CN106020234B - Unmanned aerial vehicle flight control method, device and equipment - Google Patents
Unmanned aerial vehicle flight control method, device and equipment Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
Abstract
The invention discloses a flight control method of an unmanned aerial vehicle, which comprises the following steps: capturing motion information of an operation end, generating a first data stream containing motion trail information of the operation end, processing the first data stream, converting the first data stream into a second data stream containing a flight control command corresponding to the motion trail information of the operation end, and responding to the flight control command in the second data stream to instruct an unmanned aerial vehicle to finish a flight action with a consistent motion trail with the operation end. The implementation of the invention leads the flight control of the unmanned aerial vehicle to be more intuitive, greatly reduces the operation difficulty of the unmanned aerial vehicle and leads the man-machine interaction mode of the unmanned aerial vehicle to be simpler and more convenient.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of human-computer interaction, in particular to a method, a device and equipment for controlling flight of an unmanned aerial vehicle.
[ background of the invention ]
In recent years, unmanned aerial vehicles are more and more frequently seen in the visual field of people, civil unmanned aerial vehicles are often applied to the fields of agriculture and forestry operation, surveying and mapping, power line patrol, military reconnaissance, emergency disaster relief, aerial photography and the like, and the civil unmanned aerial vehicles become one of the hottest entrepreneurses.
At present, the control of the unmanned aerial vehicle is mostly operated through a remote controller, and the control is usually performed through a rocker, a key or a virtual key of intelligent equipment and the like. However, the operation of the unmanned aerial vehicle usually needs a period of training or adaptation of an operator to be better performed, and even when some unmanned aerial vehicles are applied to some special fields, the operator is required to take a license of the unmanned aerial vehicle and then the unmanned aerial vehicle can be operated in a flying mode. Such control mode influences the operator and uses the experience, can even appear falling accident because of the misoperation. The reason is that a series of flight control commands can be combined to complete a set of flight trajectory, and when a complex flight trajectory is completed, more flight control commands are needed in the combination, so that higher requirements are provided for the control technology of an operator.
At present, gesture command control methods exist, the control of the flight attitude and the flight direction of the unmanned aerial vehicle is realized by presetting intuitive gestures or actions, the control methods are intuitive, but due to the fact that the preset flight control commands are limited, when the flight trajectory different from the preset commands needs to be completed, the control can be performed only by combining a plurality of gesture commands, and therefore the control methods cannot meet the requirement of realizing diversified flight trajectories in the actual operation of the unmanned aerial vehicle.
In view of this, the human-computer interaction mode of being more close is favorable to the convenience and the flight safety of unmanned aerial vehicle operation.
[ summary of the invention ]
In view of the above problem of at least one aspect, the present invention provides a flight control method for an unmanned aerial vehicle and a corresponding device thereof, so as to realize simpler and more intuitive flight control for the unmanned aerial vehicle. Correspondingly, the invention also provides flight control terminal equipment for implementing the method or operating the device.
In order to realize the purpose, the invention adopts the following technical scheme:
the invention provides an unmanned aerial vehicle flight control method, which comprises the following steps:
capturing motion of an operation end, and generating a first data stream containing motion track information of the operation end;
processing the first data stream to convert the first data stream into a second data stream containing flight control instructions corresponding to the operating end motion information;
and responding to the flight control instruction in the second data stream to instruct the unmanned aerial vehicle to complete the flight track with the consistent motion track with the operation end.
In one mode, the step of capturing the motion of the operation end is performed by inertial sensing.
In another mode, in the step of capturing the motion of the operation end, the capturing mode is optical sensing.
Further, the first data stream includes route data and speed data of the movement of the operation end.
The second data stream includes route control data and speed control data for the drone flight.
Specifically, the route control data and the speed control data of the unmanned aerial vehicle flying in the second data stream correspond to the route data and the speed data of the operation end movement in the first data stream, respectively.
In one embodiment, the course and speed of the operation end movement is proportional to the course and speed of the flight of the drone.
Further, the proportional relation of different multiples is set by setting different gears.
In one embodiment, the first data stream is divided by a time period to break up the manipulation terminal motion into one or more intervals for transmission.
According to some embodiments of the present invention, the method further comprises the steps of:
and establishing a trusted connection between the operation terminal and the flight control terminal.
According to some embodiments of the present invention, the method further comprises the steps of:
and related physical switches are turned on and off to realize the unmanned aerial vehicle track simulation control mode turning on or turning off.
According to the embodiment of the invention, the method further comprises the following steps:
and sensing the gravity direction, the space direction and the static state of the operation end and the unmanned aerial vehicle end respectively, and checking the states of the operation end and the unmanned aerial vehicle end.
According to some embodiments of the present invention, the method further comprises the steps of:
and related physical switches are turned on and off to realize the unmanned aerial vehicle track simulation control mode turning on or turning off.
The invention provides an unmanned aerial vehicle flight control device, which comprises:
the motion capture unit is used for capturing motion of the operation end and generating a first data stream containing motion information;
the data processing unit is used for processing the first data stream and converting the first data stream into a second data stream containing flight control instructions corresponding to the motion information of the operating end;
and the flight control unit responds to the flight control instruction in the second data stream to instruct the unmanned aerial vehicle to complete the flight track with the consistent motion track with the operation end.
In one mode, the motion capture unit captures motion by inertial sensing.
In yet another aspect, the motion capture unit captures motion by optical sensing.
Further, the first data stream includes route data and speed data of the movement of the operation end.
The second data stream includes route control data and speed control data for the drone flight.
Specifically, the route control data and the speed control data of the unmanned aerial vehicle flying in the second data stream correspond to the route data and the speed data of the operation end movement in the first data stream, respectively.
In one embodiment, the course and speed of the operation end movement is proportional to the course and speed of the flight of the drone.
Further, the proportional relation of different multiples is set by setting different gears.
In one embodiment, the apparatus includes a data stream splitting unit that splits the first data stream by time segments and splits the operation end motion into one or more intervals for transmission.
According to some embodiments of the present disclosure, the apparatus further comprises:
and the communication unit is used for establishing trust connection between the operation end and the flight control end.
According to some embodiments of the present disclosure, the apparatus further comprises:
and the switching unit is used for switching on and off the related physical switches to realize the switching on or switching off of the unmanned aerial vehicle track simulation control mode.
According to the embodiment of the present invention, the apparatus further comprises:
and the checking unit is used for respectively sensing the gravity direction, the space direction and the static state of the operation end and the unmanned aerial vehicle end and checking the states of the operation end and the unmanned aerial vehicle end.
The invention provides an unmanned aerial vehicle flight control device, which comprises:
the capturing module is internally provided with a first gyroscope, a first magnetic sensor and a first acceleration sensor and is used for acquiring motion information of the operation end and acquiring azimuth information and attitude information of the operation end;
the unmanned aerial vehicle attitude acquisition module is internally provided with a second gyroscope, a second magnetic sensor and a second acceleration sensor and is used for acquiring the azimuth information and the flight attitude information of the unmanned aerial vehicle;
the communication module is used for information communication between the operation end and the flight control end;
the flight control module is used for indicating the unmanned aerial vehicle to complete a flight track based on the flight control instruction;
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors;
the one or more programs for causing the one or more processors to construct an apparatus to perform the method of any of claims 1-13.
The invention provides an unmanned aerial vehicle flight control device, which comprises:
the capturing module is internally provided with a first gyroscope, a first magnetic sensor and a first acceleration sensor and is used for acquiring motion information of the operation end and acquiring azimuth information and attitude information of the operation end;
the unmanned aerial vehicle attitude acquisition module is internally provided with a second gyroscope, a second magnetic sensor and a second acceleration sensor and is used for acquiring the azimuth information and the flight attitude information of the unmanned aerial vehicle;
the communication module is used for information communication between the operation end and the flight control end;
the flight control module is used for indicating the unmanned aerial vehicle to complete a flight track based on the flight control instruction;
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors;
the one or more programs for driving the one or more processors to be configured for performing the apparatus of any of claims 14 to 26.
Compared with the prior art, the beneficial effects of the scheme provided by the invention are as follows: for a user using an operation end to perform unmanned aerial vehicle flight control, the motion information of the operation end is captured by moving the operation end and matching with intelligent equipment with a motion monitoring device, so that a first data stream with motion track information of the operation end is formed, and then the first data stream is converted into a second data stream containing flight control instructions through a data processing unit. Compared with the operation mode of multiple rods/key positions of the remote controller in the prior art, when a complex flight path is completed, logical arrangement and combination are not needed to be carried out according to various flight control instructions, and the unmanned aerial vehicle can simulate the motion track of the operation end to complete the required flight path only by enabling the operation end to complete the action track similar to the path required by the unmanned aerial vehicle. Compared with a method for performing flight control based on preset gesture instructions and responding to the gesture instructions, the scheme provided by the invention ensures that the flight trajectories which can be directly completed by the unmanned aerial vehicle are not limited to the number of the preset instructions, so that the method is more suitable for diversified flight trajectory requirements.
In summary, the implementation of the invention can make the flight control of the unmanned aerial vehicle closer to the user, so that the user operating the unmanned aerial vehicle does not need to train or learn for a long time, which is beneficial to improving the use experience of the user.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a functional block diagram of a flight control system constructed from the operator motion capture module, data processing module, and flight control module of the present invention;
fig. 2 is a schematic flow chart of an embodiment of the flight control method for an unmanned aerial vehicle according to the present invention.
Fig. 3 is a schematic flow chart of another embodiment of the flight control method of the unmanned aerial vehicle according to the present invention.
Fig. 4 is a schematic flow chart of a flight control method for an unmanned aerial vehicle according to still another embodiment of the present invention.
Fig. 5 is a schematic flow chart of a flight control method of an unmanned aerial vehicle according to still another embodiment of the present invention.
Fig. 6 is a schematic flow chart of a flight control method of an unmanned aerial vehicle according to still another embodiment of the present invention.
Fig. 7 is a schematic flow chart of a flight control method of an unmanned aerial vehicle according to still another embodiment of the present invention.
Fig. 8 is a schematic diagram of an embodiment of the flight control device of the unmanned aerial vehicle according to the invention.
Fig. 9 is a schematic diagram of the flight control device of the unmanned aerial vehicle according to an embodiment of the invention.
Fig. 10 is a schematic diagram of an embodiment of the flight control device of the unmanned aerial vehicle according to the invention.
Fig. 11 is a schematic diagram of an embodiment of the flight control device of the unmanned aerial vehicle according to the invention.
Fig. 12 is a schematic diagram of an embodiment of the flight control device of the unmanned aerial vehicle according to the invention.
[ detailed description ] embodiments
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 102, etc. merely to distinguish between the various operations, and the order of the operations by themselves is not intended to represent any order of execution. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for capturing the motion information of the operation end refers to the step of obtaining the motion information of an operation part of a user of the unmanned aerial vehicle, and the motion information comprises motion route information and motion speed information of the operation part. Typical acquisition modes are inertial sensing, optical observation, and combined inertial and optical sensing. The inertial sensing mainly uses an inertial sensor as a main part, for example, a gravity sensor, a gyroscope, a magnetic sensor and the like are used for sensing physical parameters of the limb movement of a user, such as acceleration, angular velocity and a magnetic field, and then various movements of the detected part of the user in the space are obtained according to the physical parameters; the optical sensing mainly obtains human body images through an optical sensor, and further obtains human body image information and image depth information through a laser and a camera, so as to capture 3D images of the monitored part.
The calibration of the states of the operation end and the unmanned aerial vehicle end refers to that the operation end and the unmanned aerial vehicle end are in the same space coordinate system and the motion states of the operation end and the unmanned aerial vehicle end are calibrated through sensing the space orientation and the motion state information of the operation end and the unmanned aerial vehicle end respectively by the gyroscope, the magnetic sensor and the acceleration sensor of the operation end and the unmanned aerial vehicle end respectively, namely the orientation information of the east, the west, the south, the north, the upper and the lower and the motion state information of the operation end and the unmanned aerial vehicle end respectively, and the calibration is passed when the operation end and the unmanned aerial vehicle end are in a static state.
For the convenience of understanding the present invention, an operating environment of the present invention is described below, which can also be considered as an application scenario of the present invention.
As shown in fig. 1, when the unmanned aerial vehicle automatically enters a hovering flight attitude after taking off, the devices according to the present invention have established a local area network capable of free communication in advance by way of trust connection, and information communication between the devices is transmitted by way of the trust connection.
There is an operation end motion information capture equipment, and one mode is that the motion information of operation end is sensed through inertia sensing module, and it has gravity sensor to embed for example, and the intelligence bracelet of the inertia sensing module that gyroscope, magnetic force sensor and acceleration sensor constitute jointly wears in unmanned aerial vehicle user's wrist, when unmanned aerial vehicle user wrist takes place the motion, the speed of motion in its motion trail and motion process is caught to inertia sensing module. The other mode is that the motion information of operation end is sensed through optical sensing module, for example, the built-in intelligent glasses that have optical sensing module that optical sensor, laser and image recognition camera constitute jointly establish unmanned aerial vehicle user hand through optical sensing module and influence information to catch its motion track information and the speed information in the motion process when it takes place to move. No matter what kind of mode, motion trail and motion speed information when operation end motion information capture equipment all can acquire at least that the unmanned aerial vehicle user is used for operating the operation position motion of unmanned aerial vehicle.
The data processing equipment is provided with a memory, can receive and store a first data stream containing operation end motion information, stores a data conversion program, and converts the operation end motion information in the first data stream into flight control commands in a one-to-one correspondence mode on the basis of the operation end motion information in the first data stream. The flight control instruction refers to the flight attitude action of the unmanned aerial vehicle, for example, when the action information of the operation end is rising, the corresponding flight control instruction is to accelerate the rotation speed of the rotor wing so as to lift the flight height of the unmanned aerial vehicle; for another example, when the operation end action information moves towards a certain direction, the corresponding flight control instruction is that the rotor wing tilts towards the direction, so that the unmanned aerial vehicle flies towards the direction; for another example, when the operation end action information is a curve with a certain radian, the corresponding flight control command also has a change of an inclined direction corresponding to the change of the tangent direction of the curve, so that the motion track of the unmanned aerial vehicle is similar to the curve. Furthermore, the first data stream can be divided at time intervals, so that the motion action of the operation end is divided into a plurality of sections of motion, the sections of data are processed by a plurality of processors at the same time in sequence and are sent in sequence, and the response efficiency of data processing is improved.
And the unmanned aerial vehicle flight control device is used for receiving the flight control instruction and indicating the unmanned aerial vehicle to complete the flight instruction based on the flight control instruction. For example, when the flight control instruction is to accelerate the rotation speed of the rotor, the flight control device drives the power supply current of the rotor to be increased based on the instruction, so that the rotor of the unmanned aerial vehicle is accelerated to rotate; if the flight control instruction is that the rotor wing inclines towards a certain direction, the flight control equipment makes corresponding action according to the instruction and the trend rotor wing direction control module, so that the rotor wing of the unmanned aerial vehicle inclines towards a corresponding direction; for another example, when the flight control command is a command having a change corresponding to a change in a tangential direction of a certain curve, the flight control device makes a corresponding change combination based on the command, so that the tilt direction of the rotor of the unmanned aerial vehicle has a direction change corresponding to the change in the tangential direction of the curve.
The operating mechanism of the operating configuration shown in fig. 1 is: after the operation end motion information capturing device is started, motion information of an operation part of an unmanned aerial vehicle user is captured through a sensing sensor element, a first data stream containing the operation end motion information is formed, the first data stream is optionally divided into a plurality of data segments and is sent to the data processing device, the data processing device receives the first data stream and then converts the first data stream into a second data stream containing flight control instructions corresponding to the operation end motion information, optionally, the corresponding relations can be the same or can be proportional corresponding relations with different multiples, the second data stream is sent to the flight control device, and after the flight control device receives the second data stream, the unmanned aerial vehicle is instructed to carry out corresponding motion instructions to control the flight of the unmanned aerial vehicle based on the flight control instructions, therefore, the flight track of the unmanned aerial vehicle is derived from the motion track of the operation end, and the unmanned aerial vehicle and the operation end have the same or similar motion track.
Specific implementations of various specific devices will be disclosed in various embodiments of the present invention.
Referring to fig. 2, in an embodiment of the present invention, a flight control method for an unmanned aerial vehicle includes the following steps: step S11, capturing motion information of the operation end, generating a first data stream containing motion trajectory information of the operation end, step S12, processing the first data stream, converting the first data stream into a second data stream containing flight control commands corresponding to the motion trajectory information of the operation end, and step S13, responding to the flight control commands in the second data stream, and instructing the unmanned aerial vehicle to complete a flight action with a motion trajectory consistent with the motion trajectory of the operation end.
Obviously, a communication network is established among the operation terminal motion information capturing device, the data processing device and the unmanned aerial vehicle flight control device through trust connection in advance. After the operation end of an unmanned aerial vehicle user generates movement, the operation end movement information capturing device can form a first data stream containing operation end movement information, the first data stream is transmitted to a data processing device through an erected communication network, the first data stream is converted into a second data stream containing flight control instructions corresponding to the movement track information of the operation end, the second data stream is transmitted to the flight control device through the erected communication network, and based on the flight control instructions in the second data stream, the flight control device performs corresponding unmanned aerial vehicle flight control. The implementation of the method can enable the unmanned aerial vehicle to complete a flight track similar to the motion track of the operation end.
Referring to fig. 3, in an embodiment of the present invention, a flight control method for an unmanned aerial vehicle includes the following steps: step S21, monitoring the motion track of the operation end; step S22, forming a corresponding first data stream containing the motion information of the operation terminal based on the monitored motion information of the operation terminal; step S24, sending the first data stream to a data processing apparatus.
The track information of the operation end is generated into a first data stream by monitoring the movement of the operation end, and the first data stream is sent to the data processing equipment.
Preferably, as shown in fig. 4, in an embodiment of the present invention, the method for controlling flight of an unmanned aerial vehicle includes the following steps: step S21, monitoring the motion track of the operation end; step S22, forming a corresponding first data stream containing the motion information of the operation terminal based on the monitored motion information of the operation terminal; a step S23 of dividing the first data stream at time intervals; step S24, sending the first data stream to the data processing device segment.
After the first data stream is generated, the first data stream is divided into a plurality of data streams at equal time intervals and then sequentially transmitted to the data processing device. The method can reduce the motion information contained in each section of data stream, on one hand, the data volume processed by the data processing equipment each time can be reduced, on the other hand, the method can be convenient for a processor to perform multi-thread processing or a plurality of processors to perform processing of the first data stream at the same time, and is beneficial to improving the data processing speed.
Referring to fig. 5, in an embodiment of the present invention, a flight control method for an unmanned aerial vehicle includes the following steps: step S31, sequentially decomposing the operation end motion trajectory information included in the first data stream into single motion data; step S32, converting the single motion data into corresponding flight motion command data in sequence to form a second data stream containing flight control commands; step S33, sending the second data stream to a flight control device.
After receiving the first data stream, the data processing equipment firstly analyzes and sequences the information in the first data stream, extracts the motion trail information of the operation end therein, converts the motion trail information into a second data stream formed by corresponding flight control instructions, and then sends the second data stream to the flight control equipment. For example, the motion information contained in one segment of data stream is that the operation end moves 0.3 meter from north to south, the time spent is 0.1s, then moves 0.5 meter from east to west, and the time spent is 0.15s, the operation end is divided into 2 steps for extraction during information extraction, firstly the motion information of 0.3 meter is extracted, the motion direction and the motion speed are defined, then the motion of 0.5 meter is extracted, the motion direction and the motion speed are defined, the motion information of 0.3 meter is placed before the motion of 0.5 meter, then two flight control commands are formed, and the second data stream is generated.
It should be noted that the motion information in the first data stream and the second data stream includes a motion track and a motion speed, and the motion track includes a motion route and a motion direction. The values of the movement route and the movement speed in the first data stream and the second data stream can be the same, for example, the operation end in the first data stream moves 0.1 meter from north to south, the time consumption is 0.1s, and the corresponding flight control instruction in the second data stream is that the unmanned aerial vehicle moves 0.1 meter from north to south, and the time consumption is 0.1 s; the two can also be set to have a multiple proportional relationship through gear setting, for example, the operating end moves from north to south for 0.1 meter in time for 0.1s in the first data stream, and the corresponding flight control instruction in the second data stream is to make the unmanned aerial vehicle move from north to south for 0.2 meter in time for 0.1 s;
referring to fig. 6, in an embodiment of the present invention, a method for controlling flight of an unmanned aerial vehicle includes the following steps: step S41, extracting flight control commands in the second data stream in sequence; and step S42, sequentially instructing the unmanned aerial vehicle to complete corresponding flight actions based on the flight control instructions.
After receiving a second data stream containing flight control instructions, firstly extracting the flight control instructions in sequence, and then instructing the unmanned aerial vehicle to complete corresponding flight actions based on the content of the control instructions. For example, when the flight control instruction is to accelerate the rotation speed of the rotor, the flight control device drives the power supply current of the rotor to be increased based on the instruction, so that the rotor of the unmanned aerial vehicle is accelerated to rotate; if the flight control instruction is that the rotor wing inclines towards a certain direction, the flight control equipment makes corresponding action according to the instruction and the trend rotor wing direction control module, so that the rotor wing of the unmanned aerial vehicle inclines towards a corresponding direction; for another example, when the flight control command is a command having a change corresponding to a change in a tangential direction of a certain curve, the flight control device makes a corresponding change combination based on the command, so that the tilt direction of the rotor of the unmanned aerial vehicle has a direction change corresponding to the change in the tangential direction of the curve.
Referring to fig. 7, in an embodiment of the present invention, a flight control method for an unmanned aerial vehicle includes the following steps: step S01, based on the switch being turned on, the starting device sends a spatial attitude sensing instruction to the sensing device; step S02, the sensing equipment receives the spatial attitude sensing instruction, respectively senses the spatial motion state of the operation end and the spatial motion state of the unmanned aerial vehicle, and feeds back the spatial motion state information of the operation end and the spatial motion state information of the unmanned aerial vehicle to the checking equipment; and S03, checking the space motion state information by the checking equipment, when the operating end and the unmanned aerial vehicle are both in a static state of a space position, passing the checking, and sending an unmanned aerial vehicle track simulation control mode starting instruction to the operating end motion capture equipment and the unmanned aerial vehicle flight control equipment.
The starting step of the unmanned aerial vehicle track simulation control mode comprises two processes of starting a starting switch and synchronizing the space attitude. After unmanned aerial vehicle orbit imitation control mode start switch opens, can send space gesture perception instruction to perception equipment promptly, after perception equipment sensed the space motion state of operation end and unmanned aerial vehicle respectively, with the motion information feedback of sensing to check equipment, check equipment check the space motion state information between them, when operation end and unmanned aerial vehicle all are in spatial position's quiescent condition, the check passes through to send unmanned aerial vehicle orbit imitation control mode start instruction.
According to the modular design concept of the computer program, the invention also provides corresponding devices for the methods for introduction:
referring to fig. 8, the flight control device of the unmanned aerial vehicle includes a capturing unit 11, a data processing unit 12, and a flight control unit 13.
After the operation end of an unmanned aerial vehicle user moves, capturing the motion information of the operation end by a capturing unit and forming a first data stream containing operation end motion information, transmitting the first data stream to a data processing unit through an erected communication network, converting the first data stream into a second data stream containing a flight control instruction corresponding to the operation end motion track information, transmitting the second data stream to a flight control unit through the erected communication network, and carrying out corresponding unmanned aerial vehicle flight control by the flight control unit based on the flight control instruction in the second data stream. The device can make unmanned aerial vehicle accomplish the flight track similar with the motion track of operation end.
Referring to fig. 9, the flight control device of the unmanned aerial vehicle includes: a monitoring unit 21, a data stream generating unit 22 and a communication unit 24.
The monitoring unit monitors the movement of the operation end, the data generation unit generates track information into a first data stream, and the communication unit sends the first data stream to the data processing unit.
Preferably, as shown in fig. 10, the flight control device of the unmanned aerial vehicle includes: monitoring unit 21, data stream generating unit 22, dividing unit 23, communication unit 24
After the first data stream is generated, the dividing unit divides the first data stream into a plurality of data streams at equal time intervals, and then sequentially transmits the data streams to the data processing device. The device can reduce the motion information contained in each section of data stream, on one hand, the data volume processed by the data processing equipment at each time can be reduced, on the other hand, the device can be convenient for a processor to perform multi-thread processing or a plurality of processors to perform processing of the first data stream at the same time, and the device is favorable for improving the data processing speed.
Referring to fig. 11, the flight control device of the unmanned aerial vehicle includes: an analysis unit 31, a conversion unit 31, and a communication unit 33.
After the first data stream is received, the analysis unit analyzes and sequences information in the first data stream, extracts motion trail information of an operation end, the conversion unit converts the motion trail information into a second data stream formed by corresponding flight control instructions, and then the communication unit sends the second data stream to the flight control unit. For example, the motion information contained in one segment of data stream is that the operation end moves 0.3 meter from north to south, the time spent is 0.1s, then moves 0.5 meter from east to west, and the time spent is 0.15s, the operation end is divided into 2 steps for extraction during information extraction, firstly the motion information of 0.3 meter is extracted, the motion direction and the motion speed are defined, then the motion of 0.5 meter is extracted, the motion direction and the motion speed are defined, the motion information of 0.3 meter is placed before the motion of 0.5 meter, then two flight control commands are formed, and the second data stream is generated.
It should be noted that the motion information in the first data stream and the second data stream includes a motion track and a motion speed, and the motion track includes a motion route and a motion direction. The values of the movement route and the movement speed in the first data stream and the second data stream can be the same, for example, the operation end in the first data stream moves 0.1 meter from north to south, the time consumption is 0.1s, and the corresponding flight control instruction in the second data stream is that the unmanned aerial vehicle moves 0.1 meter from north to south, and the time consumption is 0.1 s; the two can also be set to have a multiple proportional relationship through gear setting, for example, the operating end moves from north to south for 0.1 meter in time for 0.1s in the first data stream, and the corresponding flight control instruction in the second data stream is to make the unmanned aerial vehicle move from north to south for 0.2 meter in time for 0.1 s;
referring to fig. 12, the flight control device for an unmanned aerial vehicle includes: an extracting unit 41 and an indicating unit 42.
After receiving a second data stream containing a flight control instruction, the extracting unit extracts the flight control instruction in sequence, and the indicating unit indicates the unmanned aerial vehicle to complete corresponding flight actions based on the content of the control instruction. For example, when the flight control instruction is to accelerate the rotation speed of the rotor, the flight control device drives the power supply current of the rotor to be increased based on the instruction, so that the rotor of the unmanned aerial vehicle is accelerated to rotate; if the flight control instruction is that the rotor wing inclines towards a certain direction, the flight control equipment makes corresponding action according to the instruction and the trend rotor wing direction control module, so that the rotor wing of the unmanned aerial vehicle inclines towards a corresponding direction; for another example, when the flight control command is a command having a change corresponding to a change in a tangential direction of a certain curve, the flight control device makes a corresponding change combination based on the command, so that the tilt direction of the rotor of the unmanned aerial vehicle has a direction change corresponding to the change in the tangential direction of the curve.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
It will be understood by those skilled in the art that all or part of the steps in the method for implementing the above embodiments may be implemented by hardware that is instructed to implement by a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
While the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (28)
1. An unmanned aerial vehicle flight control method is characterized by comprising the following steps:
capturing motion information of an operation end, and generating a first data stream containing motion track information of the operation end;
processing the first data stream and converting the first data stream into a second data stream containing flight control instructions corresponding to the motion trail information of the operation end;
responding to the flight control instruction in the second data stream to instruct the unmanned aerial vehicle to complete a flight track with a consistent motion track with the operation end;
the processing the first data stream to convert the first data stream into a second data stream containing flight control instructions corresponding to the motion trail information of the operation end comprises the following steps:
decomposing the motion trail information of the operation end contained in the first data stream into single motion action data in sequence;
and sequentially converting the single motion action data into corresponding flight action command data to form a second data stream containing flight control commands.
2. The unmanned aerial vehicle flight control method of claim 1, wherein in the step of capturing the motion of the operating end, the capturing mode is inertial sensing.
3. The unmanned aerial vehicle flight control method of claim 1, wherein in the step of capturing the motion of the operating end, the capturing means is optical sensing.
4. The drone flight control method of claim 1, wherein the first data stream includes route data and speed data of the operation end movement.
5. The drone flight control method of claim 1, wherein the second data stream includes route control data and speed control data for drone flight.
6. The unmanned aerial vehicle flight control method of claim 5, wherein the route control data and the speed control data for unmanned aerial vehicle flight in the second data stream correspond to the route data and the speed data for the movement of the operating end in the first data stream, respectively.
7. The drone flight control method of claim 6, wherein the operational end movement path and speed are proportional to the path and speed of the drone flight.
8. The unmanned aerial vehicle flight control method of claim 7, wherein different multiples of the proportional relationship are set by setting different gears.
9. The unmanned aerial vehicle flight control method of claim 1, wherein the first data stream is divided by time period to break down the operation end motion into one or more intervals of transmissions.
10. The unmanned aerial vehicle flight control method of claim 1, wherein the unmanned aerial vehicle automatically enters a hovering flight attitude after takeoff.
11. The unmanned aerial vehicle flight control method of claim 1, further comprising the steps of:
and establishing a trusted connection between the operation terminal and the flight control terminal.
12. The unmanned aerial vehicle flight control method of claim 1, further comprising the steps of:
and related physical switches are turned on and off to realize the unmanned aerial vehicle track simulation control mode turning on or turning off.
13. The unmanned aerial vehicle flight control method of claim 12, further comprising:
and sensing the gravity direction, the space direction and the static state of the operation end and the unmanned aerial vehicle end respectively, and checking the states of the operation end and the unmanned aerial vehicle end.
14. An unmanned aerial vehicle flight control device, its characterized in that includes:
the motion capture unit is used for capturing motion information of the operation end and generating a first data stream containing the motion information;
the data processing unit is used for processing the first data stream and converting the first data stream into a second data stream containing flight control instructions corresponding to the motion information of the operating end;
the flight control unit responds to the flight control instruction in the second data stream to instruct the unmanned aerial vehicle to complete a flight track with a consistent motion track with the operation end;
the data processing unit is specifically configured to, when processing the first data stream and converting the first data stream into a second data stream including a flight control instruction corresponding to the operation end motion information:
decomposing the motion trail information of the operation end contained in the first data stream into single motion action data in sequence;
and sequentially converting the single motion action data into corresponding flight action command data to form a second data stream containing flight control commands.
15. The unmanned aerial vehicle flight control of claim 14, wherein the motion capture unit captures motion by inertial sensing.
16. The unmanned aerial vehicle flight control device of claim 14, wherein the motion capture unit captures motion by optical sensing.
17. The drone flight control device of claim 14, wherein the motion trajectory data includes route data and speed data of the operating end motion.
18. The drone flight control device of claim 14, wherein the processing unit, the second data stream includes route control data and speed control data for drone flight.
19. The drone flight control device of claim 18, wherein the route control data and the speed control data for drone flight in the second data stream correspond to the route data and the speed data for the motion of the operating end in the motion trajectory data, respectively.
20. The drone flight control device of claim 19, wherein the operational end movement path and speed are proportional to the path and speed of the drone flight.
21. An unmanned aerial vehicle flight control apparatus as claimed in claim 20, comprising a gear setting unit configured to set the proportional relationship in different multiples by setting different gears.
22. The unmanned aerial vehicle flight control apparatus of claim 14, comprising a data stream splitting unit configured to split the first data stream according to time periods and to split the operation end motion into one or more intervals of transmissions.
23. The drone flight control device of claim 14, comprising a flight attitude for automatic hover entry after takeoff of the drone.
24. The unmanned aerial vehicle flight control apparatus of claim 14, further comprising:
and the communication unit is used for establishing trust connection between the operation end and the flight control end.
25. The unmanned aerial vehicle flight control apparatus of claim 14, further comprising:
and the switching unit is used for switching on and off the related physical switches to realize the switching on or switching off of the unmanned aerial vehicle track simulation control mode.
26. The unmanned aerial vehicle flight control apparatus of claim 25, further comprising:
and the checking unit is used for respectively sensing the gravity direction, the space direction and the static state of the operation end and the unmanned aerial vehicle end and checking the states of the operation end and the unmanned aerial vehicle end.
27. An unmanned aerial vehicle flight control device, comprising:
the capturing module is internally provided with a first gyroscope, a first magnetic sensor and a first acceleration sensor and is used for acquiring motion information of the operation end and acquiring azimuth information and attitude information of the operation end;
the unmanned aerial vehicle attitude acquisition module is internally provided with a second gyroscope, a second magnetic sensor and a second acceleration sensor and is used for acquiring the azimuth information and the flight attitude information of the unmanned aerial vehicle;
the communication module is used for information communication between the operation end and the flight control end;
the flight control module is used for indicating the unmanned aerial vehicle to complete a flight track based on the flight control instruction;
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors;
the one or more applications are configured to drive the one or more processors to perform the method of any one of claims 1 to 13.
28. An unmanned aerial vehicle flight control device, comprising:
the capturing module is internally provided with a first gyroscope, a first magnetic sensor and a first acceleration sensor and is used for acquiring motion information of the operation end and acquiring azimuth information and attitude information of the operation end;
the unmanned aerial vehicle attitude acquisition module is internally provided with a second gyroscope, a second magnetic sensor and a second acceleration sensor and is used for acquiring the azimuth information and the flight attitude information of the unmanned aerial vehicle;
the communication module is used for information communication between the operation end and the flight control end;
the flight control module is used for indicating the unmanned aerial vehicle to complete a flight track based on the flight control instruction;
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors;
the one or more applications are for driving the one or more processors for controlling the apparatus of any one of claims 14 to 26.
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| CN107491089A (en) * | 2017-08-24 | 2017-12-19 | 深圳市高巨创新科技开发有限公司 | A kind of unmanned aerial vehicle (UAV) control method |
| CN108052901B (en) * | 2017-12-13 | 2021-05-25 | 中国科学院沈阳自动化研究所 | Binocular-based gesture recognition intelligent unmanned aerial vehicle remote control method |
| WO2019127052A1 (en) * | 2017-12-26 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Method of repeating flight path and aerial vehicle |
| EP3761290A4 (en) * | 2018-02-28 | 2021-08-25 | SZ DJI Technology Co., Ltd. | Teaching method for unmanned aerial vehicle and remote controller for unmanned aerial vehicle |
| CN110162075B (en) * | 2019-06-06 | 2021-11-09 | 深圳市道通智能航空技术股份有限公司 | Aircraft control method and device and aircraft |
| CN110568859B (en) * | 2019-09-12 | 2023-01-17 | 深圳慧源创新科技有限公司 | Unmanned aerial vehicle control method, mobile terminal and computer readable storage medium |
| CN111123965A (en) * | 2019-12-24 | 2020-05-08 | 中国航空工业集团公司沈阳飞机设计研究所 | Somatosensory operation method and operation platform for aircraft control |
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