CN103365294A - Unmanned aerial vehicle control system and method thereof - Google Patents
Unmanned aerial vehicle control system and method thereof Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle control system and a method thereof. The system is installed and operates in a host machine. Before the use of the system, the establishment of a 3D humanoid sample database used for judging body posture and movement of a user is needed. A depth camera is used to shoot a front scene comprising the user to obtain a scene image, the 3D humanoid image of the user is detected from the scene image, and the 3D humanoid image and the 3D humanoid sample database are compared and analyzed to obtain the body posture and movement information of the user. According to the system, the body posture and movement information of the user can be converted into the corresponding unmanned aerial vehicle control instruction, and the flying state of the unmanned aerial vehicle is controlled according to the control instruction.
Description
Technical field
The present invention relates to and a kind of flight control system and method, particularly about a kind of unmanned vehicle control system and method that possesses 3D human type detection technology.
Background technology
Traditional unmanned vehicle control system only can provide the modes such as the operating rod of user with the entity controller, button, controller carries out the operation of controlling of unmanned vehicle flight directive, except may be mixed up or loses because of factors such as telepilot in the family too much or conveniently leave about.In addition, the user also needs to be familiar with one by one the position of each function controlling bar of entity controller, button, could carry out with controller the function controlling operations such as flying height, direction of unmanned vehicle.If the user is very not familiar for operating functions such as each operating rod of entity controller, buttons, also cause easily the user to control the situation such as wrong and occur, cause the damage of personnel or unmanned vehicle, in the use comparatively inconvenience.
Summary of the invention
In view of above content, be necessary to provide a kind of unmanned vehicle control system and method, can be by user's body gesture, the state of flight that unmanned vehicle is directly controlled in action.
Described unmanned vehicle control system is installed and is run in the main frame, and this main frame comprises degree of depth video camera and memory storage.This system comprises: the Database module is used for setting up a three-dimensional human-like sample database of 3D that is used for differentiating user's body gesture, action, and the three-dimensional human-like sample database of this 3D is stored in the memory storage; The image detecting module, be used for utilizing degree of depth video camera to take for the scene that the place ahead comprises the user, obtain the scene image that the place ahead scene comprises Z direction depth of view information, from scene image, detect user's the three-dimensional human-like image of 3D, the three-dimensional human-like image of 3D and the three-dimensional human-like sample database of 3D are compared body gesture, the action message that analyzes the user; The flight control module, be used for body gesture, action message with the user and be converted to corresponding unmanned vehicle and control instruction, and will control instruction and be sent to unmanned vehicle by cordless communication network and control, adjust operation for unmanned vehicle.
Described unmanned vehicle control method is applied in the main frame, and this main frame comprises degree of depth video camera and memory storage.The method comprising the steps of: set up a three-dimensional human-like sample database of 3D that is used for differentiating user's body gesture, action, and the three-dimensional human-like sample database of this 3D is stored in the memory storage; Utilize degree of depth video camera to take for the scene that the place ahead comprises the user, obtain the scene image that the place ahead scene comprises Z direction depth of view information; From scene image, detect user's the three-dimensional human-like image of 3D; The three-dimensional human-like image of 3D and the three-dimensional human-like sample database of 3D are compared body gesture, the action message that analyzes the user; User's body gesture, action message is converted to corresponding unmanned vehicle controls instruction; Control instruction and be sent to unmanned vehicle by cordless communication network and control, adjust operation for unmanned vehicle described.
Compared to prior art, unmanned vehicle control system of the present invention and method, can directly carry out the operation of controlling of unmanned vehicle state of flight with body gesture, action by the user, not only can effectively solve the control function of each operating rod that the user obscures controller, or can't seek the puzzlement of controller all over, also allow the user can carry out in mode more intuitively the control operations such as heading, height of unmanned vehicle.
Description of drawings
Fig. 1 is the Organization Chart of unmanned vehicle control system of the present invention preferred embodiment.
Fig. 2 is the process flow diagram of unmanned vehicle control method of the present invention preferred embodiment.
Fig. 3 is the synoptic diagram of setting up the three-dimensional human-like sample database of 3D.
Fig. 4 utilizes degree of depth video camera photographed scene image synoptic diagram.
Fig. 5 utilizes user's body gesture to control the instantiation synoptic diagram of unmanned vehicle.
The main element symbol description
Main frame 1
Unmanned vehicle control system 10
Degree of depth video camera 11
Cordless communication network 3
Following embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
Embodiment
With reference to shown in Figure 1, it is the Organization Chart of unmanned vehicle of the present invention (Unmanned Aerial Vehicle, UAV) control system 10 preferred embodiments.In the present embodiment, described unmanned vehicle control system 10 is installed and is run in the main frame 1, can directly control by the user state of flight of unmanned vehicle 2 with body gesture, action, for example control unmanned vehicle 2 turn left, bend to right, to nutation or to facing upward, adjust flying speed, flight sideslip angle and yaw speed and course etc.In the present embodiment, described main frame 1 also include but not limited to, degree of depth video camera (Depth-sensing Camera) 11, memory storage 12 and microprocessor 13.This main frame 1 can communicate by cordless communication network 3 and unmanned vehicle 2, such as the steering order of the state of flight that sends control unmanned vehicle 2 etc.Described steering order is used for, but is not limited only to, control unmanned vehicle 2 turn left, bend to right, to nutation, to face upward, flying speed, flight sideslip angle and yaw speed and course.
Described degree of depth video camera 11 is a kind of TOF (Time of Flight) camera device with 3D camera function, horizontal direction (XY direction) range information of each point in the subject image capturing range can be obtained, that is subject image each point can be obtained apart from depth direction (Z direction) range information of camera lens.This degree of depth video camera 11 mainly utilizes illumination for subject transmitted-reference light beam, mistiming by calculating Returning beam or phase differential carry out video camera and subject between distance transform, thereby produce one group of depth distance information, i.e. Z direction range information.
In the present embodiment, described unmanned vehicle control system 10 comprises Database module 101, image detecting module 102 and flight control module 103.The alleged module of the present invention means a kind of can be by the microprocessor 13 of main frame 1 performed and can finish the series of computation machine program segment of fixed function, it is stored in the memory storage 12 of main frame 1, will be described specifically in the process flow diagram of Fig. 2 about the function of each module.
With reference to shown in Figure 2, it is the process flow diagram of unmanned vehicle control method of the present invention preferred embodiment.In the present embodiment, the method can be by user's body gesture, the state of flight that unmanned vehicle 2 is directly controlled in action, for example control unmanned vehicle 2 turn left, bend to right, to nutation or to facing upward, adjust flying speed, flight sideslip angle and yaw speed and course etc.
Step S21, Database module 101 is set up a three-dimensional human-like sample database of 3D that is used for differentiating user's body gesture, action, and the three-dimensional human-like sample database of this 3D is stored in the memory storage 12.With reference to shown in Figure 3, the user utilizes first human-like body gesture corresponding to 11 pairs of unmanned vehicles of degree of depth video camera, 2 whole steering orders, action to take to collect the three-dimensional human-like image data of 3D of a large amount of human-like body gestures, action, and according to each human-like body gesture, the action corresponding unmanned vehicle 2 steering order, utilize the three-dimensional human-like sample database of 3D of Database module 101 Erecting and improvings, to differentiate the foundation of user's body gesture, action as 3D human type detection technology.
With reference to shown in Figure 3, it is the synoptic diagram of setting up the three-dimensional human-like sample database of 3D.In the present embodiment, set up the three-dimensional human-like sample database of 3D and comprise the steps: that (a) utilizes degree of depth video camera 11 to take and collect a large amount of human-like data images, obtain degree of depth video camera 11 camera lenses to the range data of human-like each point, and classify by human-like front, side, the back side; (b) with the range data data of human-like profile each point position to camera lens, transfer pixel value to and be stored as human-like feature array, wherein the peak pixel value is 255, the minimum point pixel value is 0, distributes in proportion in the feature array; (c) carry out feature alignment operation for all human-like feature array datas of collecting, and the human-like feature array that all alignment are finished is carried out the pointwise Information Statistics, carry out the permissible range of each point pixel value in the human-like feature array in the standard deviation mode; (d) the human-like feature array each point numerical value permissible range of finishing statistics is human-like data template, and it is divided into front, side, the back side three classes, as various human-like 3D sample, thereby sets up the three-dimensional human-like sample database of 3D.
Step S22, the scene that image detecting module 102 utilizes degree of depth video camera 11 to continue to comprise for the place ahead the user is taken, and obtains the scene image that the place ahead scene comprises Z direction depth of view information.In the present embodiment, when degree of depth video camera 11 shooting the place aheads comprise user's scene, obtain simultaneously the camera lens of degree of depth video camera 11 to the range data of scene each point.With reference to shown in Figure 4, the scenario A that image detecting module 102 utilizes degree of depth video camera 11 to continue the place ahead is comprised the user is taken, and obtains scene image B and the Z direction depth of view information of the XY direction that comprises the user in the scene.Described Z direction depth of view information means the range data of camera lens and the scene each point of degree of depth video camera 11.
Step S23, image detecting module 102 utilize 3D human type detection technology from take the photograph scene image detect user's the three-dimensional human-like image of 3D.In the present embodiment, the described 3D of utilization human type detection technology from take the photograph scene image detect the three-dimensional human-like image of 3D step comprise the steps: (a) image detecting module 102 with degree of depth video camera 11 take the photograph scene image each point to the Z direction depth of view information of degree of depth video camera 11 camera lenses transfer pixel value to, and each pixel value is stored as the scene array; (b) image detecting module 102 compares the three-dimensional human-like image of the 3D that detects the user with the human-like data template in scene array and the three-dimensional human-like sample database of 3D; (c) if (for example template point bit value is 255 to the gap of the interior identical point bit value of certain some bit value relatively in the scene domain and human-like data template less than 5% the time, the scene point bit value is 250, both ratio gaps 2%), judge that then this point value falls within the permissible range of database template identical point bit value in the scene; (d) if there is its numerical value of some position more than 85%～90% all to fall within the permissible range of human-like data template identical point position in the comparison domain, the numeric distribution that then represents this comparison domain is close with human-like data template, this comparison domain can be defined as the three-dimensional human-like image of 3D.
Step S24, image detecting module 102 compares body gesture, the action message that analyzes the user with the three-dimensional human-like image of the 3D that detects and the three-dimensional human-like sample database of 3D that is stored in the memory storage 12.In the present embodiment, after image detecting module 102 obtains the information such as the three-dimensional human-like image of 3D of user in the image, namely the position of the three-dimensional human-like image of 3D is demarcated, and compare, analyze with the three-dimensional human-like sample database of the 3D in the memory storage 12 according to data such as the three-dimensional human-like images of the 3D that obtains the user, with affirmation user's body gesture, action message.
Step S25, flight control module 103 is converted to the instruction of controlling of corresponding unmanned vehicle 2 with user's body gesture, action message, and this is controlled instruction is sent in the unmanned vehicle 2 by cordless communication network 3.In the present embodiment, flight control module 103 produces the operational order of the corresponding unmanned vehicle 2 of user's body gesture, moving state according to user's body gesture, mobile message, and is sent in the unmanned vehicle 2 by cordless communication network 3.
Step S26, operation is controlled, adjusted to flight control module 103 according to the brake unit that this operational order drives unmanned vehicle 2 to unmanned vehicle 2, for example control unmanned vehicle 2 turn left, bend to right, to nutation, to face upward, flying speed, flight sideslip angle and yaw speed and course.
With reference to shown in Figure 5, be that the user utilizes body gesture and moving state to control the concrete synoptic diagram of the state of flight of unmanned vehicle.In the present embodiment, the user utilizes the combination of both hands swinging position can control the various state of flights of unmanned vehicle 2, and for example, during posture that user's both hands swing left, then control is controlled unmanned vehicle 2 and turned left; During posture that user's both hands swing to the right, then control is controlled unmanned vehicle 2 and is bent to right.When user's both hands move down, then control unmanned vehicle 2 to nutation; When user's both hands move up, then control unmanned vehicle 2 to facing upward.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to above preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art should be appreciated that and can make amendment or be equal to the spirit and scope that replacement should not break away from technical solution of the present invention technical scheme of the present invention.
Claims (10)
1. a unmanned vehicle control system is installed and is run in the main frame, and this main frame comprises degree of depth video camera and memory storage, it is characterized in that, described unmanned vehicle control system comprises:
The Database module is used for setting up a three-dimensional human-like sample database of 3D that is used for differentiating user's body gesture, action, and the three-dimensional human-like sample database of this 3D is stored in the memory storage;
The image detecting module, be used for utilizing degree of depth video camera to take for the scene that the place ahead comprises the user, obtain the scene image that the place ahead scene comprises Z direction depth of view information, from scene image, detect user's the three-dimensional human-like image of 3D, the three-dimensional human-like image of 3D and the three-dimensional human-like sample database of 3D are compared body gesture, the action message that analyzes the user;
The flight control module, be used for body gesture, action message with the user and be converted to corresponding unmanned vehicle and control instruction, and this is controlled instruction be sent to unmanned vehicle by cordless communication network and control, adjust operation for unmanned vehicle.
2. unmanned vehicle control system as claimed in claim 1, it is characterized in that, described degree of depth video camera is a kind of TOF camera device with 3D camera function, is used for obtaining the XY direction horizontal range information of each point in the subject image capturing range and subject image each point apart from the Z direction depth distance information of camera lens.
3. unmanned vehicle control system as claimed in claim 1 is characterized in that, the step of the three-dimensional human-like sample database of the described 3D of foundation comprises:
Utilize degree of depth video camera human-like body gesture corresponding to the whole steering orders of unmanned vehicle, action to be taken to collect the three-dimensional human-like image data of 3D of a large amount of human-like body gestures, action;
The three-dimensional human-like sample database of 3D according to the steering order Erecting and improving of each human-like body gesture, the corresponding unmanned vehicle of action.
4. unmanned vehicle control system as claimed in claim 1 is characterized in that, the step of the three-dimensional human-like image of described detecting 3D comprises:
With degree of depth video camera take the photograph scene image each point to the Z direction depth of view information of degree of depth camera lens transfer pixel value to, and each pixel value is stored as the scene array;
Human-like data template in scene array and the three-dimensional human-like sample database of 3D is compared the three-dimensional human-like image of the 3D that detects the user.
5. unmanned vehicle control system as claimed in claim 1, it is characterized in that, described steering order comprise control unmanned vehicle turn left, bend to right, to nutation, to face upward, the instruction in flying speed, flight sideslip angle and yaw speed and course.
6. a unmanned vehicle control method is applied in the main frame, and this main frame comprises degree of depth video camera and memory storage, it is characterized in that, the method comprising the steps of:
Set up a three-dimensional human-like sample database of 3D that is used for differentiating user's body gesture, action, and the three-dimensional human-like sample database of this 3D is stored in the memory storage;
Utilize degree of depth video camera to take for the scene that the place ahead comprises the user, obtain the scene image that the place ahead scene comprises Z direction depth of view information;
From scene image, detect user's the three-dimensional human-like image of 3D;
The three-dimensional human-like image of 3D and the three-dimensional human-like sample database of 3D are compared body gesture, the action message that analyzes the user;
User's body gesture, action message is converted to the instruction of controlling of corresponding unmanned vehicle;
Control instruction and be sent to unmanned vehicle by cordless communication network and control, adjust operation for unmanned vehicle described.
7. unmanned vehicle control method as claimed in claim 6, it is characterized in that, described degree of depth video camera is a kind of TOF camera device with 3D camera function, is used for obtaining the XY direction horizontal range information of each point in the subject image capturing range and subject image each point apart from the Z direction depth distance information of camera lens.
8. unmanned vehicle control method as claimed in claim 6 is characterized in that, the step of the three-dimensional human-like sample database of the described 3D of foundation comprises:
Utilize degree of depth video camera human-like body gesture corresponding to the whole steering orders of unmanned vehicle, action to be taken to collect the three-dimensional human-like image data of 3D of a large amount of human-like body gestures, action;
The three-dimensional human-like sample database of 3D according to the steering order Erecting and improving of each human-like body gesture, the corresponding unmanned vehicle of action.
9. unmanned vehicle control method as claimed in claim 6 is characterized in that, the described step that detects user's the three-dimensional human-like image of 3D from scene image comprises:
With degree of depth video camera take the photograph scene image each point to the Z direction depth of view information of degree of depth camera lens transfer pixel value to, and each pixel value is stored as the scene array;
Human-like data template in scene array and the three-dimensional human-like sample database of 3D is compared the three-dimensional human-like image of the 3D that detects the user.
10. unmanned vehicle control method as claimed in claim 6, it is characterized in that, described steering order comprise control unmanned vehicle turn left, bend to right, to nutation, to face upward, the instruction in flying speed, flight sideslip angle and yaw speed and course.
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Application publication date: 20131023 |