WO2018076367A1

WO2018076367A1 - Lever amount control method, apparatus, and related device

Info

Publication number: WO2018076367A1
Application number: PCT/CN2016/104116
Authority: WO
Inventors: 崔健; 钱杰
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2016-10-31
Filing date: 2016-10-31
Publication date: 2018-05-03
Also published as: CN107438808B; CN107438808A

Abstract

A lever amount control method, apparatus, and related device, wherein the method comprises: acquiring a lever amount produced by a motion of an external device, and a lever amount produced by inputting by means of the external device (201); merging the lever amount produced by the motion and the lever amount produced by inputting, so as to obtain a control lever amount for an aircraft (202). The present invention may achieve the automatic merging of a plurality of control lever amounts, and may automatically switch between a plurality of control modes and control devices.

Description

Method, device and related equipment for rod amount control

Technical field

The present invention relates to the field of flight control technologies, and in particular, to a method, device and related device for lever amount control.

Background technique

At present, the control modes of Unmanned Aerial Vehicle (UAV) are more and more diverse, including: remote control, wristband, watch, video glasses and other wearable device controls, smart phones, tablets and other mobile terminal controls. And ground control station control. The user can select one or more control modes that he likes to control the drone. Of course, when there are multiple control devices in the UAV control system to control the same drone, the user can also according to actual needs. Switching between multiple control modes Under the existing control strategy, the user needs to manually control to switch between the control mode or the control device, and the user experience is not good.

Summary of the invention

The embodiment of the invention discloses a method, a device and a related device for controlling the amount of the rod, which can realize automatic fusion of the plurality of control rods and automatically switch between the plurality of control modes and the control device.

A first aspect of the embodiments of the present invention discloses a method for controlling the amount of the pole, comprising:

The amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device are obtained.

The amount of the rod generated by the motion and the amount of the rod generated by the input are fused to obtain a lever amount for the aircraft.

The second aspect of the embodiment of the invention discloses a device for controlling the amount of the rod, comprising:

The acquisition module is configured to acquire the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device.

And a processing module, configured to fuse the amount of the rod generated by the motion acquired by the acquiring module with the amount of the rod generated by the input, to obtain a lever amount for the aircraft.

A third aspect of the embodiments of the present invention discloses a control device, including:

The communication device is configured to acquire motion data generated by motion of the external device and a lever amount generated by input through the external device.

a processor, configured to obtain, according to the motion data acquired by the communication device, a rod amount generated by the movement of the external device, and combine a rod amount generated by the motion with a rod amount generated by the input to obtain a pair The amount of joystick for the aircraft.

A fourth aspect of the embodiments of the present invention discloses an aircraft, including:

A power system used to provide flight power to the aircraft.

The control device disclosed in the third aspect is configured to control the aircraft by using a control lever amount of the aircraft obtained by the control device.

A fifth aspect of the embodiments of the present invention discloses a control device, including:

A communication device for acquiring the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device.

And a processor for fusing the amount of the rod generated by the motion and the amount of the rod generated by the input to obtain a lever amount for the aircraft.

A sixth aspect of the embodiments of the present invention discloses an aircraft, including:

A power system used to provide flight power to the aircraft.

The control device disclosed in the fifth aspect is configured to control the aircraft by using a control lever amount of the aircraft obtained by the control device.

A seventh aspect of the embodiments of the present invention discloses an external device, including a processor, a motion sensor, and a communication device, where the processor is respectively connected to the motion sensor and the communication device, where:

The motion sensor is configured to detect motion of the external device and output motion data;

The processor is configured to calculate a rod amount generated by the movement of the external device according to the motion data, control a communication device to send the rod amount to an aircraft, and control the aircraft by using the rod amount;

The communication device is configured to transmit the amount of the rod generated by the motion to the aircraft.

The embodiment of the present invention obtains the amount of the lever of the aircraft by acquiring the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device, and merging the amount of the rod generated by the movement and the amount of the rod generated by the input. , the aircraft can be controlled according to the amount of the control rod, so that multiple Automatic fusion of the amount of joystick and automatic switching between various control modes and control devices.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying for creative labor.

1 is a schematic structural diagram of a drone control system disclosed in an embodiment of the present invention;

2 is a schematic flow chart of a method for controlling the amount of the rod disclosed in the embodiment of the present invention;

3 is a schematic diagram of a gesture control aircraft disclosed in an embodiment of the present invention;

4 is a schematic diagram of another gesture control aircraft disclosed in an embodiment of the present invention;

FIG. 5 is a schematic diagram of still another gesture control aircraft disclosed in an embodiment of the present invention; FIG.

6 is a schematic structural diagram of an apparatus for controlling the amount of the rod disclosed in the embodiment of the present invention;

7 is a schematic structural diagram of a control device according to an embodiment of the present invention;

8 is a schematic structural diagram of another control device according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of an external device according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The following description of the invention uses a drone as an example of an aircraft. It will be apparent to those skilled in the art that other types of aircraft can be used without limitation.

As shown in FIG. 1, FIG. 1 is a schematic diagram of a drone control system in accordance with an embodiment of the present invention. The drone system of the present embodiment includes a drone 1, a wearable device 2, and a remote controller 3, wherein the drone 1 includes a flight body, a pan/tilt head, and an image forming apparatus. In the present embodiment, the flying body includes a plurality of rotors and a rotor motor that drives the rotor to rotate, thereby providing the power required for the drone 1 to fly. Imaging equipment It is mounted on the main body of the flight through the gimbal. The imaging device is used for image or video capture during flight of the drone, including but not limited to multi-spectral imagers, hyperspectral imagers, visible light cameras, and infrared cameras. The pan/tilt is a multi-axis transmission and stabilization system, including multiple rotating shafts and pan/tilt motors. The pan/tilt motor compensates the shooting angle of the imaging device by adjusting the rotation angle of the rotating shaft, and prevents or reduces the jitter of the imaging device by setting an appropriate buffer mechanism. Of course, in other embodiments, the imaging device can be mounted on the flying body either directly or by other means. In the drone control system shown in FIG. 1, there are two external devices, a wearable device and a remote controller, which control the aircraft. The wearable device 2 has a built-in motion sensor. When the wearable device moves with the operator's hand, The motion sensor senses the motion of the hand and outputs corresponding motion data, and calculates the amount of the rod generated by the movement of the wearable device based on the motion data, and controls the drone according to the amount of the rod. In addition, the remote controller is provided with a rocker, a button (virtual button or physical button) and a dial wheel, and the lever can be obtained by inputting a rocker, a button (virtual button or a physical button) of the remote controller and a dial, the lever The amount can control the drone.

Please refer to FIG. 2 , which is a schematic flowchart diagram of a method for controlling the amount of the rod according to an embodiment of the present invention. The method for controlling the amount of the rod described in this embodiment includes:

201. Acquire an amount of the rod generated by the movement of the external device and the amount of the rod generated by the input from the external device.

The external device may specifically include: a wearable device such as a watch or a wristband or a handheld device, or a smart phone, a tablet computer, a remote controller, a ground control station, a combination thereof, and the like.

Some external devices are equipped with motion sensors (such as inertial measurement unit IMU), which can sense the motion and motion of the external device and control the aircraft according to the motion or action, in particular, when the external device moves or follows the user When the corresponding action is performed, the motion sensor outputs corresponding motion data, and according to the motion data, the amount of the rod can be obtained, and the amount of the rod can control the aircraft, and the rod amount is used as a rod generated by the movement of the external device. the amount. Taking the wristband as an example, a motion sensor is arranged inside the wristband, and the user wears a wristband. When the user performs a preset motion using the hand wearing the wristband, the motion sensor outputs motion data, which can be calculated according to the motion data of the wristband. The amount of the rod generated by the preset action of the bracelet can be used to control the aircraft. Specifically, the user can control the aircraft with gestures.

The amount of the rod generated by the movement of the external device may specifically include: movement by a wearable device such as a watch or a wristband (for example, when a user wears a wearable device such as a wristwatch or a wristband, and performs some gestures) or a movement of the holding device. Rod amount.

Some external devices are equipped with input interfaces such as buttons, joysticks, and dials. The input of the external device may include one or more of key input of an external device, a rocker input of an external device, and a dial input of an external device. The button may specifically include a physical button of the entity and a touch button in the interaction interface, and the user may operate the button, the joystick, the dial, and the like of the external device, and the external device may obtain a corresponding amount of the rod, and the amount of the rod may be The aircraft is controlled to use the amount of the rod as the amount of the rod generated by the input from the external device.

The amount of the rod generated by the input of the external device may specifically include the amount of the rod generated by one or more inputs of the watch, the wristband, the smartphone, the tablet, the remote controller, and the ground control station, for example, through the watch. The wristband, the smart phone, the tablet computer, the remote controller and the ground control station generate the amount of the lever with the combination of the button, the joystick and the dial wheel. The button may specifically include the physical button of the entity and the touch button in the interaction interface. Wait.

202. Align the amount of the rod generated by the motion with the amount of the rod generated by the input to obtain a lever amount for the aircraft.

Specifically, in the flight control system, the aircraft can receive the amount of the rod generated by the movement of the external device and the amount of the rod generated by the external device input, and the aircraft can fuse the amount of the rod generated by the movement with the amount of the rod generated by the input. The amount of the control rod for the aircraft is obtained, and the amount of the control rod obtained by the fusion is used to control the aircraft.

Optionally, acquiring, by using the first network model, a weight amount corresponding to each of the amount of the rod generated by the motion, and the amount of the rod generated by the input, acquiring the amount of the rod generated by the motion, and the input The product of each of the amount of the rod and the corresponding weighting factor, superimposed by the product to obtain a superimposed amount, which is used as a lever amount for the aircraft.

Specifically, the amount of the lever A generated by the movement of the bracelet, the amount of the lever B generated by the input of the button on the wristband, and the amount of the lever C generated by the input of the button on the remote controller are taken as an example, when the flight control system exists When the three rods are used to control the aircraft, the first network model can be used to obtain the amount of the rod generated by the movement of the bracelet, the amount of the rod generated by the button input on the bracelet, and the amount of the rod generated by the button input on the remote controller. Each corresponding weight coefficient is K _a , K _b and K _c , respectively, and the amount of control rod for the aircraft R=K _a *A+K _b *B+K _c *C, using the lever amount R to the aircraft Take control.

Optionally, the parameter associated with the motion of the external device, the amount of the rod generated by the input of the external device is input to the first network model, and the amount of the rod generated by the motion is obtained, and the amount of the rod generated by the input is obtained. The weight coefficient corresponding to each rod amount in the middle.

Specifically, as shown in FIG. 3, the external device takes the wristband as an example, and the user wears the wristband. When the user wants to enter the mode of controlling the aircraft by using the motion of the wristband (ie, the gesture control mode), the following can be specified as needed: In the first step, the user points the aircraft to the hand; in the second step, the preset action G is completed, such as turning the wrist wearing the wristband. When the user completes the two steps, the user can use the motion of the wristband to align the aircraft. Controlling, wherein when the angle between the wristband and the aircraft and the axial direction of an axis of the coordinate system defined by the motion sensor of the bracelet is less than a preset value, the user is considered to have pointed with the finger Aircraft. By inputting the preset motion G and the angle α associated with the bracelet motion, the amount of the rod generated by the input from the external device is input to the first network model, and the amount of the rod generated by the motion of the bracelet is obtained. The amount of the rod generated by the input of the external device corresponds to the weight coefficient. After the weight coefficient is obtained, the amount of the control rod for the aircraft can be calculated by the above method, and details are not described herein.

Optionally, the preset weight coefficient is combined as the target output of the first network model, and the parameter associated with the external device motion corresponding to the weight coefficient combination and the amount of the rod generated by the input are used as the input and output. The first network model is trained.

Specifically, when the first network is used to acquire the weight coefficient corresponding to each of the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input from the external device, it is necessary to adequately train the first network. A plurality of parameters associated with the movement of the external device corresponding to the preset weight coefficient combination are collected, and the first network is trained by the amount of the rod generated by the input from the external device. Among them, when the input dimension is very low, the input state space can be artificially sampled, and the target output can be labeled with a reasonable weight coefficient by expert experience. When the training is completed, when the first network model inputs the parameters associated with the movement of the external device and the amount of the rod generated by the input from the external device, the weight coefficient corresponding thereto is output.

Optionally, acquiring the amount of the rod generated by the external device comprises: acquiring motion data generated by the motion of the external device, and acquiring a tangential speed rod amount and a radial direction controlled by the aircraft on the sphere coordinate system according to the motion data. a speed lever amount, converting the tangential speed lever amount and the radial speed lever amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device, wherein the specific reference point is The origin of the sphere coordinate system.

Optionally, a specific reference point is for a user wearing or holding an external device.

As shown in FIG. 4, the external device takes the wristband as an example, and the user wearing the wristband is taken as the origin, and the wristband is equipped with a motion sensor. When the user's hand performs the corresponding action, the wristband will follow the user's hand. The corresponding motion is generated, and the motion sensor outputs corresponding motion data. On the sphere coordinate system with the user wearing the bracelet as the origin, the tangential speed lever amount V _t and the radial velocity lever amount V _r can be obtained according to the motion data. Finally, according to the positional relationship between the person and the bracelet, the tangential speed lever amount V _t and the radial speed lever amount V _r in the spherical coordinate system can be converted into the rod amounts V _x , V _y , V _z in the Cartesian coordinates. The amount of rods V _x , V _y , and V _z is the amount of the rod generated by the movement of the bracelet.

Optionally, acquiring a control quantity in the first control mode of the aircraft according to the motion data, and obtaining the tangential speed lever amount according to the control quantity of the first control mode;

Obtaining a control amount in a second control mode of the aircraft based on the motion data, and obtaining the radial velocity lever amount according to a control amount of the second control mode.

Specifically, the first control mode is to control the aircraft to tangentially fly on a spherical surface with the specific reference point as a center of the sphere, and the second control mode is to control the aircraft at the aircraft and the specific The radial flight on the connecting line between the reference points, as shown in Fig. 4, the external device takes the wristband as an example, and the specific reference point takes the wristband as an example. When the user's hand performs the corresponding action, the first control The mode is to control the aircraft in a tangential flight with a wristband as the center of the sphere and a radius of the initial distance between the wristband and the aircraft. The second control mode is to control the aircraft in the wristband as the center of the sphere, in the aircraft and the wristband. The axis of the coordinate system defined by the motion sensor flies radially, specifically as the aircraft flies away from or near the user. When the user wears the wristband to perform a specific action, in the first control mode, the control amount of the first control mode can be calculated according to the motion data output by the motion sensor of the wristband, and the spherical coordinate is calculated according to the control amount. The tangential speed lever amount V _{t in the system} , in the second control mode, the control amount of the second control mode can be calculated according to the motion data output by the motion sensor of the wristband, and the spherical coordinate system is calculated according to the control amount The radial velocity rod amount V _r is calculated according to the above method, and the amount of the rod generated by the movement of the bracelet is not described here.

Optionally, the control quantity of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is that the external device rotates on the axis of the certain axis angle.

Specifically, as shown in FIG. 4, the external device takes a wristband as an example, and a specific reference point takes a wristband as an example. The control amount of the first control mode is a connection between the aircraft and the specific reference point. The angle between the axes of an axis of the coordinate system defined by the motion sensor of the external device. At this time, the control amount of the first control mode is the coordinate system defined by the connection of the wristband and the aircraft and the wristband. The angle α between the axial direction of the certain axis (X-axis) (the positive direction of the X-axis) can continuously collect the angle α, and input it into the PD controller to calculate the radial velocity rod amount V _r . In addition, optionally, the output of the PD controller may be filtered and limited to obtain a radial velocity lever amount _Vr ; the control amount of the second control mode is the external device with the certain axis (X-axis) For the angle of rotation of the shaft, at this time, the control amount of the second control mode is the angle ω of the rotation of the wristband when the certain axis is the axis, and the angle ω can be continuously collected, and the input to the PD controller can be calculated. the amount of the radial speed of the rod V _r, additionally, alternatively, may enter the output of the PD controller Obtained after filtering and limiting the amount of radial velocity of the rod V _r.

The control amount of the second control mode is a moving distance of the external device on the certain axis.

Specifically, as shown in FIG. 5, the external device takes a wristband as an example, and a specific reference point takes a wristband as an example. The control amount of the first control mode is a connection between the aircraft and the specific reference point, and an external device. The angle between the axes of an axis of the coordinate system defined by the motion sensor. At this time, the control amount of the first control mode is the coordinate defined by the motion sensor of the wristband and the aircraft connection and the wristband. The angle α between the axis of the axis (X-axis) of the system (the positive direction of the X-axis) can continuously collect the angle α, and input it into the PD controller to calculate the radial velocity V _r , in addition, optionally, the output of the PD controller may be filtered and limited to obtain a radial velocity rod amount V _r ; the control amount of the second control mode is that the external device is on the certain axis The moving distance, at this time, the control amount of the second control mode is the distance d of the wristband moving on the certain axis (X-axis), and the distance d can be continuously collected, and the input to the PD controller can be calculated. radial velocity rod amount V _r, additionally, alternatively, may be input to the PD controller After filtering and limiting the amount of the lever to obtain the radial velocity V _r.

Optionally, the motion data generated by the motion of the external device is acquired, and the amount of the rod generated by the motion of the external device corresponding to the motion data is acquired by using the second network model.

Specifically, the external device takes the wristband as an example. When the user wearing the wristband moves, the motion data corresponding to the motion is acquired, and the motion data is input into the second network model, and the second network model can output the phase. Corresponding the amount of the rod generated by the movement of the external device. In addition, the motion data may be used to acquire one or more control quantities, and the one or more control quantities are input into the second network model, and the network model can be output. Corresponding rod amounts resulting from the movement of the external device.

Optionally, acquiring a control quantity of the first control mode of the aircraft according to the motion data, and inputting a control quantity of the first control mode into a second network model to obtain a tangential speed lever amount;

And acquiring a control amount of the second control mode of the aircraft according to the motion data, and inputting a control amount of the second control mode into the second network model to obtain a radial speed lever amount.

Specifically, as shown in FIG. 4, the external device takes a wristband as an example, and the wristband is a center of the ball, and the first control mode is to control the tangential direction of the aircraft on a spherical surface with the specific reference point as a center of the sphere. Flying, the second control mode is to control the aircraft to fly radially on a line between the aircraft and the specific reference point, the control amount of the first control mode is the aircraft and the specific reference point The angle between the connection and the axial direction of an axis of the coordinate system defined by the motion sensor of the external device. At this time, the control amount of the first control mode is the connection between the wristband and the aircraft and the wristband. The angle α between the axial direction (the positive direction of the X-axis) of an axis (X-axis) of the coordinate system defined by the motion sensor, and the angle α is input to the second network model to obtain the angle The tangential velocity rod amount V _t corresponding to α, and the control amount of the second control mode is the angle ω of the rotation of the bracelet when the certain axis (X axis) is the axis, and the angle ω is input to the second network model, that is, the angle ω can be obtained with an amount of radial velocity V _r corresponding to the lever, then the method described above The amount of movement of the ring by a hand lever, not described herein again. Wherein, before using the second network model, a large amount of control quantity (such as the angle α) corresponding to the preset tangential speed rod amount should be collected, and the collection corresponds to the preset radial speed rod amount. The control quantity of the first control mode (such as the angle ω) trains the second network model, and after the training is completed, the second network model output can be used to correspond to the control quantity of the first control mode and the control quantity of the second control mode. The tangential speed rod amount V _t and the radial speed rod amount V _r .

The embodiment of the present invention obtains the amount of the lever of the aircraft by acquiring the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device, and merging the amount of the rod generated by the movement and the amount of the rod generated by the input. The aircraft is controlled according to the amount of the control rod, so that the automatic fusion of the plurality of control levers can be realized, and the automatic switching between the various control modes and the control devices can be realized.

The embodiment of the invention further discloses a computer storage medium, wherein the computer storage medium stores program instructions, and the program execution may include part or all of the method of the rod amount control according to any one of the corresponding embodiments of FIG. step.

Please refer to FIG. 6 , which is a schematic structural diagram of an apparatus for controlling the amount of the rod according to an embodiment of the present invention. The device for controlling the amount of the rod described in this embodiment includes:

The acquisition module 601 is configured to acquire the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device.

The processing module 602 is configured to fuse the amount of the rod generated by the motion acquired by the acquiring module with the amount of the rod generated by the input to obtain a lever amount for the aircraft.

Wherein, the amount of the rod generated by the input includes the amount of the rod generated by one or more inputs of the watch, the wristband, the remote controller, the smart phone, and the ground control station.

Optionally, the processing module 602 is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input.

The processing module 602 is specifically configured to acquire a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, and superimpose the product to obtain a superimposed amount. The amount of superposition is used as the amount of the lever for the aircraft.

Optionally, the processing module 602 is configured to input a parameter associated with the motion of the external device and a bar amount generated by inputting by the external device into the first network model to obtain the pole generated by the motion. A weight coefficient corresponding to each of the amount of the rods generated by the input.

Optionally, the processing module 602 is further configured to combine preset weight coefficients as a target output of the first network model, and associate parameters related to the external device motion corresponding to the weight coefficient combination. The amount of the rod generated by the input is used as an input to train the first network model.

Optionally, the processing module 602 is further configured to: when training the first network model, when a parameter associated with the motion of the external device and a bar amount generated by the input are simultaneously present, The weight coefficients corresponding to the amount of the rod other than the highest rod amount are all set to zero.

Optionally, the acquiring module 601 is configured to acquire motion data generated by the motion of the external device, and acquire, according to the motion data, a tangential speed of the aircraft control on a sphere coordinate system. The amount of the rod and the amount of the radial speed rod convert the amount of the tangential speed rod and the amount of the radial speed rod to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device.

Optionally, the specific reference point is the origin of the sphere coordinate system.

Optionally, the specific reference point is a user who wears or holds the external device.

Optionally, the acquiring module 601 is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain the tangential speed lever amount according to the control quantity of the first control mode. .

The acquiring module 601 is specifically configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and obtain the radial speed lever amount according to the control quantity of the second control mode.

Wherein the first control mode is to control the aircraft to tangentially fly on a spherical surface with the specific reference point as a center of the sphere, and the second control mode is to control the aircraft at the aircraft and the specific reference Radial flight on the line between points.

Optionally, the control quantity of the first control mode is an angle between a line connecting the aircraft and the specific reference point and an axis of an axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is an angle at which the external device rotates on the certain axis.

Optionally, the obtaining module 601 is configured to acquire motion data generated by the motion of the external device, and acquire, by using a second network model, a lever amount generated by the motion of the external device corresponding to the motion data.

Optionally, the acquiring module 601 is configured to acquire, according to the motion data, a control quantity of the first control mode of the aircraft, and input the control quantity of the first control mode into the second network model, to obtain a tangential speed lever amount controlled by the aircraft on the sphere coordinate system;

The acquiring module 601 is specifically configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and input a control quantity of the second control mode into the second network model, to obtain the The amount of radial velocity rods controlled by the aircraft on the sphere coordinate system;

The obtaining module 601 is specifically configured to obtain a rod amount generated by the motion according to the tangential speed lever amount and the radial speed lever amount;

Wherein, the specific reference point is the origin of the sphere coordinate system.

Optionally, the first network model and the second network model are artificial neural networks.

It should be noted that the functions of the functional modules of the device for controlling the amount of the embodiment of the present invention may be specifically implemented according to the method in the foregoing method embodiments, and the specific implementation process may refer to the related description of the foregoing method embodiments, where Let me repeat.

FIG. 7 is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device described in this embodiment includes a communication device 701, a processor 702, and a memory 703. The communication device 701, the processor 702, and the memory 703 are connected by a bus.

The processor 702 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The above-described memory 703 may include read only memory and random access memory, and provides instructions and data to the processor 702. A portion of the memory 703 may also include a non-volatile random access memory. among them:

The communication device 701 is configured to acquire motion data generated by motion of the external device and a lever amount generated by input through the external device.

The processor 702 is configured to obtain, according to the motion data acquired by the communication device 701, a rod amount generated by the movement of the external device, and combine a rod amount generated by the motion with a rod amount generated by the input, Get the amount of control rod for the aircraft.

Optionally, the amount of the rod generated by the input comprises a rod amount generated by one or more inputs of a watch, a wristband, a remote controller, a smart phone, and a ground control station.

Optionally, the processor 702 is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input.

The processor 702 is specifically configured to obtain a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, and superimpose the product to obtain a superimposed amount. The amount of superposition is used as the amount of the lever for the aircraft.

Optionally, the processor 702 is specifically configured to input a parameter associated with the motion of the external device and a bar amount generated by inputting by the external device into the first network model to obtain the pole generated by the motion. A weight coefficient corresponding to each of the amount of the rods generated by the input.

Optionally, the processor 702 is further configured to combine preset weight coefficients as a target output of the first network model, and associate parameters related to the external device motion corresponding to the weight coefficient combination. The amount of the rod generated by the input is used as an input to train the first network model.

Optionally, the processor 702 is further configured to: when training the first network model, when a parameter associated with the motion of the external device and a bar amount generated by the input are simultaneously present, The weight coefficients corresponding to the amount of the rod other than the highest rod amount are all set to zero.

Optionally, the processor 702 is configured to acquire, according to the motion data, a tangential speed lever amount and a radial speed lever amount that are controlled by the aircraft on a sphere coordinate system, and the tangential speed lever amount And converting the radial velocity rod amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device. The specific reference point is the origin of the sphere coordinate system.

Optionally, the processor 702 is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain the tangential speed bar quantity according to the control quantity of the first control mode. .

The processor 702 is specifically configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and obtain the radial speed lever amount according to the control quantity of the second control mode.

Optionally, the processor 702 is configured to acquire, by using a second network model, a rod amount generated by the motion of the external device corresponding to the motion data.

Optionally, the processor 702 is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and input a control quantity of the first control mode into a second network model to obtain a tangential speed lever amount controlled by the aircraft on the sphere coordinate system;

The processor 702 is specifically configured to acquire, according to the motion data, a control quantity in a second control mode of the aircraft, and input a control quantity of the second control mode into the second network model, to obtain the The amount of radial velocity rods controlled by the aircraft on the sphere coordinate system.

The processor 702 is specifically configured to obtain the amount of the rod generated by the motion according to the tangential speed lever amount and the radial speed lever amount.

An embodiment of the present invention also discloses an aircraft comprising a power system and a control device of any of the embodiments provided in FIG. 7, a power system for providing flight power to the aircraft, and a control device for utilizing the control device The resulting amount of control rods for the aircraft controls the aircraft.

In a specific implementation, the communication device 701, the processor 702, and the memory 703 described in the embodiments of the present invention may implement the implementation manner described in the method for controlling the amount of the bar provided in the embodiment of the present invention, and may also implement the implementation of the present invention. The implementation of the device for controlling the amount of the rod described in FIG. 6 is not described here.

The embodiment of the present invention obtains the amount of the lever of the aircraft by acquiring the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device, and merging the amount of the rod generated by the movement and the amount of the rod generated by the input. , the aircraft is controlled according to the amount of the control rod, so that multiple controls can be realized Automatic integration of the amount of the pole and automatic switching between various control modes and control devices.

FIG. 8 is a schematic structural diagram of another control device according to an embodiment of the present invention. The control device described in this embodiment includes a communication device 801, a processor 802, and a memory 803. The communication device 801, the processor 802, and the memory 803 described above are connected by a bus.

The processor 802 may be a central processing unit (CPU), and the processor may be another general-purpose processor, a digital signal processor (DSP), or an application specific integrated circuit (ASIC). ), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The above memory 803 may include read only memory and random access memory, and provides instructions and data to the processor 802. A portion of the memory 803 may also include a non-volatile random access memory. among them:

The communication device 801 is configured to acquire the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device.

The processor 802 is configured to fuse the amount of the rod generated by the motion and the amount of the rod generated by the input to obtain a lever amount for the aircraft.

Optionally, the processor 802 is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input.

The processor 802 is specifically configured to acquire a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, and superimpose the product to obtain a superimposed amount. The amount of superposition is used as the amount of the lever for the aircraft.

An embodiment of the present invention also discloses an aircraft comprising a power system and a control device according to any of the embodiments provided in FIG. 8, a power system for providing flight power to the aircraft, and a control device for utilizing the control device The resulting amount of control rods for the aircraft controls the aircraft.

In a specific implementation, the communication device 801, the processor 802, and the memory are described in the embodiments of the present invention. The implementation of the apparatus described in the method for controlling the amount of the rods provided in the embodiment of the present invention can be implemented in the embodiment of the present invention. The implementation of the apparatus for controlling the amount of the rods described in FIG. 6 of the embodiment of the present invention can be performed, and details are not described herein.

FIG. 9 is a schematic structural diagram of an external device according to an embodiment of the present invention. The control device described in this embodiment includes a communication device 901, a processor 902, a motion sensor 903, and a memory 904. The above communication device 901, processor 902, motion sensor 903, and memory 904 are connected by a bus.

The processor 902 may be a CPU, and the processor may also be other general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like.

The memory 904 described above can include read only memory and random access memory and provides instructions and data to the processor 902. A portion of the memory 904 may also include a non-volatile random access memory.

The motion sensor 903 described above may be an IMU, a three-axis acceleration sensor, a three-axis gyroscope, a gravity sensor, or the like.

a motion sensor 903, configured to detect motion of the external device, and output motion data;

The processor 902 is configured to calculate a rod amount generated by the movement of the external device according to the motion data, control a communication device to send the rod amount to an aircraft, and control the aircraft by using the rod amount;

The communication device 901 is configured to transmit the amount of the rod generated by the motion to the aircraft.

Optionally, the processor 902 is configured to acquire, according to the motion data, a tangential speed lever amount and a radial speed lever amount that are controlled by the aircraft on a sphere coordinate system, and the tangential speed lever amount Converting the radial velocity rod amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device;

Alternatively, the user wearing or holding the external device may be the specific reference point.

Optionally, the processor 902 is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain a tangential speed lever amount according to the control quantity of the first control mode.

The processor 902 is specifically configured to acquire a control amount of the second control mode in the aircraft according to the motion data, and obtain a radial speed lever amount according to the control amount of the second control mode.

Optionally, the processor 902 is configured to acquire, by using the second network model, the amount of the rod generated by the motion of the external device corresponding to the motion data.

Optionally, the processor 902 is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and input a control quantity of the first control mode into a second network model to obtain a tangential speed lever amount controlled by the aircraft on the sphere coordinate system;

The processor 902 is configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and input a control quantity of the second control mode into the second network model, to obtain the The amount of radial velocity rods controlled by the aircraft on the sphere coordinate system;

The processor 902 is specifically configured to obtain the amount of the rod generated by the motion according to the tangential speed lever amount and the radial speed lever amount.

Wherein, the specific reference point is the origin of the sphere coordinate system. For example, a specific reference point is an external device.

Optionally, the second network model is an artificial neural network.

The external device may be any device configured with a motion sensor, and may specifically be a wearable device such as a watch, a wristband, or a glasses, or a handheld device configured with a motion sensor, such as a control pen, a dedicated remote controller, etc. It is not specifically limited here.

In a specific implementation, the communication device 901, the processor 902, the motion sensor 903, and the memory 904 described in the embodiments of the present invention may implement the implementation manner described in the method for controlling the amount of the bar provided in the embodiment of the present invention. The implementation of the device for controlling the amount of the rods described in the embodiment of the present invention is not described herein.

The embodiment of the invention detects the movement of the external device, outputs the motion data, calculates the amount of the rod generated by the movement of the external device according to the motion data, and then transmits the amount of the rod generated by the motion to the aircraft, so that the aircraft acquires the motion generated by the external device. The amount of the rod and the amount of the rod generated by the input from the external device, the amount of the lever for the aircraft is obtained, so that the automatic fusion of the plurality of levers can be realized, and the automatic switching between the various control modes and the control device can be realized.

It should be noted that, for the foregoing various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should understand that the present invention is not limited by the described action sequence. Because some steps may be performed in other orders or concurrently in accordance with the present application. In the following, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

A person skilled in the art may understand that all or part of the various steps of the foregoing embodiments may be performed by a program to instruct related hardware. The program may be stored in a computer readable storage medium, and the storage medium may include: Flash disk, Read-Only Memory (ROM), Random Access Memory (RAM), disk or optical disk.

The method, the device and the related device for controlling the amount of the rod provided by the embodiment of the present invention are described in detail. The principle and the embodiment of the present invention are described in the following. The description of the above embodiment is only used. To help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in specific embodiments and application scopes. The content should not be construed as limiting the invention.

Claims

A device for controlling the amount of the rod, comprising:

An acquisition module, configured to acquire a rod amount generated by an external device movement and a rod amount generated by input through the external device;

And a processing module, configured to fuse the amount of the rod generated by the motion acquired by the acquiring module with the amount of the rod generated by the input, to obtain a lever amount for the aircraft.
The device of claim 1 wherein:

The amount of the rod generated by the input includes the amount of the rod generated by one or more inputs of a watch, a wristband, a remote controller, a smartphone, and a ground control station.
Device according to claim 1 or 2, characterized in that

The processing module is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input;

The processing module is specifically configured to obtain a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and the corresponding weight coefficient, and superimpose the product to obtain a superimposed amount, The amount of superposition is used as the amount of the lever for the aircraft.
The device according to claim 3, characterized in that

The processing module is specifically configured to input a parameter associated with the motion of the external device and a bar amount generated by inputting by the external device into a first network model, and obtain a bar amount and the input generated by the motion The weight coefficient corresponding to each of the generated rod amounts.
The device according to claim 3, characterized in that

The processing module is further configured to use a preset weight coefficient combination as a target output of the first network model, and generate a parameter associated with the external device motion corresponding to the weight coefficient combination and the input The amount of the bar is used as an input to train the first network model.
The device according to claim 5, characterized in that

The processing module is further configured to: when the first network model is trained, when the parameter associated with the motion of the external device and the amount of the rod generated by the input simultaneously exist, the amount of the highest priority is The weight coefficients corresponding to the amount of the rods are all set to zero.
The device of claim 1 wherein:

The acquiring module is specifically configured to acquire motion data generated by the motion of the external device, and acquire, according to the motion data, a tangential speed lever amount and a radial velocity lever amount that are controlled by the aircraft on a sphere coordinate system, and Converting the tangential speed lever amount and the radial speed lever amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device;

Wherein, the specific reference point is the origin of the sphere coordinate system.
The device of claim 7 wherein:

The specific reference point is an external device.
Device according to claim 7 or 8, characterized in that

The acquiring module is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain the tangential speed lever amount according to the control quantity of the first control mode;

The acquiring module is specifically configured to acquire a control amount of the second control mode in the aircraft according to the motion data, and obtain the radial speed lever amount according to the control amount of the second control mode.
The device of claim 9 wherein:

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is an angle at which the external device rotates on the certain axis.
The device of claim 9 wherein:

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is a moving distance of the external device on the certain axis.
The device of claim 1 wherein:

The acquiring module is specifically configured to acquire motion data generated by the motion of the external device, and acquire, by using a second network model, a lever amount generated by the motion of the external device corresponding to the motion data.
The device according to claim 12, characterized in that

The acquiring module is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and input a control quantity of the first control mode into a second network model to obtain a pair on a spherical coordinate system. The amount of tangential speed rod controlled by the aircraft;

The acquiring module is configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and input a control quantity of the second control mode into the second network model to obtain the sphere. a radial velocity rod amount controlled by the aircraft on the coordinate system;

The acquiring module is specifically configured to obtain a rod amount generated by the motion according to the tangential speed lever amount and the radial speed lever amount;

Wherein, the specific reference point is the origin of the sphere coordinate system.
Device according to claim 3 or 12, characterized in that

The first network model and the second network model are artificial neural networks.
A method for controlling the amount of the rod, characterized in that it comprises:

Obtaining the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device;

The amount of the rod generated by the motion and the amount of the rod generated by the input are fused to obtain a lever amount for the aircraft.
The method of claim 15 wherein:

The amount of the rod generated by the input includes through the watch, the wristband, the remote controller, the smart phone, the ground control The amount of rod produced by one or more inputs in the station.
The method according to claim 15 or 16, wherein the amount of the rod generated by the movement and the amount of the rod generated by the input are fused to obtain a lever amount for the aircraft, comprising:

Obtaining, by the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input;

Obtaining a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, superimposing the product to obtain a superposition amount, and using the superimposed amount as an aircraft The amount of the lever.
The method according to claim 17, wherein the obtaining a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input by using the first network model comprises:

Inputting a parameter associated with the movement of the external device and a amount of the rod generated by the input of the external device into the first network model, acquiring each of the amount of the rod generated by the motion and the amount of the rod generated by the input The weight coefficient corresponding to the quantity.
The method of claim 17, wherein the method further comprises:

Combining a preset weight coefficient as a target output of the first network model, inputting a parameter associated with the external device motion corresponding to the weight coefficient combination and a lever amount generated by the input as an input, The first network model is trained.
The method of claim 19, wherein the method further comprises:

When the parameter associated with the movement of the external device and the amount of the rod generated by the input are simultaneously present, the weight coefficients corresponding to the amount of the rod other than the amount of the highest priority are all set to zero.
The method according to claim 15, wherein said obtaining the amount of the rod generated by the movement of the external device comprises:

Acquiring motion data generated by the motion of the external device, and acquiring the sphere according to the motion data a tangential speed lever amount and a radial speed lever amount controlled by the aircraft on a coordinate system, converting the tangential speed lever amount and the radial velocity lever amount to a Cartesian coordinate system to obtain the external The amount of rod produced by the movement of the equipment;

Wherein, the specific reference point is the origin of the sphere coordinate system.
The method of claim 21 wherein

The specific reference point is an external device.
The method according to claim 21 or 22, wherein the acquiring the tangential speed lever amount and the radial speed lever amount for controlling the aircraft on the sphere coordinate system according to the motion data comprises:

Obtaining a control amount of the first control mode of the aircraft according to the motion data, and obtaining the tangential speed lever amount according to the control amount of the first control mode;

And acquiring, according to the motion data, a control amount of the second control mode of the aircraft, and obtaining the radial velocity lever amount according to the control amount of the second control mode.
The method of claim 23 wherein:

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is an angle at which the external device rotates on the certain axis.
The method of claim 23 wherein:

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is a moving distance of the external device on the certain axis.
The method of claim 15 wherein said obtaining is moved by an external device The amount of shots produced, including:

Acquiring the motion data generated by the motion of the external device, and acquiring the amount of the rod generated by the motion of the external device corresponding to the motion data by using the second network model.
The method according to claim 26, wherein the obtaining, by the second network model, the amount of the rod generated by the movement of the external device corresponding to the motion data comprises:

Obtaining a control quantity of the first control mode of the aircraft according to the motion data, and inputting a control quantity of the first control mode into a second network model to obtain a tangential speed of the aircraft control on a sphere coordinate system Rod amount

Obtaining a control amount of the second control mode of the aircraft according to the motion data, and inputting a control quantity of the second control mode into the second network model to obtain a path controlled by the aircraft on a sphere coordinate system Amount to the speed lever;

Obtaining a rod amount generated by the movement according to the tangential speed rod amount and the radial speed rod amount;

Wherein, the specific reference point is the origin of the sphere coordinate system.
A method according to claim 17 or 26, wherein

The first network model and the second network model are artificial neural networks.
A control device, comprising:

a communication device for acquiring motion data generated by motion of the external device and a lever amount generated by input by the external device;

a processor, configured to obtain, according to the motion data acquired by the communication device, a rod amount generated by the movement of the external device, and combine a rod amount generated by the motion with a rod amount generated by the input to obtain a pair The amount of joystick for the aircraft.
The control device according to claim 29, characterized in that

The amount of the rod generated by the input includes the amount of the rod generated by one or more inputs of a watch, a wristband, a remote controller, a smartphone, and a ground control station.
A control device according to claim 29 or 30, wherein

The processor is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input;

The processor is specifically configured to obtain a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, and superimpose the product to obtain a superimposed amount, The amount of superposition is used as the amount of the lever for the aircraft.
The control device according to claim 31, characterized in that

The processor is specifically configured to input a parameter associated with the motion of the external device and a bar amount generated by inputting by the external device into a first network model, and obtain a bar amount and the input generated by the motion The weight coefficient corresponding to each of the generated rod amounts.
The control device according to claim 31, characterized in that

The processor is further configured to combine a preset weight coefficient as a target output of the first network model, generate a parameter associated with the external device motion corresponding to the weight coefficient combination, and generate the input The amount of the bar is used as an input to train the first network model.
The control device according to claim 33, wherein

The processor is further configured to: when training the first network model, when the parameter associated with the motion of the external device and the amount of the rod generated by the input simultaneously exist, the amount of the highest priority is The weight coefficients corresponding to the amount of the rods are all set to zero.
The control device according to claim 29, characterized in that

The processor is specifically configured to acquire, according to the motion data, a tangential speed rod amount and a radial speed rod amount controlled by the aircraft on a sphere coordinate system, and the tangential speed rod amount and the radial direction Converting the speed lever amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device;

Wherein, the specific reference point is the origin of the sphere coordinate system.
The control device according to claim 35, characterized in that

The specific reference point is the external device.
A control device according to claim 35 or 36, wherein

The processor is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain the tangential speed lever amount according to the control quantity of the first control mode;

The processor is specifically configured to acquire a control amount of the second control mode in the aircraft according to the motion data, and obtain the radial speed lever amount according to the control amount of the second control mode.
The control device according to claim 37, characterized in that

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is an angle at which the external device rotates on the certain axis.
The control device according to claim 37, characterized in that

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is a moving distance of the external device on the certain axis.
The control device according to claim 29, characterized in that

The processor is specifically configured to acquire, by using a second network model, a rod amount generated by the motion of the external device corresponding to the motion data.
The control device according to claim 40, characterized in that

The processor is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and input a control quantity of the first control mode into a second network model to obtain a pair on a spherical coordinate system. The amount of tangential speed rod controlled by the aircraft;

The processor is specifically configured to acquire, according to the motion data, a second control mode in the aircraft a control quantity, the control quantity of the second control mode is input to the second network model, to obtain a radial speed rod amount controlled by the aircraft on the spherical coordinate system;

The processor is specifically configured to obtain a rod amount generated by the motion according to the tangential speed lever amount and the radial speed lever amount;

Wherein, the specific reference point is the origin of the sphere coordinate system.
A control device according to claim 31 or 40, characterized in that

The first network model and the second network model are artificial neural networks.
A control device, comprising:

a communication device for acquiring the amount of the rod generated by the movement of the external device and the amount of the rod generated by the input through the external device;

And a processor for fusing the amount of the rod generated by the motion and the amount of the rod generated by the input to obtain a lever amount for the aircraft.
The control device according to claim 43, wherein

The amount of the rod generated by the input includes the amount of the rod generated by one or more inputs of a watch, a wristband, a remote controller, a smartphone, and a ground control station.
A control device according to claim 43 or 44, wherein

The processor is configured to acquire, by using the first network model, a weight coefficient corresponding to each of the amount of the rod generated by the motion and the amount of the rod generated by the input;

The processor is specifically configured to obtain a product between each of the amount of the rod generated by the motion and the amount of the rod generated by the input and a corresponding weight coefficient, and superimpose the product to obtain a superimposed amount, The amount of superposition is used as the amount of the lever for the aircraft.
An aircraft characterized by comprising:

a power system for providing flight power to the aircraft;

The control device according to any one of claims 29 to 45, which is obtained by using the control device The aircraft is controlled for the amount of control rod of the aircraft.
An external device includes a processor, a motion sensor, and a communication device, the processor being respectively coupled to the motion sensor and the communication device, wherein

The motion sensor is configured to detect motion of the external device and output motion data;

The processor is configured to calculate a rod amount generated by the movement of the external device according to the motion data, control a communication device to send the rod amount to an aircraft, and control the aircraft by using the rod amount;

The communication device is configured to transmit the amount of the rod generated by the motion to the aircraft.
The external device according to claim 47, wherein

The processor is specifically configured to acquire, according to the motion data, a tangential speed rod amount and a radial speed rod amount controlled by the aircraft on a sphere coordinate system, and the tangential speed rod amount and the radial direction Converting the speed lever amount to a Cartesian coordinate system to obtain the amount of the rod generated by the movement of the external device;

Wherein, the specific reference point is the origin of the sphere coordinate system.
The external device according to claim 48, wherein

The processor is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and obtain a tangential speed lever amount according to the control quantity of the first control mode;

The processor is specifically configured to acquire a control amount of the second control mode in the aircraft according to the motion data, and obtain a radial speed lever amount according to the control amount of the second control mode.
The external device according to claim 49, wherein

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is an angle at which the external device rotates on the certain axis.
The external device according to claim 49, wherein

The control amount of the first control mode is an angle between an alignment of the aircraft and the specific reference point and an axial direction of a certain axis of a coordinate system defined by a motion sensor of the external device;

The control amount of the second control mode is a moving distance of the external device on the certain axis.
The external device according to claim 47, wherein

The processor is specifically configured to acquire motion data generated by the motion of the external device, and acquire, by using a second network model, a lever amount generated by the motion of the external device corresponding to the motion data.
The external device according to claim 52, characterized in that

The processor is configured to acquire a control quantity of the first control mode of the aircraft according to the motion data, and input a control quantity of the first control mode into a second network model to obtain a pair on a spherical coordinate system. The amount of tangential speed rod controlled by the aircraft;

The processor is specifically configured to acquire a control quantity of the second control mode of the aircraft according to the motion data, and input a control quantity of the second control mode into the second network model to obtain the sphere a radial velocity rod amount controlled by the aircraft on the coordinate system;

The processor is specifically configured to obtain a rod amount generated by the motion according to the tangential speed lever amount and the radial speed lever amount;

Wherein, the specific reference point is the origin of the sphere coordinate system.
An external device according to claim 52 or 53, wherein

The second network model is an artificial neural network.