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WO2019119829A1 - 一种无人机控制方法、装置、遥控设备和无人机系统 - Google Patents

一种无人机控制方法、装置、遥控设备和无人机系统 Download PDF

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Publication number
WO2019119829A1
WO2019119829A1 PCT/CN2018/100289 CN2018100289W WO2019119829A1 WO 2019119829 A1 WO2019119829 A1 WO 2019119829A1 CN 2018100289 W CN2018100289 W CN 2018100289W WO 2019119829 A1 WO2019119829 A1 WO 2019119829A1
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WO
WIPO (PCT)
Prior art keywords
information
drone
flight
voice
target flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/100289
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English (en)
French (fr)
Inventor
万苏清
雷小刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019119829A1 publication Critical patent/WO2019119829A1/zh
Priority to US16/906,779 priority Critical patent/US11487302B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/02—Feature extraction for speech recognition; Selection of recognition unit
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/08—Speech classification or search
    • G10L15/18—Speech classification or search using natural language modelling
    • G10L15/1822—Parsing for meaning understanding
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • G10L2015/223—Execution procedure of a spoken command

Definitions

  • Embodiments of the present invention relate to the field of UAV control, and in particular, to a UAV control method, apparatus, remote control device, and UAV system.
  • UAV Unmanned Aerial Vehicle
  • the embodiment of the invention provides a drone control method, a device, a remote control device and a drone system.
  • a drone control method By simplifying the control operation of the drone, the convenience and flexibility of the operation of the drone can be improved, and the user experience is improved.
  • a drone control method is provided, which is applied to a remote control device, and the method includes:
  • the method further includes:
  • Determining, according to the voice information, target flight information of the drone including:
  • the target flight information of the drone is determined based on the voice information.
  • the determining whether the voice information is valid includes:
  • the feature information includes action feature information and/or parameter feature information
  • Determining, according to the voice information, target flight information of the drone including:
  • the target flight information includes at least one of a target flight position, a target flight altitude, a target flight direction, a target flight distance, a target flight speed, a target flight acceleration, and a target flight mode.
  • the method further includes:
  • the abnormal state includes: the flight mode in which the drone is in an attitude mode, the power of the drone is less than a preset power threshold, and the drone is disconnected from the remote control device in image transmission. At least one
  • the obtaining voice information includes:
  • the voice information is acquired.
  • an embodiment of the present invention provides a drone control device, which is applied to a remote control device, and the device includes:
  • a voice information acquiring module configured to acquire voice information
  • a flight information determining module configured to determine target flight information of the drone according to the voice information
  • control instruction generating module configured to acquire a current flight parameter of the drone, and generate a control instruction according to the current flight parameter and the target flight information
  • a control instruction sending module configured to send the control instruction to the drone to enable the drone to perform a corresponding flight task according to the control instruction.
  • the device further includes:
  • a voice information determining module configured to determine whether the voice information is valid
  • the flight information determining module is specifically configured to:
  • the target flight information of the drone is determined according to the voice information.
  • the voice information determining module is specifically configured to:
  • the feature information includes action feature information and/or parameter feature information
  • the flight information determining module is specifically configured to:
  • the target flight information includes at least one of a target flight position, a target flight altitude, a target flight direction, a target flight distance, a target flight speed, a target flight acceleration, and a target flight mode.
  • the device further includes:
  • a mode switching module configured to switch the current mode to a voice control mode when detecting that the flight state of the drone during the flight is an abnormal state
  • the abnormal state includes: the flight mode in which the drone is in an attitude mode, the power of the drone is less than a preset power threshold, and the drone is disconnected from the remote control device in image transmission. At least one
  • the voice information acquiring module is specifically configured to:
  • the voice information is acquired.
  • an embodiment of the present invention provides a remote control device, including:
  • At least one processor At least one processor
  • the memory stores a computer program, the at least one processor for invoking the computer program to perform the method as described above.
  • an embodiment of the present invention provides a non-transitory computer readable storage medium, wherein the computer readable storage medium stores a computer program, where the computer program is used to be called by a remote control device to execute The method as described above.
  • an embodiment of the present invention provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer readable storage medium, the computer program includes program instructions, and the program instructions are used to be called by the remote control device. To perform the method as described above.
  • an embodiment of the present invention provides a UAV system including a UAV body and a remote control device, wherein the remote control device is configured to perform the method as described above.
  • the embodiment of the present invention determines the target flight information of the drone according to the voice information by acquiring the voice information, and according to the current flight parameters and the target flight of the drone
  • the information generation control instruction can execute the corresponding flight task according to the above control instruction, simplifying the control operation of the drone, reducing the operation difficulty of the operator, and improving the convenience and flexibility of the operation of the drone, and improving user experience.
  • FIG. 1 is a schematic diagram of an implementation environment involved in various embodiments of the present invention.
  • FIG. 2 is a schematic diagram of a drone control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a drone control method according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of determining whether voice information is valid according to an embodiment of the present invention.
  • Figure 5 is a schematic diagram of a drone control device according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a remote control device according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an implementation environment involved in various embodiments of the present invention. As shown in FIG. 1, the implementation environment includes a remote control device 10 and a drone 20.
  • the remote control device 10 may be configured with a voice collection device, such as a microphone, a voice sensor, or the like.
  • a remote communication device can also be configured with a communication interface for communicating with the drone 20.
  • the remote control device 10 may also include other devices, which are not limited herein.
  • the remote control device may include a remote controller or any user terminal such as a smart phone, a tablet computer, or an image display device, or the remote control device may include a remote controller and other mobile devices that can perform image display, which is not limited herein.
  • a communication interface can be configured in the drone 20, and the communication interface can implement communication with the remote control device 10.
  • the drone can include an electronic governor, a power system, a power supply system, etc. to enable the drone to fly. Further, the drone may further include a plurality of sensors or positioning devices, and the drone may determine current flight parameters according to various sensors or positioning devices configured therein. Of course, the drone may also include other devices, such as a camera, a pan/tilt, etc., to implement other missions, which are not limited herein.
  • the remote control device 10 and the drone 20 can be connected in a communication manner, and can be connected through a wireless technology or a wireless network.
  • the connection manner between the remote controller 10 and the drone 20 is not limited herein.
  • FIG. 2 is a schematic diagram of a method for controlling a drone according to an embodiment of the present invention.
  • the method is applied to a remote control device, and specifically includes:
  • Step 110 Acquire voice information.
  • the voice information can be obtained by the voice collecting device.
  • the sound collecting device is a microphone.
  • the voice collecting device can also be other devices that can receive voice.
  • the voice collection device may be integrated in the remote control device, or may be separately set and then electrically connected to the remote control device.
  • the voice collection device can be separately set and then connected to the remote controller and the smart phone, or directly integrated in the remote controller and/or the smart phone.
  • the current mode of the remote control device needs to be switched to the voice control mode in advance.
  • the remote device mode can be switched directly by opening the corresponding APP on the smartphone, or directly by operating the remote controller. For example, pressing a physical button to switch is not strictly limited.
  • the process of acquiring the voice information includes processing the voice information, such as denoising, to obtain clear voice information, and eliminating interference of environmental noise.
  • Step 120 Determine target flight information of the drone according to the voice information.
  • the target flight information includes at least one of a target flight position, a target flight altitude, a target flight direction, a target flight distance, a target flight speed, a target flight acceleration, and a target flight mode.
  • the user may issue a voice command such as "the flight direction is southeast, the flight distance is 3 meters", and/or the "flight speed is 5 meters per second", and the remote control device can determine the target flight direction of the drone based on the acquired voice information.
  • a voice command such as "the flight direction is southeast, the flight distance is 3 meters", and/or the "flight speed is 5 meters per second”
  • the remote control device can determine the target flight direction of the drone based on the acquired voice information.
  • Target flight distance, and/or target flight speed can be determined using the target flight direction of the drone based on the acquired voice information.
  • Step 130 Acquire a current flight parameter of the drone, and generate a control instruction according to the current flight parameter and the target flight information.
  • the current flight parameters of the drone include at least one parameter of current position, amount of electricity/oil, altitude, speed, heading, attitude angle, angle of attack, or distance from obstacles. Specifically, during the flight, the drone can acquire the flight parameters in real time through various onboard sensors or positioning devices.
  • the remote control device can generate control commands in conjunction with the current flight parameters of the drone.
  • the target flight information is the target flight position
  • the current flight parameter of the acquired drone is the current flight direction
  • a control command may be generated to control the drone to fly to the target flight position according to the current flight speed.
  • the remote control device can generate other control commands in conjunction with the current flight parameters of the drone and the target flight information. This is not limited here.
  • control parameters may also be generated by combining the pneumatic parameters of the drone.
  • the maneuverability and stability of the drone are related to the aerodynamic characteristics of the drone itself and the maneuvering efficiency of the power system.
  • the basic aerodynamic characteristics of the drone mainly include the lift coefficient, drag coefficient, pitching moment coefficient and liter of the drone.
  • the resistance coefficient varies with the angle of attack. Therefore, the aerodynamic parameters mainly include the lift coefficient, the drag coefficient, the pitching moment coefficient, and the lift-to-drag ratio coefficient.
  • the pneumatic parameters are the inherent parameters of the drone, which can be pre-stored in the remote control device. According to the current flight parameters and the aerodynamic parameters of the drone, the lift, drag, pitching torque and efficiency of the lifting power system can be calculated. A control command is further generated based on the current flight parameters, the target flight information, and the aerodynamic data described above.
  • control command may be directly generated by the remote controller, or may be generated by the APP of the smart phone, and then transmitted to the remote controller by the APP of the smart phone, which is not strictly limited. Or it can be understood that when the remote control device is directly a mobile device such as a smart phone, the generated control command is directly sent by the mobile device to the drone without being transmitted to the remote control.
  • Step 140 Send a control instruction to the drone to enable the drone to perform a corresponding flight task according to the control instruction.
  • the above control command is sent to the drone so that the drone adjusts its heading, attitude angle or speed according to the control command, and performs the corresponding flight task.
  • the remote control device when the voice command issued by the user is “the flight direction is southeast, the flight distance is 3 meters”, the remote control device generates a control command according to the current flight parameter and the target flight information, and the control command is used to control the drone to perform “the flight direction southeast”.
  • the flight direction of the direction, the flight distance is 3 meters"; when the voice command issued by the user is "flight speed 5 meters per second”, the remote control device generates a control command according to the current flight parameters and the target flight information, and the control command is used to control the unmanned
  • the aircraft performs a flight with a flight speed of 5 meters per second.
  • the voice information is obtained, the target flight information of the drone is determined according to the voice information, and the control command is generated according to the current flight parameter and the target flight information of the drone, and the drone can perform the corresponding flight task according to the above control instruction. It simplifies the control operation of the drone, reduces the operator's operation difficulty, improves the convenience and flexibility of the drone operation, and enhances the user experience.
  • FIG. 3 is a schematic diagram of a method for controlling a drone according to another embodiment of the present invention.
  • the method is applied to a remote control device, and specifically includes:
  • Step 210 When it is detected that the flight state of the drone during the flight is an abnormal state, the current mode is switched to the voice control mode.
  • the abnormal state includes: at least one of a flight mode in which the drone is in an attitude mode, a power consumption of the drone is less than a preset power threshold, and a disconnected image transmission between the drone and the remote control device.
  • the drone includes GPS mode and attitude mode.
  • the GPS mode means that the drone is flying based on GPS data.
  • the attitude mode means that the drone does not fly based on GPS data, that is, the flight path of the drone in the attitude mode is random.
  • the drone only provides the attitude stabilization function. If there is wind or other reasons disturbing the drone, it cannot be hovered at a fixed point, and manual intervention is required. When the drone does not receive the GPS signal or the compass receives the interference, it will automatically enter the attitude mode.
  • the remote control device switches the current mode to the voice control mode, and the user can control the flight of the drone by issuing a voice command. Flight is more precise and safe.
  • the remote control device switches the current mode to the voice control mode, and the user can control the flight of the drone by issuing a voice command, and the flight of the drone is more accurate due to the voice control mode. It reduces the power consumption of the drone and ensures that it can land safely.
  • the real-time picture of the current position of the drone cannot be displayed on the remote control device.
  • the user cannot know the current position of the drone and the direction of the nose.
  • the lever or button controls the flight of the drone to have certain risk.
  • the remote control device switches the current mode to the voice control mode. The user can control the flight of the drone by issuing voice commands, making the flight more precise and safe.
  • Step 220 Acquire voice information in the voice control mode.
  • Step 230 Determine whether the voice information is valid.
  • determining whether the voice information is valid includes:
  • Step 231 Parse the feature information in the voice information.
  • the voice information may be first converted into text information, and the keyword in the text information is extracted, and the keyword is the feature information in the voice information.
  • the feature information includes action feature information and/or parameter feature information, and the action feature information may be words indicating acceleration, elevation, flying, flying, returning, etc.
  • the parameter feature information may be a specific value, flight Mode, target, and any combination of physics, geography nouns, units, and azimuths involved in the flight of a drone with specific values, such as 3, speed 3, 3 meters per second, Longitude 110, directly above, attitude mode, etc.
  • Step 232 Determine whether the feature information matches the preset feature information in the feature information database.
  • the preset feature information in the feature information database includes preset action feature information and preset parameter feature information.
  • the voice information includes the action feature information, it may be determined whether the action feature information exists in the preset action feature information of the feature information database; if yes, the match is performed; otherwise, the match does not match.
  • the voice information includes the parameter feature information, it can be determined whether the parameter feature information exists in the preset parameter feature information of the feature information database; if yes, the match is performed; otherwise, the match does not match.
  • parsing the feature information in the voice information may include:
  • one or more audio segments may be parsed from the voice information by using a preset frequency, which may be the user's voice frequency or the like, which is not limited herein.
  • the parsed one or more audio segments are feature information in the voice information.
  • the feature information database may include a correspondence table between audio segments and semantics.
  • the one or more keywords can be used to represent an action or parameter.
  • the keywords may include words for accelerating, raising, flying, flying, returning, and the like to represent an action, and may also include words for indicating parameters such as speed, direction, mode, position, and the like.
  • the keyword corresponding to the audio segment in the voice information can be found, it indicates a match; otherwise, it indicates a mismatch.
  • Step 233 If it matches, it is determined that the voice information is valid.
  • the feature information is matched with the preset feature information in the feature information database, including: the action feature information is matched with the preset action feature information, and/or the parameter feature information is matched with the preset parameter feature information.
  • the prompt message of the voice command error is output.
  • the feature information in the voice information is “returning”, and the feature information is action feature information, and matching with “returning” in the preset action feature information, the voice information may be determined to be valid; for example, the feature information in the voice information is "Speed 3 meters per second", the feature information is parameter characteristic information, and the speed and the meter in the preset parameter feature information are matched to each other, and the voice information can be determined to be valid; for example, the feature information in the voice information is "upward 5"
  • the feature information includes the action feature information "up” and the parameter feature information "5", wherein the action feature information matches the "up” in the preset action feature information, and the voice information can be determined to be valid.
  • determining whether the voice information is valid further includes: identifying the voice information, and if the identification is passed, determining that the voice information is valid.
  • the voice information can be extracted and characterized.
  • the voice information can be password-recognized.
  • the voice control of the drone can be limited to the controller or the authorized user, thereby preventing the operation process. Other vocals around the middle affected the handling of the drone.
  • Step 240 Determine target flight information of the drone based on the voice information.
  • determining the target flight information of the drone according to the voice information including:
  • the target flight information of the drone is determined based on the motion feature information.
  • the action feature information is matched with the preset action feature information in the feature information database, and the preset action feature information includes a specific value corresponding to the preset action feature information, and the specific value may be defaulted by the system or may be customized by the user.
  • the action feature information is “raised”, and the target flight direction of the drone is determined to be upward according to the preset action feature information matched with the action feature information, and the target flight distance is 1 meter; for example, the action feature information is “returned” And determining, according to the preset motion feature information matched with the motion feature information, that the target flight position of the drone is the starting position, and the target flying height is 0 meters; for example, the motion feature information is “acceleration”, according to the action
  • the preset action feature information matched by the feature information determines that the target flight acceleration of the drone is 0.1 meter per second.
  • determining the target flight information of the drone according to the voice information including:
  • the target flight information of the drone is determined according to the parameter characteristic information.
  • the parameter characteristic information is “height 15 meters”, and the target flying height of the drone is determined to be 15 meters according to the characteristic information of the parameter; for example, the parameter characteristic information is “longitude 114°, latitude 23°”, according to the parameter characteristics
  • the information determines that the target flight position of the drone is 114° longitude and 23° latitude; for example, the parameter characteristic information is “attitude mode”, and the target flight mode of the drone is determined to be the attitude mode according to the parameter characteristic information.
  • the feature information in the voice information includes the action feature information and the parameter feature information
  • the target flight information of the drone is determined according to the voice information, including:
  • the target flight information of the drone is determined according to the motion feature information and the parameter feature information.
  • the feature information includes “5 to the left”, according to which the target flight direction of the drone is determined to be left, and the target flight distance is 5 meters; for example, the feature information includes “fly”, “me”, and “positive “Up”, according to the above characteristic information, the position of the target flying position of the drone is "I”, and the target flying height is the current height.
  • Step 250 Acquire a current flight parameter of the drone, and generate a control instruction according to the current flight parameter and the target flight information.
  • the attitude mode is divided into two situations: there are GPS signals or no GPS signals.
  • the remote control device can perform path planning according to the current position of the drone and the target flight position, and output control commands.
  • the remote control device cannot obtain the real-time position of the drone, and the user can only issue specific voice commands to control the flight of the drone.
  • the user can issue a similar voice command such as "return” or "fly to me directly", and the target flight position of the drone can be determined according to the voice information, and the remote control device can be based on the drone's
  • the current position and the target flight position are routed to generate control commands to enable the drone to perform the corresponding flight mission; when there is no GPS signal, the remote control device cannot obtain the real-time position of the drone, and the user can only issue "up” and " Similar to the voice commands, such as "right”, “acceleration”, etc., control the flight of the drone.
  • the prompt message of the voice command error may be output, prompting the user to reissue the voice command.
  • Step 260 Send a control command to the drone to enable the drone to perform a corresponding flight task according to the control instruction.
  • the current mode is switched to the voice control mode, and the feature information in the voice information is analyzed, according to the action feature information in the feature information.
  • the feature information in the voice information is analyzed, according to the action feature information in the feature information.
  • parameter characteristic information to determine the target flight information of the drone can further improve the convenience and flexibility of the drone operation, making the flight more accurate and safe.
  • the embodiment of the present invention further discloses a drone control device, which is applied to a remote control device.
  • the device 500 includes:
  • the voice information obtaining module 510 is configured to acquire voice information.
  • the flight information determining module 520 is configured to determine target flight information of the drone according to the voice information
  • the control instruction generating module 530 is configured to acquire current flight parameters of the drone, and generate a control instruction according to the current flight parameter and the target flight information;
  • the control instruction sending module 540 is configured to send a control instruction to the drone to enable the drone to perform a corresponding flight task according to the control instruction.
  • the target flight information includes at least one of a target flight position, a target flight altitude, a target flight direction, a target flight distance, a target flight speed, a target flight acceleration, and a target flight mode.
  • the voice information acquisition module 510 acquires the voice information
  • the flight information determining module 520 determines the target flight information of the drone according to the voice information, and generates a control instruction according to the current flight parameters and the target flight information of the drone, the drone
  • the corresponding flight task can be executed according to the above control instruction, which simplifies the control operation of the drone, reduces the operation difficulty of the operator, improves the convenience and flexibility of the operation of the drone, and improves the user experience.
  • the apparatus 500 further includes:
  • the voice information determining module 550 is configured to determine whether the voice information is valid.
  • the flight information determining module 520 is specifically configured to:
  • the target flight information of the drone is determined based on the voice information.
  • the voice information determining module 550 is specifically configured to:
  • the feature information includes action feature information and/or parameter feature information
  • the flight information determining module 520 is specifically configured to:
  • the target flight information of the drone is determined according to the motion feature information and/or the parameter feature information in the feature information.
  • the apparatus 500 further includes:
  • the mode switching module 560 is configured to switch the current mode to the voice control mode when detecting that the flight state of the drone during the flight is an abnormal state;
  • the abnormal state includes: the airplane mode in which the drone is in the attitude mode, the power of the drone is less than the preset power threshold, and at least one of the drone and the remote device disconnects the image transmission;
  • the voice information obtaining module 510 is specifically configured to:
  • voice control mode voice information is obtained.
  • the mode switching module 560 of the embodiment switches the current mode to the voice control mode when detecting that the flight state of the drone during the flight is abnormal, and analyzes the feature information in the voice information by the voice information determining module 550.
  • the information determining module 520 determines the target flight information of the drone according to the action feature information and/or the parameter feature information in the feature information, which can further improve the convenience and flexibility of the drone operation, so that the flight is more accurate and safe.
  • the embodiment of the present invention further provides a remote control device, wherein the remote control device stores a computer program, such as an application program, by which the remote control device can execute the drone control method in any of the foregoing method embodiments.
  • a computer program such as an application program
  • FIG. 6 is a schematic structural diagram of a remote control device 600 according to an embodiment of the present invention. As shown in FIG. 6, the remote control device 600 includes: one or more processors 601 and a memory 602, and one processor 601 in FIG. example.
  • the processor 601 and the memory 602 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the remote control device 600 further includes: a voice collection device 603, configured to collect voice information of the user; and further, the voice collection device 603 is further configured to process the voice information.
  • the communication interface 604 is configured to communicate with the drone, such as controlling the transmission of the control command to the drone by the processor 601, or receiving the current flight parameter sent by the drone, and transmitting the current flight parameter to the processor 601 or the like.
  • the memory 602 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as the drone control method in the embodiment of the present invention.
  • Program instructions/modules eg, the various modules shown in Figure 5
  • the processor 601 executes various functional applications and data processing of the UAV control device by running non-volatile software programs, instructions and modules stored in the memory 602, that is, the UAV control method implementing the above method embodiments And the functions of the various modules of the above device embodiments.
  • Memory 602 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 602 can optionally include memory remotely located relative to processor 601, which can be coupled to processor 601 via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the program instructions/modules are stored in the memory 602, and when executed by the one or more processors 601, perform the drone control method in any of the above method embodiments, for example, performing the above described FIG. To the various steps shown in FIG. 4; the various modules shown in FIG. 5 can also be implemented.
  • the remote control device of the embodiment obtains the target flight information of the drone according to the voice information by acquiring the voice information, and generates a control instruction according to the current flight parameter and the target flight information of the drone, and the drone can perform corresponding according to the above control instruction.
  • the flight task simplifies the control operation of the drone, reduces the operator's operation difficulty, improves the convenience and flexibility of the drone operation, and enhances the user experience.
  • Embodiments of the present invention also provide a non-volatile computer storage medium storing a computer program for execution by one or more processors of a remote control device, such as one of FIG.
  • the processor 601 may be configured to enable the one or more processors to perform the drone control method in any of the foregoing method embodiments, for example, to perform the steps shown in FIG. 2 to FIG. 4 described above; The functions of the various modules described.
  • the embodiment of the invention further provides a drone system, including a drone and a remote control device.
  • a drone system including a drone and a remote control device.
  • the structure of the remote control device refer to the description in the foregoing device embodiment.
  • the method performed by the remote control device refer to the description in the foregoing method embodiment, and details are not described herein.
  • the drone in the system can receive control commands from the remote control device and fly according to the control commands. Alternatively, the drone can transmit the flight parameters of the drone to the remote control device or the like in response to the control command.
  • the device embodiments described above are merely illustrative, wherein 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, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

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Abstract

本发明实施例公开了一种无人机控制方法、装置、遥控设备和无人机系统。一种无人机控制方法，应用于遥控设备，方法包括：获取语音信息；根据语音信息确定无人机的目标飞行信息；获取无人机的当前飞行参数，并根据当前飞行参数和目标飞行信息生成控制指令；向无人机发送所述控制指令，以使无人机根据控制指令执行相应的飞行任务。通过上述方式，本发明实施例能够简化无人机的控制操作，提高无人机操作的便利性和灵活性，提升用户体验。

Description

一种无人机控制方法、装置、遥控设备和无人机系统
申请要求于2017年12月20日申请的、申请号为201711387641.7、申请名称为“一种无人机控制方法、装置、遥控设备和无人机系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及无人机控制领域，特别是涉及一种无人机控制方法、装置、遥控设备和无人机系统。
背景技术
近年来，随着无人飞行器(Unmanned Aerial Vehicle，UAV)，在此简称无人机，技术的发展和成本的降低，市场上出现越来越多的消费级无人机。在实际应用中，由于无人机在空中飞行时，容易受到环境和其他干扰的影响，增加了操作者的操作难度。并且，操作者通过长时间手握控制遥控设备，也会产生疲倦感，上述两种情况都会导致用户体验度不佳。
发明内容
本发明实施例提供一种无人机控制方法、装置、遥控设备和无人机系统，通过简化无人机的控制操作，能够提高无人机操作的便利性和灵活性，提升用户体验。
本发明实施例采用的技术方案是：第一方面，提供一种无人机控制方法，应用于遥控设备，所述方法包括：
获取语音信息；
根据所述语音信息确定无人机的目标飞行信息；
获取所述无人机的当前飞行参数，并根据所述当前飞行参数和所述 目标飞行信息生成控制指令；
向所述无人机发送所述控制指令，以使所述无人机根据所述控制指令执行相应的飞行任务。
可选地，在所述获取语音信息之后，所述方法还包括：
判断所述语音信息是否有效；
所述根据所述语音信息确定无人机的目标飞行信息，包括：
若有效，根据所述语音信息确定无人机的目标飞行信息。
可选地，所述判断所述语音信息是否有效，包括：
解析所述语音信息中的特征信息；
判断所述特征信息是否与特征信息数据库中的预设特征信息匹配；
若匹配，则确定所述语音信息有效。
可选地，所述特征信息包括动作特征信息和/或参数特征信息；
所述根据所述语音信息确定无人机的目标飞行信息，包括：
根据所述特征信息中的动作特征信息和/或参数特征信息，确定无人机的目标飞行信息。
可选地，所述目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
可选地，所述方法还包括：
当检测到所述无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式；
其中，所述异常状态包括：所述无人机所处飞行模式为姿态模式、所述无人机的电量小于预设电量阈值、所述无人机与所述遥控设备断开图像传输中的至少一种；
所述获取语音信息，包括：
在所述语音控制模式下，获取所述语音信息。
第二方面，本发明实施例提供一种无人机控制装置，应用于遥控设备，所述装置包括：
语音信息获取模块，用于获取语音信息；
飞行信息确定模块，用于根据所述语音信息确定无人机的目标飞行信息；
控制指令生成模块，用于获取所述无人机的当前飞行参数，根据所述当前飞行参数和所述目标飞行信息生成控制指令；
控制指令发送模块，用于向所述无人机发送所述控制指令，以使所述无人机根据所述控制指令执行相应的飞行任务。
可选地，所述装置还包括：
语音信息判断模块，用于判断所述语音信息是否有效；
所述飞行信息确定模块，具体用于：
若所述语音信息有效，根据所述语音信息确定无人机的目标飞行信息。
可选地，所述语音信息判断模块，具体用于：
解析所述语音信息中的特征信息；
判断所述特征信息是否与特征信息数据库中的预设特征信息匹配；
若匹配，则确定所述语音信息有效。
可选地，所述特征信息包括动作特征信息和/或参数特征信息；
所述飞行信息确定模块，具体用于：
根据所述特征信息中的动作特征信息和/或参数特征信息，确定无人机的目标飞行信息。
可选地，所述目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
可选地，所述装置还包括：
模式切换模块，用于当检测到所述无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式；
其中，所述异常状态包括：所述无人机所处飞行模式为姿态模式、所述无人机的电量小于预设电量阈值、所述无人机与所述遥控设备断开图像传输中的至少一种；
所述语音信息获取模块，具体用于：
在所述语音控制模式下，获取所述语音信息。
第三方面，本发明实施例提供一种遥控设备，包括：
至少一个处理器；以及
与所述至少一个处理器连接的存储器；其中，
所述存储器存储有计算机程序，所述至少一个处理器用于调用所述计算机程序，以执行如上所述的方法。
第四方面，本发明实施例提供一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序用于被遥控设备调用，以执行如上所述的方法。
第五方面，本发明实施例提供一种计算机程序产品，计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，计算机程序包括程序指令，程序指令用于被遥控设备调用，以执行如上所述的方法。
第六方面，本发明实施例提供一种无人机系统，包括无人机本体和遥控设备，其中，遥控设备用于执行如上所述的方法。
本发明实施例的有益效果是：区别于现有技术的情况，本发明实施例通过获取语音信息，根据语音信息确定无人机的目标飞行信息，并根据无人机的当前飞行参数和目标飞行信息生成控制指令，无人机可根据上述控制指令执行相应的飞行任务，简化了无人机的控制操作，降低了操作者的操作难度，能够提高无人机操作的便利性和灵活性，提升用户体验。
附图说明
图1是本发明各个实施例涉及的一种实施环境的示意图；
图2是本发明实施例的无人机控制方法的示意图；
图3是本发明另一实施例的无人机控制方法的示意图；
图4是本发明实施例的判断语音信息是否有效的示意图；
图5是本发明实施例的无人机控制装置的示意图；
图6是本发明实施例的遥控设备的结构示意图。
具体实施例
下面将结合附图对本发明实施例中的技术方案进行描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
图1是本发明各个实施例涉及的一种实施环境的示意图，如图1所示，该实施环境包括遥控设备10以及无人机20。
其中，遥控设备10中可以配置有语音采集装置，例如，麦克风、语音传感器等。遥控设备中还可以配置有通信接口，该通信接口用于与无人机20进行通信。遥控设备10还可以包括其他装置，在此不予限定。其中，遥控设备可以包括遥控器或者智能手机、平板电脑、图像显示设备等任意一种用户终端，或者遥控设备可以同时包括遥控器和其他可以进行图像显示的移动设备，在此不予限定。
无人机20中可以配置有通信接口，该通信接口可以实现与遥控设备10进行通信。无人机可以包括电子调速器、动力系统、供电系统等，以实现无人机的飞行。进一步地，无人机还可以包括多种传感器或定位装置，无人机可以根据其配置的多种传感器或定位装置，确定当前飞行参数。当然，无人机还可以包括其他装置，例如摄像装置、云台等，以实现其他飞行任务，在此不予限定。
其中，遥控设备10与无人机20可以实现通信连接，其可通过无线技术或无线网络实现连接，对于遥控器10与无人机20的连接方式，在此不予限定。
基于上述环境，下面介绍本申请实施例提供的一些方法实施例。
请参阅图2，图2为本发明实施例提供的无人机控制方法的示意图，该方法应用于遥控设备，具体包括：
步骤110：获取语音信息。
具体实施中，可通过语音采集装置获取语音信息，作为本发明的一种实施例，声音采集器为麦克风，在其他实施例中，语音采集装置还可以为其他可接收语音的设备。其中，语音采集装置可集成在遥控设备中，也可以单独设置，然后与遥控设备电性连接。
比如，当遥控设备同时包括相互通信连接的遥控器和智能手机时，语音采集装置可以单独设置然后与遥控器和智能手机连接，也可以直接集成在遥控器和/或智能手机中。在用户发出语音指令之前，需要提前将遥控设备当前模式切换为语音控制模式。遥控设备模式的切换，可以直接通过打开智能手机上对应的APP以进行切换，也可以直接操作遥控器，如按下某个实体按键进行切换，这里不作严格限制。
可以理解的是，在实际操作过程中，在获取语音信息的过程中包括对语音信息进行处理，如去噪等，以获取清晰的语音信息，排除环境噪音的干扰。
步骤120：根据语音信息确定无人机的目标飞行信息。
可选地，目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
例如，用户可发出“飞行方向东南方向，飞行距离3米”、和/或“飞行速度5米每秒”等语音指令，遥控设备根据获取到的语音信息可确定无人机的目标飞行方向及目标飞行距离，和/或目标飞行速度。
步骤130：获取无人机的当前飞行参数，并根据当前飞行参数和目标飞行信息生成控制指令。
无人机的当前飞行参数包括当前位置、电量/油量、高度、速度、航向、姿态角、迎角或与障碍物之间的距离等至少一种参数。具体地，无人机在飞行的过程中，可通过各种机载传感器或定位装置实时获取上述飞行参数。
示例性地，遥控设备可以结合无人机的当前飞行参数，来生成控制指令。
举例说明，若目标飞行信息为目标飞行位置，且获取到的无人机的当前飞行参数为当前飞行方向，则可以首先确定当前飞行方向是否可以控制无人机飞行至目标飞行位置，若为否，则生成的控制指令为调整当前飞行方向，使调整后的飞行方向可以飞行至目标飞行位置。
若目标飞行信息为目标飞行位置，且获取到的无人机的当前飞行参数为当前飞行速度，则可以生成控制指令以控制无人机根据当前飞行速度飞行至目标飞行位置。
当然，上述实现方式仅为示例性地，遥控设备可以结合无人机的当前飞行参数以及目标飞行信息生成其他控制指令。在此不予限定。
可选地，在实际应用中，还可以结合无人机的气动参数，来生成控制指令。无人机的操纵性与稳定性均与无人机本身的气动特性以及动力系统的操纵效率有关，无人机的基本气动特性主要包括无人机的升力系数、阻力系数、俯仰力矩系数以及升阻比系数随迎角的变化关系，因此，气动参数主要包括升力系数、阻力系数、俯仰力矩系数以及升阻比系数。
气动参数是无人机的固有参数，可以预先存储于遥控设备中，根据当前飞行参数和无人机的气动参数，可计算得到无人机的升力、阻力、俯仰力矩以及升降动力系统的效率，进一步根据当前飞行参数、目标飞行信息以及上述气动数据生成控制指令。
在一个实施例中，所述控制指令可以直接由遥控器生成，也可以由智能手机的APP生成，然后由智能手机的APP传给遥控器，这里不作严格限制。或者可以理解，当遥控设备直接为智能手机等移动设备时，则生成的控制指令直接由移动设备发送给无人机，而无需传给遥控了。
步骤140：向无人机发送控制指令，以使无人机根据控制指令执行相应的飞行任务。
将上述控制指令发送至无人机，以使无人机根据控制指令调整其航向、姿态角或速度等，执行相应的飞行任务。
例如，当用户发出的语音指令为“飞行方向东南方向，飞行距离3 米”时，遥控设备根据当前飞行参数和目标飞行信息生成控制指令，该控制指令用于控制无人机执行“飞行方向东南方向，飞行距离3米”的飞行任务；当用户发出的语音指令为“飞行速度5米每秒”时，遥控设备根据当前飞行参数和目标飞行信息生成控制指令，该控制指令用于控制无人机执行“飞行速度5米每秒”的飞行任务。
本实施例通过获取语音信息，根据语音信息确定无人机的目标飞行信息，并根据无人机的当前飞行参数和目标飞行信息生成控制指令，无人机可根据上述控制指令执行相应的飞行任务，简化了无人机的控制操作，降低了操作者的操作难度，能够提高无人机操作的便利性和灵活性，提升用户体验。
请参阅图3，图3为本发明另一实施例提供的无人机控制方法的示意图，该方法应用于遥控设备，具体包括：
步骤210：当检测到无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式。
可选地，异常状态包括：无人机所处飞行模式为姿态模式、无人机的电量小于预设电量阈值、无人机与遥控设备断开图像传输中的至少一种。
无人机包括GPS模式和姿态模式，GPS模式是指无人机基于GPS数据进行飞行，姿态模式是指无人机不基于GPS数据进行飞行，也就是姿态模式中无人机的飞行路径随机，无人机仅提供姿态增稳功能，如果有风或其他原因对无人机扰动的话，不能定点悬停，需手动干预。当无人机接收不到GPS信号或者指南针收到干扰时，会自动进入到姿态模式。
姿态模式下对操控者的操作要求较高，当无人机所处飞行模式为姿态模式时，遥控设备将当前模式切换为语音控制模式，用户可通过发出语音指令控制无人机的飞行，使得飞行更加精确、安全。
当无人机的电量小于预设电量阈值时，遥控设备将当前模式切换为语音控制模式，用户可通过发出语音指令控制无人机的飞行，因语音控制方式使得无人机的飞行更加精确，可降低无人机的电量消耗，确保其 能安全降落。
当无人机与遥控设备断开图像传输时，遥控设备上无法显示无人机当前所处位置的实时画面，此时用户无法知道无人机当前所处的位置以及机头的方向，通过摇杆或者按键控制无人机的飞行有一定的风险性，遥控设备将当前模式切换为语音控制模式，用户可通过发出语音指令控制无人机的飞行，使得飞行更加精确、安全。
步骤220：在语音控制模式下，获取语音信息。
步骤230：判断语音信息是否有效。
判断语音信息是否有效，即判断该语音信息是否为有效的语音操控信息。
可选地，如图4所示，判断语音信息是否有效，包括：
步骤231：解析语音信息中的特征信息。
一种实现方式中，可先将语音信息转化为文字信息，提取文字信息中的关键词，该关键词即为语音信息中的特征信息。在本实施例中，特征信息包括动作特征信息和/或参数特征信息，动作特征信息可为加速、升高、飞近、飞、返航等表示动作的词，参数特征信息可为具体数值、飞行模式、目标物以及无人机飞行过程中涉及到的物理学名词、地理学名词、单位、方位中的任一种或几种与具体数值的组合，如3、速度3、3米每秒、经度110、正上方、姿态模式等。
步骤232：判断特征信息是否与特征信息数据库中的预设特征信息匹配。
对应地，特征信息数据库中的预设特征信息包括预设动作特征信息和预设参数特征信息。
若语音信息中包括动作特征信息，可以判断该动作特征信息是否存在于特征信息数据库的预设动作特征信息中；若存在，则匹配；反之，则不匹配。
若语音信息包括参数特征信息，可以判断该参数特征信息是否存在与特征信息数据库的预设参数特征信息中；若存在，则匹配；反之，则不匹配。
另一种实现方式中，解析语音信息中的特征信息可以包括：
解析语音信息中一个或多个音频片段。
示例性地，可以通过预设频率从语音信息中解析出一个或多个音频片段，该预设频率可以是用户的声音频率等，在此不予限定。解析出的一个或多个音频片段，即为语音信息中的特征信息。
进一步的，特征信息数据库中可以包括音频片段与语义的对应关系表。
通过该对应关系表，可以查找与一个或多个音频片段分别对应的一个或多个关键词。该一个或多个关键词可以用于表示动作或参数。例如，关键词可以包括加速、升高、飞近、飞远、返航等用以表示动作的词，也可以包括速度、方向、模式、位置等用以表示参数的词。
若在特征信息库中，可以查找到语音信息中音频片段对应的关键词，则表明匹配；反之，则表明不匹配。
步骤233：若匹配，则确定语音信息有效。
特征信息与特征信息数据库中的预设特征信息匹配，包括：动作特征信息与预设动作特征信息匹配，和/或参数特征信息与预设参数特征信息匹配。
若匹配，则确定语音信息有效，若不匹配，则输出语音指令错误的提示信息。
如，语音信息中的特征信息为“返航”，该特征信息为动作特征信息，与预设动作特征信息中的“返航”匹配，可确定语音信息有效；又如，语音信息中的特征信息为“速度3米每秒”，该特征信息为参数特征信息，与预设参数特征信息中的速度、米每秒匹配，可确定语音信息有效；又如，语音信息中的特征信息为“向上5”，该特征信息包括动作特征信息“向上”和参数特征信息“5”，其中，动作特征信息与预设动作特征信息中的“向上”匹配，可确定语音信息有效。
在一些实施例中，判断语音信息是否有效，还包括：对语音信息进行识别，若识别通过，则确定语音信息有效。
如，可对语音信息进行特征提取和特征识别，又如，可对语音信息 进行口令识别，通过上述方式，可以使对无人机的语音操控仅限于操控者本人或者权限用户，防止在操作过程中周围其他人声对无人机的操控造成影响。
步骤240：根据语音信息确定无人机的目标飞行信息。
在一些实施例中，若语音信息包括动作特征信息，则根据语音信息确定无人机的目标飞行信息，包括：
根据该动作特征信息确定无人机的目标飞行信息。
其中，动作特征信息与特征信息数据库中的预设动作特征信息匹配，预设动作特征信息包括与该预设动作特征信息对应的具体数值，具体数值可以由系统默认，也可以由用户自定义。
如，动作特征信息为“升高”，根据与该动作特征信息匹配的预设动作特征信息确定无人机的目标飞行方向向上，目标飞行距离为1米；又如，动作特征信息为“返航”，根据与该动作特征信息匹配的预设动作特征信息确定无人机的目标飞行位置为起始位置，目标飞行高度为0米；又如，动作特征信息为“加速”，根据与该动作特征信息匹配的预设动作特征信息确定无人机的目标飞行加速度为0.1米每秒。
在一些实施例中，若语音信息包括参数特征信息，则根据语音信息确定无人机的目标飞行信息，包括：
根据参数特征信息确定无人机的目标飞行信息。
如，参数特征信息为“高度15米”，根据该参数特征信息确定无人机的目标飞行高度为15米；又如，参数特征信息为“经度114°、纬度23°”，根据该参数特征信息确定无人机的目标飞行位置为经度114°、纬度23°；又如，参数特征信息为“姿态模式”，根据该参数特征信息确定无人机的目标飞行模式为姿态模式。
在一些实施例中，语音信息中的特征信息包括动作特征信息和参数特征信息，则根据语音信息确定无人机的目标飞行信息，包括：
根据动作特征信息和参数特征信息确定无人机的目标飞行信息。
如，特征信息包括“向左5”，根据该特征信息确定无人机的目标飞行方向向左，目标飞行距离为5米；又如，特征信息包括“飞”、 “我”、以及“正上方”，根据上述特征信息确定无人机的目标飞行位置为“我”的位置，目标飞行高度为当前高度。
步骤250：获取无人机的当前飞行参数，并根据当前飞行参数和目标飞行信息生成控制指令。
需要说明的是，姿态模式分为两种情况：有GPS信号或者无GPS信号，在有GPS信号的情况下，遥控设备可根据无人机的当前位置以及目标飞行位置进行路径规划，输出控制指令；无GPS信号时，遥控设备无法获取无人机的实时位置，用户只能发出具体的语音指令控制无人机的飞行。
例如，在有GPS信号的情况下，用户可发出“返航”或“飞至我正上方”等类似语音指令，根据语音信息可确定无人机的目标飞行位置，遥控设备可根据无人机的当前位置以及目标飞行位置进行路径规划，以生成控制指令，使无人机执行相应的飞行任务；无GPS信号时，遥控设备无法获取无人机的实时位置，用户只能发出“向上”、“向右”、“加速”等类似具体的语音指令控制无人机的飞行。
因此，当无人机处于无GPS信号的姿态模式时，当遥控设备无法根据当前飞行参数和目标飞行信息生成控制指令时，可输出语音指令错误的提示信息，提示用户重新发出语音指令。
步骤260：向无人机发送控制指令，以使无人机根据控制指令执行相应的飞行任务。
本实施例中，当检测到无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式，通过解析语音信息中的特征信息，根据特征信息中的动作特征信息和/或参数特征信息确定无人机的目标飞行信息，能够进一步提高无人机操作的便利性和灵活性，使得飞行更加精确、安全。
本发明实施例进一步公开一种无人机控制装置,该方法应用于遥控设备，请参阅图6，装置500包括：
语音信息获取模块510，用于获取语音信息；
飞行信息确定模块520，用于根据语音信息确定无人机的目标飞行信息；
控制指令生成模块530，用于获取无人机的当前飞行参数，根据当前飞行参数和目标飞行信息生成控制指令；
控制指令发送模块540，用于向无人机发送控制指令，以使无人机根据控制指令执行相应的飞行任务。
可选地，目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
本实施例通过语音信息获取模块510获取语音信息，飞行信息确定模块520根据语音信息确定无人机的目标飞行信息，并根据无人机的当前飞行参数和目标飞行信息生成控制指令，无人机可根据上述控制指令执行相应的飞行任务，简化了无人机的控制操作，降低了操作者的操作难度，能够提高无人机操作的便利性和灵活性，提升用户体验。
在一些实施中，装置500还包括：
语音信息判断模块550，用于判断语音信息是否有效；
飞行信息确定模块520，具体用于：
若语音信息有效，根据语音信息确定无人机的目标飞行信息。
可选地，语音信息判断模块550，具体用于：
解析语音信息中的特征信息；
判断特征信息是否与特征信息数据库中的预设特征信息匹配；
若匹配，则确定语音信息有效。
可选地，特征信息包括动作特征信息和/或参数特征信息；
飞行信息确定模块520，具体用于：
根据特征信息中的动作特征信息和/或参数特征信息，确定无人机的目标飞行信息。
在一些实施例中，装置500还包括：
模式切换模块560，用于当检测到无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式；
其中，异常状态包括：无人机所处飞行模式为姿态模式、无人机的电量小于预设电量阈值、无人机与遥控设备断开图像传输中的至少一种；
语音信息获取模块510，具体用于：
在语音控制模式下，获取语音信息。
本实施例的模式切换模块560当检测到无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式，通过语音信息判断模块550解析语音信息中的特征信息，飞行信息确定模块520根据特征信息中的动作特征信息和/或参数特征信息确定无人机的目标飞行信息，能够进一步提高无人机操作的便利性和灵活性，使得飞行更加精确、安全。
需要说明的是，由于本发明实施例的装置实施例与方法实施例基于相同的发明构思，方法实施例中的技术内容同样适用于装置实施例，因此，装置实施例中与方法实施例相同的技术内容在此不再赘述。
本发明实施例还提供一种遥控设备，该遥控设备存储有计算机程序，如应用程序，该遥控设备可通过该应用程序执行上述任意方法实施例中的无人机控制方法。
图6是本发明实施例提供的一种遥控设备600的结构示意图，如图6所示，该遥控设备600包括：一个或多个处理器601以及存储器602，图6中以一个处理器601为例。
处理器601和存储器602可以通过总线或者其他方式连接，图6中以通过总线连接为例。
该遥控设备600还包括：语音采集装置603，用于采集用户的语音信息；进一步地，语音采集装置603还可以用于对该语音信息进行处理。
通信接口604，用于与无人机进行通信，如通过处理器601控制向无人机发送控制指令，或者接收无人机发送的当前飞行参数，并将当前飞行参数发送至处理器601等。
存储器602作为一种非易失性计算机可读存储介质，可用于存储非 易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的无人机控制方法对应的程序指令/模块(例如，图5所示的各个模块)。处理器601通过运行存储在存储器602中的非易失性软件程序、指令以及模块，从而执行无人机控制装置的各种功能应用以及数据处理，即实现上述方法实施例的无人机控制方法以及上述装置实施例的各个模块的功能。
存储器602可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器602可选包括相对于处理器601远程设置的存储器，这些远程存储器可以通过网络连接至处理器601。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述程序指令/模块存储在所述存储器602中，当被所述一个或者多个处理器601执行时，执行上述任意方法实施例中的无人机控制方法，例如，执行以上描述的图2至图4所示的各个步骤；也可实现图5所示的各个模块。
本实施例的遥控设备通过获取语音信息，根据语音信息确定无人机的目标飞行信息，并根据无人机的当前飞行参数和目标飞行信息生成控制指令，无人机可根据上述控制指令执行相应的飞行任务，简化了无人机的控制操作，降低了操作者的操作难度，能够提高无人机操作的便利性和灵活性，提升用户体验。
本发明实施例还提供了一种非易失性计算机存储介质，所述计算机存储介质存储有计算机程序，该计算机程序用于被遥控设备的一个或多个处理器执行，例如图6中的一个处理器601，可使得上述一个或多个处理器可执行上述任意方法实施例中的无人机控制方法，例如，执行以上描述的图2至图4所示的各个步骤；也可实现图5所述的各个模块的功能。
上述产品可执行本发明实施例所提供的方法，具备执行方法相应的 功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本发明实施例所提供的方法。
本发明实施例还提供一种无人机系统，包括无人机和遥控设备。其中，遥控设备的结构可以参见上述装置实施例中的描述，遥控设备所执行的方法可以参见上述方法实施例中的描述，在此不予赘述。
在该系统内的无人机可以接收遥控设备的控制指令，并根据控制指令进行飞行。或者，无人机可以响应该控制指令，将无人机的飞行参数发送至遥控设备等。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域的技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对相关技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使 相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (15)

  1. 一种无人机控制方法，应用于遥控设备，其特征在于，所述方法包括：
    获取语音信息；
    根据所述语音信息确定无人机的目标飞行信息；
    获取所述无人机的当前飞行参数，并根据所述当前飞行参数和所述目标飞行信息生成控制指令；
    向所述无人机发送所述控制指令，以使所述无人机根据所述控制指令执行相应的飞行任务。
  2. 根据权利要求1所述的方法，其特征在于，在所述获取语音信息之后，所述方法还包括：
    判断所述语音信息是否有效；
    所述根据所述语音信息确定无人机的目标飞行信息，包括：
    若有效，根据所述语音信息确定无人机的目标飞行信息。
  3. 根据权利要求2所述的方法，其特征在于，所述判断所述语音信息是否有效，包括：
    解析所述语音信息中的特征信息；
    判断所述特征信息是否与特征信息数据库中的预设特征信息匹配；
    若匹配，则确定所述语音信息有效。
  4. 根据权利要求3所述的方法，其特征在于，所述特征信息包括动作特征信息和/或参数特征信息；
    所述根据所述语音信息确定无人机的目标飞行信息，包括：
    根据所述特征信息中的动作特征信息和/或参数特征信息，确定无人机的目标飞行信息。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，
    所述目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
  6. 根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：
    当检测到所述无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式；
    其中，所述异常状态包括：所述无人机所处飞行模式为姿态模式、所述无人机的电量小于预设电量阈值、所述无人机与所述遥控设备断开图像传输中的至少一种；
    所述获取语音信息，包括：
    在所述语音控制模式下，获取所述语音信息。
  7. 一种无人机控制装置，应用于遥控设备，其特征在于，所述装置包括：
    语音信息获取模块，用于获取语音信息；
    飞行信息确定模块，用于根据所述语音信息确定无人机的目标飞行信息；
    控制指令生成模块，用于获取所述无人机的当前飞行参数，根据所述当前飞行参数和所述目标飞行信息生成控制指令；
    控制指令发送模块，用于向所述无人机发送所述控制指令，以使所述无人机根据所述控制指令执行相应的飞行任务。
  8. 根据权利要求7所述的装置，其特征在于，所述装置还包括：
    语音信息判断模块，用于判断所述语音信息是否有效；
    所述飞行信息确定模块，具体用于：
    若所述语音信息有效，根据所述语音信息确定无人机的目标飞行信 息。
  9. 根据权利要求8所述的装置，其特征在于，所述语音信息判断模块，具体用于：
    解析所述语音信息中的特征信息；
    判断所述特征信息是否与特征信息数据库中的预设特征信息匹配；
    若匹配，则确定所述语音信息有效。
  10. 根据权利要求9所述的装置，其特征在于，所述特征信息包括动作特征信息和/或参数特征信息；
    所述飞行信息确定模块，具体用于：
    根据所述特征信息中的动作特征信息和/或参数特征信息，确定无人机的目标飞行信息。
  11. 根据权利要求7-10任一项所述的装置，其特征在于，
    所述目标飞行信息包括：目标飞行位置、目标飞行高度、目标飞行方向、目标飞行距离、目标飞行速度、目标飞行加速度、目标飞行模式中的至少一种信息。
  12. 根据权利要求7-10任一项所述的装置，其特征在于，所述装置还包括：
    模式切换模块，用于当检测到所述无人机在飞行过程中的飞行状态为异常状态时，将当前模式切换为语音控制模式；
    其中，所述异常状态包括：所述无人机所处飞行模式为姿态模式、所述无人机的电量小于预设电量阈值、所述无人机与所述遥控设备断开图像传输中的至少一种；
    所述语音信息获取模块，具体用于：
    在所述语音控制模式下，获取所述语音信息。
  13. 一种遥控设备，其特征在于，包括：
    至少一个处理器；以及
    与所述至少一个处理器连接的存储器；其中，
    所述存储器存储有计算机程序，所述至少一个处理器用于调用所述计算机程序，以执行如权利要求1-6任一项所述的方法。
  14. 一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序用于被遥控设备调用，以执行如权利要求1-6任一项所述的方法。
  15. 一种无人机系统，其特征在于，包括无人机和遥控设备；
    其中，所述遥控设备用于执行如权利要求1-6任一项所述的方法。
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