanned aerial vehicle (UAV) control terminal.
It should be noted that correlated process of its specific implementation process referring to above-mentioned unmanned aerial vehicle (UAV) control terminal embodiment,
Its specific embodiment process is similar, and the present embodiment is repeated no more.
The unmanned plane of the embodiment of the present application, by receiving the phonetic control command that unmanned aerial vehicle (UAV) control terminal sends, according to described
Phonetic control command adjusts the parameter of electric machine, adjusts the flight of the unmanned plane, by by the flight number of flight control modules
Carry out integrating video image of the generation comprising the flying quality according to the video image shot with camera；To it is described nobody
Machine control terminal sends the video image comprising the flying quality；By receiving what the unmanned aerial vehicle (UAV) control terminal sent
Motion control instruction, according to the motion control instruction, adjusts the shooting angle of the camera.Hereby it is achieved that language
The overall-in-one control schema mode that sound is combined with behavior, while user's reception video image is met, can enter to unmanned plane again
The effective remote control of row intelligence, not only increases the data interaction efficiency with unmanned plane, and the control to unmanned plane is improve again
Efficiency, while simplifying the heavy control device in ground.
Figure 10 is the structural representation of the unmanned plane of the application another embodiment.
As shown in Figure 10, the Display on the same screen module 22 includes：
First integral unit 221, for the flying quality to be superimposed upon in the video image, by adjustment both it
Between ratio realize the translucent effect of the flying quality；Or,
Second integral unit 222, for being superimposed the flight in video image directly inside the caching of video processor
Data.
Specifically, OSD implementation methods have two kinds.
The first：Outside osd generator is superimposed synthesis with video processor.By a character generator of MCU
And display caching, it is switched to video pictures and OSD display contents using the signal of quickly-blanking.Make the character of OSD
It is superimposed upon in final display picture etc. content.During OSD and display picture overlap-add procedure, by both adjustment
Between ratio can realize the translucent effect of OSD.
Second：Video processor supports OSD interior arrangements.Osd information is directly superimposed inside video cache.
Figure 11 is the structural representation of the unmanned plane of the application another embodiment.
As shown in figure 11, image transmission module 23 includes：
Modulating unit 231, for being entered the video image comprising the flying quality by OFDM scheme
Row coded modulation；
Image transmitting element 232, for the video image comprising the flying quality after by coding be sent to it is described nobody
Machine control terminal.
Specifically, the English full name of OFDM is Orthogonal Frequency-Division Multiplexing, and Chinese contains
Justice is OFDM.This technology is HPA alliances (HomePlug Powerline Alliance) industrial specification
Basis, it uses a kind of discontinuous multitone conditioning technology, will be referred to as a large amount of signals in the different frequency of carrier wave and closes
And into single signal, so as to complete signal transmission.Because this technology has the energy that signal is transmitted under noise jamming
Power, therefore can usually be used in easily by external interference or in the poor transmission medium of external interference resistance.
General principle：
Actually OFDM is MCM Multi-CarrierModulation, one kind of multi-carrier modulation.Its main thought
It is：Some orthogonal sub-channels are broken a channel into, high-speed data signal is converted into parallel low speed sub-data flow, modulated
To being transmitted on each of the sub-channels.Orthogonal signalling can be separated by receiving terminal using correlation technique, so
ISI is interfered between subchannel can be reduced.Coherence bandwidth of the signal bandwidth less than channel on per sub-channels, therefore
Flatness decline can be regarded as on per sub-channels, such that it is able to eliminate intersymbol interference.And due to every height letter
The bandwidth in road is only the sub-fraction of former channel width, and channel equalization becomes relatively easy.
During to B3G/4G evolution, OFDM is one of crucial technology, can combine diversity, and space-time is compiled
Code, interference and interchannel interference suppression and intelligent antenna technology, improve systematic function to greatest extent.Including with
Types Below：V-OFDM, W-OFDM, F-OFDM, MIMO-OFDM, more band-OFDM.Each load in OFDM
Ripple is mutually orthogonal, and each carrier wave has integer carrier cycle in a symbol time, each spectrum of carrier zero
The zero point of point and adjacent carrier is overlapped, and so just reduces the interference of intercarrier.Because intercarrier overlaps, institute
Band efficiency is improve than traditional FDMA with it.In OFDM communication processes, high speed information data flow passes through
Serial to parallel conversion, is assigned to transmission in the relatively low some subchannels of speed, and the symbol period in every sub-channels is relative
Increase, can so reduce because the temporal dispersion produced by radio channel multi-path delay spread is done to the intersymbol caused by system
Disturb.Further, since protection interval is introduced, and in the case where protection interval is more than maximum multipath delay spread, can be most
Limits ground eliminates the intersymbol interference that multipath brings.If can also avoid multipath as protection interval with Cyclic Prefix
The interchannel interference for bringing.
In past frequency division multiplexing (FDM) system, whole bandwidth is divided into N number of sub-band, is not overlapped between sub-band,
In order to avoid being interfered between sub-band, protection bandwidth is generally added between frequency band, but this can decline the availability of frequency spectrum.For
Overcome this shortcoming, OFDM using N number of overlap sub-band, it is orthogonal between sub-band, thus need not in receiving terminal
Separating frequency spectrum can receive signal.One major advantage of ofdm system is that orthogonal subcarrier can be utilized
Fast fourier transform (FFT/IFFT) realizes modulation and demodulation.For N points IFFT computings, it is necessary to implement N2
Secondary complex multiplication, and using common based on 2 IFFT algorithms, its complex multiplication is only (N/2) log2N, can be shown
Writing reduces computational complexity.Protection interval is added in the transmitting terminal of ofdm system, primarily to eliminate multipath being made
Into ISI.Its method is to insert Cyclic Prefix in OFDM symbol protection interval, to ensure within the FFT cycles
The wave period number included in the time delay copy of OFDM symbol is also integer.So, time delay is less than protection interval
Signal would not produce ISI in demodulating process.
Figure 12 is the flow chart of the unmanned aerial vehicle (UAV) control method of the application one embodiment.
As shown in figure 12, the unmanned aerial vehicle (UAV) control method specifically includes following steps：
In a step 101, obtain phonetic control command and be sent to unmanned plane, controlled with flight in adjusting the unmanned plane
The parameter of electric machine of module, controls the flight of the unmanned plane.
In a step 102, receive video image that the unmanned plane shot by camera and show, wherein, it is described to regard
Include the flying quality in the flight control modules in frequency image.
In step 103, obtain motion control instruction and be sent to unmanned plane, so that the cradle head control mould of the unmanned plane
Root tuber adjusts the shooting angle of the camera according to the motion control instruction.
Specifically, it is described to obtain phonetic control command and be sent to unmanned plane, including：
Collection acoustic information；
Acoustic model according to training in advance is identified to the acoustic information, obtains phonetic control command；
The phonetic control command is sent to unmanned plane.
Specifically, it is described to receive video image that the unmanned plane shot by camera and show, including：
The video image that the unmanned plane is shot by camera is received, and carries out demodulation process；
The video image is shown, wherein, the flight number in the flight control modules is included in the video image
According to.
Specifically, it is described to obtain motion control instruction and be sent to unmanned plane, including：
Movable information is gathered by default sensor；
Motion model according to training in advance is identified to the movable information, obtains motion control instruction；
Motion control instruction is sent to the unmanned plane.
It should be noted that
When the unmanned aerial vehicle (UAV) control terminal is for control glasses or the control helmet, described collection by default sensor is transported
Dynamic information, including：
Head movable information is gathered by the sensor for being preset in head position；
Or,
When the unmanned aerial vehicle (UAV) control terminal is for control wrist-watch or handheld device, described collection by default sensor is transported
Dynamic information, including：
Wrist-sport information is gathered by the sensor for being preset in wrist location.
It should be noted that the foregoing explanation to unmanned aerial vehicle (UAV) control terminal embodiment is also applied for the unmanned plane of the embodiment
Control method, its know-why is similar with technique effect, and here is omitted.
Figure 13 is the flow chart of the unmanned aerial vehicle (UAV) control method of the application another embodiment.
As shown in figure 13, the unmanned aerial vehicle (UAV) control method includes：
In step 201, the phonetic control command that unmanned aerial vehicle (UAV) control terminal sends is received, according to the phonetic control command
The adjustment parameter of electric machine, controls the flight of the unmanned plane.
In step 202., the video image that the flying quality of flight control modules and camera shoot is carried out into integration generation
Video image comprising the flying quality.
In step 203, the video image comprising the flying quality is sent to the unmanned aerial vehicle (UAV) control terminal.
In step 204, the motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends is received, according to the motion control
Instruction, adjusts the shooting angle of the camera.
Specifically, the video image that the flying quality by flight control modules shoots with camera carries out integration generation
Video image comprising the flying quality, including：
The flying quality that OSD shows is superimposed upon in the video image, institute is realized by adjustment ratio between the two
State the translucent effect of flying quality；
Or,
The flying quality that OSD shows directly is superimposed in the video image inside the caching of video processor.
Specifically, it is described to send the video image comprising the flying quality to the unmanned aerial vehicle (UAV) control terminal, including：
The video image comprising the flying quality is carried out by coded modulation by OFDM scheme；
The video image comprising the flying quality after by coding is sent to the unmanned aerial vehicle (UAV) control terminal.
It should be noted that the foregoing explanation to unmanned aerial vehicle example is also applied for the unmanned aerial vehicle (UAV) control method of the embodiment,
Its know-why is similar with technique effect, and here is omitted.
Figure 14 is the structural representation of the unmanned aerial vehicle control system of the application one embodiment.
As shown in figure 14, the system includes：Unmanned aerial vehicle (UAV) control terminal 1, and unmanned plane 2.It should be noted that nothing
Human-machine Control terminal 1, and the unmanned aerial vehicle (UAV) control terminal that unmanned plane 2 can be provided using the above embodiment of the present invention, with
And unmanned plane.
It should be noted that the foregoing explanation to unmanned aerial vehicle (UAV) control terminal and unmanned aerial vehicle example is also applied for the embodiment
Unmanned aerial vehicle control system, its know-why is similar with technique effect, and here is omitted.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure, material or
Feature is contained at least one embodiment of the application or example.In this manual, to the schematic representation of above-mentioned term
Necessarily it is directed to identical embodiment or example.And, the specific features of description, structure, material or feature can be with
Combined in an appropriate manner in any one or more embodiments or example.Additionally, in the case of not conflicting, ability
The technical staff in domain can enter the feature of the different embodiments or example described in this specification and different embodiments or example
Row is combined and combined.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed
Or implicitly include at least one this feature.In the description of the present application, " multiple " is meant that at least two, such as two
It is individual, three etc., unless otherwise expressly limited specifically.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes one
Or more for the module of code of executable instruction the step of realizing specific logical function or process, fragment or part,
And the scope of the preferred embodiment of the application includes other realization, wherein order that is shown or discussing can not be pressed,
Including the function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be by the application's
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered for reality
The order list of the executable instruction of existing logic function, in may be embodied in any computer-readable medium, for instruction
Execution system, device or equipment (such as computer based system, including the system of processor or other can be performed from instruction
The system of system, device or equipment instruction fetch and execute instruction) use, or with reference to these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating
Or transmission procedure is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment
Device.The more specifically example (non-exhaustive list) of computer-readable medium includes following：With one or more cloth
The electrical connection section (electronic installation) of line, portable computer diskette box (magnetic device), random access memory (RAM) is read-only
Memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and it is portable
Compact disc read-only memory (CDROM).In addition, computer-readable medium can even is that the paper that can thereon print described program
Or other suitable media, because optical scanner for example can be carried out by paper or other media, then enter edlin, solution
Translate or if necessary processed with other suitable methods and electronically obtain described program, be then stored in computer
In memory.
It should be appreciated that each several part of the application can be realized with hardware, software, firmware or combinations thereof.In above-mentioned reality
In applying mode, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage or
Firmware is realized.If for example, realized with hardware, and in another embodiment, can be with well known in the art
Any one of row technology or their combination are realized：With the logic gates for realizing logic function to data-signal
Discrete logic, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA) is existing
Field programmable gate array (FPGA) etc..
Those skilled in the art be appreciated that to realize all or part of step that above-described embodiment method is carried is can
Completed with the hardware that correlation is instructed by program, described program can be stored in a kind of computer-readable recording medium,
The program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, during each functional unit in the application each embodiment can be integrated in a first processing module, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is to realize in the form of software function module and as independent production marketing or when using, it is also possible to which storage is in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown and described above
Embodiments herein, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limitation to the application,
One of ordinary skill in the art can be changed to above-described embodiment, change, replacing and modification within the scope of application.
Claims (17)
1. a kind of unmanned aerial vehicle (UAV) control terminal, it is characterised in that including：
Voice control module, for obtaining phonetic control command and being sent to unmanned plane, is flown with adjusting in the unmanned plane
The parameter of electric machine of row control module, controls the flight of the unmanned plane；
Video reception module, for receiving video image that the unmanned plane shot by camera and showing, wherein,
Include the flying quality in the flight control modules in the video image；
Motion-control module, for obtaining motion control instruction and being sent to unmanned plane, so that the head of the unmanned plane
Control module adjusts the shooting angle of the camera according to the motion control instruction.
2. terminal as claimed in claim 1, it is characterised in that the voice control module includes：
Voice receiving unit, for gathering acoustic information；
Voice recognition unit, is identified for the acoustic model according to training in advance to the acoustic information, obtains language
Sound control instruction；
Phonetic order transmitting element, for sending the phonetic control command to unmanned plane, with adjusting the unmanned plane
The parameter of electric machine of flight control modules, controls the flight of the unmanned plane.
3. terminal as claimed in claim 1, it is characterised in that the video reception module includes：
Image receiving unit, for receiving the video image that the unmanned plane is shot by camera, and is demodulated place
Reason；
LCD display, for showing the video image, wherein, the flight control is included in the video image
Flying quality in molding block.
4. terminal as claimed in claim 1, it is characterised in that the motion-control module includes：
Motional induction unit, for gathering movable information by default sensor；
Motion recognition unit, is identified for the motion model according to training in advance to the movable information, obtains fortune
Dynamic control instruction；
Movement instruction transmitting element, for sending motion control instruction to the unmanned plane, so that the cloud of the unmanned plane
Platform control module adjusts the shooting angle of the camera according to the motion control instruction.
5. terminal as claimed in claim 4, it is characterised in that
When the unmanned aerial vehicle (UAV) control terminal is for control glasses or the control helmet,
The motional induction unit, for gathering head movable information by being preset in the sensor of head position；
Or,
When the unmanned aerial vehicle (UAV) control terminal is for control wrist-watch or handheld device,
The motional induction unit, for gathering Wrist-sport information by being preset in the sensor of wrist location.
6. a kind of unmanned plane, it is characterised in that including：
Flight control modules, the phonetic control command for receiving the transmission of unmanned aerial vehicle (UAV) control terminal, according to the voice control
The system instruction adjustment parameter of electric machine, adjusts the flight of the unmanned plane；
Display on the same screen module, it is whole for the video image that the flying quality of flight control modules and camera shoot to be carried out
Symphysis is into the video image comprising the flying quality；
Image transmission module, for sending the video image comprising the flying quality to the unmanned aerial vehicle (UAV) control terminal；
Cradle head control module, for receiving the motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends, according to the fortune
Dynamic control instruction, adjusts the shooting angle of the camera.
7. terminal as claimed in claim 6, it is characterised in that the Display on the same screen module includes：
First integral unit, for the flying quality to be superimposed upon in the video image, by adjustment between the two
Ratio realize the translucent effect of the flying quality；Or,
Second integral unit, for being superimposed the flight number in video image directly inside the caching of video processor
According to.
8. terminal as claimed in claim 6, it is characterised in that described image transport module includes：
Modulating unit, for being carried out the video image comprising the flying quality by OFDM scheme
Coded modulation；
Image transmitting element, the unmanned plane is sent to for the video image comprising the flying quality after by coding
Control terminal.
9. a kind of unmanned aerial vehicle (UAV) control method, the method is applied to unmanned aerial vehicle (UAV) control terminal, it is characterised in that including：
Obtain phonetic control command and be sent to unmanned plane, joined with the motor for adjusting flight control modules in the unmanned plane
Number, controls the flight of the unmanned plane；
Receive video image that the unmanned plane shot by camera and show, wherein, included in the video image
There is the flying quality in the flight control modules；
Obtain motion control instruction and be sent to unmanned plane, so that the cradle head control module of the unmanned plane is according to the fortune
Dynamic control instruction, adjusts the shooting angle of the camera.
10. method as claimed in claim 9, it is characterised in that the acquisition phonetic control command is simultaneously sent to nothing
It is man-machine, including：
Collection acoustic information；
Acoustic model according to training in advance is identified to the acoustic information, obtains phonetic control command；
The phonetic control command is sent to unmanned plane.
11. methods as claimed in claim 9, it is characterised in that the reception unmanned plane is clapped by camera
The video image taken the photograph simultaneously shows, including：
The video image that the unmanned plane is shot by camera is received, and carries out demodulation process；
The video image is shown, wherein, the flight number in the flight control modules is included in the video image
According to.
12. methods as claimed in claim 9, it is characterised in that the acquisition motion control instruction is simultaneously sent to nothing
It is man-machine, including：
Movable information is gathered by default sensor；
Motion model according to training in advance is identified to the movable information, obtains motion control instruction；
Motion control instruction is sent to the unmanned plane.
13. methods as claimed in claim 12, it is characterised in that
When the unmanned aerial vehicle (UAV) control terminal is for control glasses or the control helmet, described collection by default sensor is transported
Dynamic information, including：
Head movable information is gathered by the sensor for being preset in head position；
Or,
When the unmanned aerial vehicle (UAV) control terminal is for control wrist-watch or handheld device, described collection by default sensor is transported
Dynamic information, including：
Wrist-sport information is gathered by the sensor for being preset in wrist location.
A kind of 14. unmanned aerial vehicle (UAV) control methods, the method is applied to unmanned plane, it is characterised in that including：
The phonetic control command that unmanned aerial vehicle (UAV) control terminal sends is received, the parameter of electric machine is adjusted according to the phonetic control command,
Adjust the flight of the unmanned plane；
The video image that the flying quality of flight control modules and camera shoot integrate generation comprising the flight
The video image of data；
The video image comprising the flying quality is sent to the unmanned aerial vehicle (UAV) control terminal；
The motion control instruction that the unmanned aerial vehicle (UAV) control terminal sends is received, according to the motion control instruction, institute is adjusted
State the shooting angle of camera.
15. methods as claimed in claim 14, it is characterised in that the flying quality by flight control modules with
The video image that camera shoots carries out integrating video image of the generation comprising the flying quality, including：
The flying quality is superimposed upon in the video image, the flight is realized by adjustment ratio between the two
The translucent effect of data；
Or,
Directly the flying quality is superimposed in the video image inside the caching of video processor.
16. methods as claimed in claim 14, it is characterised in that described transmission to the unmanned aerial vehicle (UAV) control terminal is wrapped
Video image containing the flying quality, including：
The video image comprising the flying quality is carried out by coded modulation by OFDM scheme；
The video image comprising the flying quality after by coding is sent to the unmanned aerial vehicle (UAV) control terminal.
A kind of 17. unmanned aerial vehicle control systems, it is characterised in that including：Unmanned plane as described in claim 1-5 is any
Control terminal, and the unmanned plane as described in claim 6-8 is any.
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