CN105469579B - Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method - Google Patents
Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method Download PDFInfo
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- 230000003238 somatosensory effect Effects 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 239000011159 matrix material Substances 0.000 claims description 40
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 26
- 230000001133 acceleration Effects 0.000 claims description 19
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- 230000004888 barrier function Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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Abstract
The invention relates to the technical field of electronic equipment, in particular to a somatosensory remote controller, a somatosensory remote control flight system and a somatosensory remote control flight method. This remote controller is felt to body includes: the method comprises the following steps: the remote controller comprises a posture sensor, a controller, a first wireless data transmission module and a remote controller body; the posture sensor, the first wireless data transmission module and the controller are all arranged on the remote controller body, and the posture sensor and the first wireless data transmission module are all electrically connected with the controller; the gesture sensor is used for acquiring initial state information of the current position of the remote controller body and movement information of the movement of the remote controller body and transmitting the initial state information and the movement information to the controller; the controller is used for obtaining a flight instruction according to the initial state information and the movement information and sending the flight instruction through the first wireless data transmission module. Because any position of the somatosensory remote controller can be used as the central position of the somatosensory remote controller, the requirement on the technical level of an operator is reduced, and the operator can conveniently control the remote controller.
Description
Technical Field
The invention relates to the technical field of electronic equipment, in particular to a somatosensory remote controller, a somatosensory remote control flight system and a somatosensory remote control flight method.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The aircraft can take off like a common airplane under the radio remote control or launch and lift off by a boosting rocket, and can also be thrown into the air by a mother aircraft for flying. During recovery, the aircraft can land automatically in the same way as the common aircraft landing process, and can also be recovered by a parachute or a barrier net for remote control. Can be repeatedly used for many times. The method is widely used for aerial reconnaissance, monitoring, communication, anti-submergence, electronic interference and the like. And in order to be convenient for the operator to operate unmanned aerial vehicle more, people have designed body and have felt the remote controller.
Remote controller is felt to body among the prior art, including the remote controller body and set up sensor and the controller at the remote controller body, the sensor is connected with the controller electricity, utilizes the sensor to acquire the moving direction of remote controller body to transmit for the controller, the controller is according to the moving direction to control unmanned aerial vehicle's flight.
However, the remote controller is felt to body among the prior art when using, need place the remote controller body in the central point, and this central point is located a fixed position, and the operator must make the position of feeling the body remote controller be located the central point, just can utilize the body remote controller to control unmanned aerial vehicle, so, the body among the prior art feels the remote controller and requires very high to the technical level of controlling the person, and the person of not being convenient for to control controls.
Disclosure of Invention
The invention aims to provide a somatosensory remote controller, a somatosensory remote control flight system and a somatosensory remote control flight method, which aim to solve the technical problem that in the prior art, an operator cannot operate conveniently.
The invention provides a somatosensory remote controller, which comprises: the remote controller comprises a posture sensor, a controller, a first wireless data transmission module and a remote controller body; the posture sensor, the first wireless data transmission module and the controller are all arranged on the remote controller body, and the posture sensor and the first wireless data transmission module are all electrically connected with the controller; the gesture sensor is used for acquiring initial state information of the current position of the remote controller body and movement information of the movement of the remote controller body and transmitting the initial state information and the movement information to the controller; the controller is used for obtaining a flight instruction according to the initial state information and the movement information and sending the flight instruction through the first wireless data transmission module.
Furthermore, a somatosensory activation button is also arranged on the remote controller body; the somatosensory activation button is electrically connected with the controller and used for activating the controller.
Further, still be provided with the precision adjustment module on the controller, the precision adjustment module is used for adjusting unmanned aerial vehicle along unmanned aerial vehicle coordinate system Y axle rotation 90 to when making the remote controller body in initial position department, unmanned aerial vehicle keeps the horizontality.
Further, the initial state information includes an angular velocity and an acceleration of the initial position; the movement information includes an angular velocity and an acceleration at which the remote controller body moves to a preset position.
Further, the attitude sensor includes a gyroscope and an accelerometer; the gyroscope and the accelerometer are arranged on the remote controller body and are electrically connected with the controller; the gyroscope and the accelerometer are respectively used for acquiring the angular velocity and the acceleration of the initial position of the remote controller body and the angular velocity and the acceleration of the remote controller body moving to the preset position; the controller obtains the flight instruction according to the angular velocity and the acceleration of initial position to and the angular velocity and the acceleration that the remote controller body removed to preset the position, and gives the flight instruction for airborne flight control system, and airborne flight control system controls unmanned aerial vehicle's flight.
Furthermore, a satellite positioner and a function key group are also arranged on the remote controller body; the satellite positioning ware is the GPS locator, the function button group includes: one or more of a return flight key, a take-off and landing key, a photographing key, a camera shooting key, a task starting or suspending key and a task stopping key;
the GPS positioner and the return button are electrically connected with the controller and are used for controlling the return of the unmanned aerial vehicle;
the take-off and landing button is electrically connected with the controller and used for controlling the take-off and landing of the unmanned aerial vehicle;
the photographing key is electrically connected with the controller;
the camera shooting key is electrically connected with the controller;
the task start or pause key and the task stop key are electrically connected with the controller.
Furthermore, a battery is also arranged in the remote controller body; the remote controller body is also provided with a power switch, and the battery is electrically connected with the controller through the power switch; the remote controller body is also provided with a first LED lamp and a power supply charging manager, the first LED lamp is electrically connected with the battery through the power supply charging manager, and the first LED lamp is used for displaying the charging state of the battery; the remote controller body is also provided with a USB interface which is electrically connected with the controller and used for upgrading firmware or charging a battery;
and/or the remote controller body is also provided with a vibration motor and an active buzzer, and the vibration motor and the active buzzer are both electrically connected with the controller;
and/or, still be provided with the second LED lamp on the remote controller body, the second LED lamp is connected with the controller electricity to show unmanned aerial vehicle's flight state.
The embodiment of the invention also provides a somatosensory remote control flight system, which comprises an airborne flight control system and the somatosensory remote controller; the airborne flight control system is provided with a second wireless data transmission module, and the second wireless data transmission module is in wireless communication connection with the first data transmission module; and the airborne flight control system is used for controlling the unmanned aerial vehicle to fly according to the flight instruction.
Furthermore, the airborne flight control system also comprises a positioning module, a navigation attitude reference system, a barometer module and a microprocessor; the microprocessor is used for acquiring the flight information of the unmanned aerial vehicle through the positioning module, the navigation attitude reference system and the barometer module, and transmitting the flight information to the somatosensory remote controller through the second wireless data transmission module.
The embodiment of the invention also provides a somatosensory remote control flight method, which specifically comprises the following steps:
when the somatosensory remote control flight mode is detected to be activated, positioning the current position of the remote controller body as an initial position, acquiring initial state information of the remote controller body by using the posture sensor, and transmitting the initial state information to the controller;
when the remote controller body moves, the posture sensor acquires the movement information of the remote controller body and transmits the movement information to the controller;
the controller obtains a flight instruction according to the initial state information and the movement information;
the controller transmits the flight instruction to the airborne flight control system, and the airborne flight control system controls the unmanned aerial vehicle to fly.
Further, the step of obtaining the flight command by the controller according to the initial state information and the movement information specifically includes the following steps:
calculating the space coordinate of an initial position according to the initial state information, and recording the space coordinate of the initial position;
calculating the space coordinate of the preset position according to the movement information, and recording the space coordinate of the preset position;
and obtaining a flight instruction according to the space coordinate of the initial position and the space coordinate of the preset position.
Further, in the step of obtaining the flight command according to the spatial coordinate of the initial position and the spatial coordinate of the preset position, the method specifically includes the following steps:
recording a quaternion corresponding to the space coordinate of the initial position, and calculating an initial direction cosine matrix corresponding to the quaternion;
recording a quaternion corresponding to the space coordinate of the preset position, and calculating a current direction cosine matrix corresponding to the quaternion;
multiplying the transposed matrix of the initial direction cosine matrix with the current direction cosine matrix to obtain a moving direction cosine matrix of the current direction cosine matrix relative to the initial direction cosine matrix;
euler of the current remote controller body relative to the initial position is calculated by utilizing the cosine matrix of the moving direction
An angle;
and obtaining a flight command by utilizing the Euler angle.
Further, in the step of obtaining the flight command by using the euler angle, the method specifically comprises the following steps:
rotating the moving direction cosine matrix by 90 degrees around the y-axis of the machine body coordinate system corresponding to the initial direction cosine matrix to obtain a final direction cosine matrix;
and obtaining the pitch angle and the roll angle of the unmanned aerial vehicle by utilizing the final direction cosine matrix, and controlling the flight instruction of the unmanned aerial vehicle.
The somatosensory remote controller provided by the invention utilizes the attitude sensor to acquire the initial state information of the current position of the remote controller body and the movement information of the remote controller body moving to the preset position, and the controller obtains the flight instruction according to the initial state information and the movement information. When the operator uses the somatosensory remote controller to control the unmanned aerial vehicle, the attitude sensor can acquire the initial state information of the current position of the remote controller, and the current position is the central position. When an operator moves the remote controller body, the initial state information is taken as a reference, and a flight instruction is obtained by combining the movement information. Because any position of the somatosensory remote controller can be used as the central position of the somatosensory remote controller, an operator does not need to find the central position of the somatosensory remote controller, the requirement on the technical level of an operator is reduced, and the operator can conveniently control the remote controller.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a motion sensing remote controller according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a somatosensory remote controller according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a somatosensory remote control flight system provided in an embodiment of the present invention;
fig. 4 is a flowchart of a somatosensory remote control flight method according to an embodiment of the present invention;
fig. 5 is a flowchart of a somatosensory remote control flight method according to another embodiment of the invention;
fig. 6 is a flowchart of a somatosensory remote control flight method according to another embodiment of the invention;
fig. 7 is a flowchart of a somatosensory remote control flight method according to still another embodiment of the invention;
fig. 8 is a general flowchart of a somatosensory remote control flight method according to an embodiment of the present invention.
Reference numerals:
1-a controller; 2-a first wireless data transmission module; 3-a remote controller body;
4-a posture sensor; 5-a GPS locator; 6-somatosensory activation key;
7-camera key; 8-photographing key; 9-task start or pause button;
10-task stop button; 11-a second LED lamp; 12-an active buzzer;
13-a vibration motor; 14-a power switch; 15-USB interface
16-a battery; 17-power supply charge manager; 18-a first LED lamp;
19-a return flight key; 20-a take-off and landing key; 21-an onboard flight control system;
22-a second wireless data transmission module; 23-a microprocessor; 24-attitude reference system;
25-a positioning module; 26-a barometer module; 27-unmanned plane.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
Fig. 1 is a schematic structural diagram of a motion sensing remote controller according to an embodiment of the present invention. As shown in fig. 1, the somatosensory remote controller provided in this embodiment includes: the remote controller comprises a posture sensor 4, a controller 1, a first wireless data transmission module 2 and a remote controller body 3; the posture sensor 4, the first wireless data transmission module 2 and the controller 1 are all arranged on the remote controller body 3, and the posture sensor 4 and the first wireless data transmission module 2 are all electrically connected with the controller 1; the posture sensor 4 is used for acquiring initial state information of the current position of the remote controller body 3 and movement information of the movement of the remote controller body 3 and transmitting the initial state information and the movement information to the controller 1; the controller 1 is used for obtaining a flight instruction according to the initial state information and the movement information, and sending the flight instruction through the first wireless data transmission module 2.
Wherein the initial state information includes an angular velocity and an acceleration of the initial position; the movement information includes an angular velocity and an acceleration at which the remote controller body 3 moves to a preset position.
The posture sensor 4 may be various kinds, and preferably, the posture sensor 4 includes a gyroscope and an accelerometer; the gyroscope and the accelerometer are arranged on the remote controller body 3 and are electrically connected with the controller 1; the gyroscope and the accelerometer are respectively used for acquiring the angular velocity and the acceleration of the initial position of the remote controller body 3 and the angular velocity and the acceleration of the remote controller body 3 moving to the preset position; the controller 1 obtains a flight instruction according to the angular velocity and the acceleration of the initial position and the angular velocity and the acceleration of the remote controller body 3 moving to the preset position, and transmits the flight instruction to the airborne flight control system, and the airborne flight control system controls the flight direction of the unmanned aerial vehicle 27. More preferably, the attitude sensor 4 is an MPU 6050.
The kind of the first wireless data transmission module 2 may be various, for example: bluetooth, WiFi or infrared, etc., preferably, the wireless transmission module is one of 915MHz wireless transmission module and 5.8GHz wireless transmission module.
According to the somatosensory remote controller provided by the embodiment, the initial state information of the current position of the remote controller body 3 and the movement information of the remote controller body 3 moving to the preset position are acquired by the posture sensor 4, and the controller 1 obtains a flight instruction according to the initial state information and the movement information. When the operator uses the somatosensory remote controller to control the unmanned aerial vehicle 27, the attitude sensor 4 acquires initial state information of the current position of the remote controller, and the current position is the center position.
When the operator moves the remote controller body 3, the initial state information is used as a reference, and the flight instruction is obtained by combining the movement information. For example: on the basis of the initial position, when the somatosensory remote controller tilts forwards, the unmanned aerial vehicle 27 can be controlled to move forwards or the head part tilts downwards; when the somatosensory remote controller tilts backwards, the unmanned aerial vehicle 27 can be controlled to tilt backwards or the tail part of the unmanned aerial vehicle tilts backwards; when the somatosensory remote controller tilts left, the unmanned aerial vehicle 27 can be controlled to roll left or left; when the remote controller is lifted to incline to the right, the unmanned aerial vehicle 27 can be controlled to roll rightwards or rightwards, and the like.
Because the somatosensory remote controller in the embodiment can be used as the central position of the somatosensory remote controller at any position, an operator does not need to find the central position of the somatosensory remote controller, the requirement on the technical level of an operator is reduced, and the operator can conveniently control the remote controller.
Fig. 2 is a schematic structural diagram of a motion sensing remote controller according to another embodiment of the present invention. As shown in fig. 1 and 2, in addition to the above embodiments, a motion sensing activation button 6 is further provided on the remote controller body 3; the somatosensory activation button 6 is electrically connected to the controller 1 and is used for activating the controller 1.
When an operator uses the somatosensory remote controller to control, the somatosensory activation button 6 is pressed to activate the controller 1, the posture sensor 4 records the initial state information of the position of the remote controller body 3 at the moment, and the position is used as a central position. Like this, the operator is pressing the body and is felt activation button 6 after, removes body again and feels remote controller body 3, just can control unmanned aerial vehicle 27 to reduce the possibility of maloperation. In addition, the operator can find the operation position suitable for the operator, and then control the unmanned aerial vehicle 27.
On the basis of above-mentioned embodiment, in order to avoid gesture sensor 4 can't detect the condition emergence of remote controller body 3 rotation direction, further, still be provided with the precision adjustment module on the controller 1, the precision adjustment module is used for adjusting unmanned aerial vehicle along unmanned aerial vehicle 27 coordinate system Y axle rotation 90 to when making remote controller body 3 in initial position department, unmanned aerial vehicle 27 keeps the horizontality.
When the operator presses body and feels activation button 6, at this moment, controller 1 can control unmanned aerial vehicle 27 and be in balanced state, just so make the operation blind spot with body sense remote controller be located initial position, be located near central point promptly to avoid the operator to operate unmanned aerial vehicle 27 in operation blind spot department, make to control more sensitively.
As shown in fig. 2, on the basis of the above embodiment, the remote controller body 3 is further provided with a GPS locator 5 and a return key 19; the GPS positioner 5 and the return button 19 are electrically connected with the controller 1 and used for controlling the unmanned aerial vehicle 27 to return.
Still be provided with take-off and landing button 20 on the remote controller body 3, take-off and landing button 20 is connected with controller 1 electricity for control unmanned aerial vehicle 27 takes off and lands.
Still be provided with the button 8 of shooing on the remote controller body 3, the button 8 of shooing is connected with controller 1 electricity.
The remote controller body 3 is also provided with a camera shooting key 7, and the camera shooting key 7 is electrically connected with the controller 1.
The remote controller body 3 is also provided with a task start or pause key and a task stop key, and the task start or pause key 6 and the task stop key 10 are electrically connected with the controller 1. The operator can turn on or off the operation of the somatosensory remote controller on the unmanned aerial vehicle 27 through the task start or pause key and the task stop key 10.
Of course, in this embodiment, the power switch 14 and the remote controller main body 3 may be provided,
Forward and backward keys, and an acceleration key, etc.
As shown in fig. 2, in addition to the above embodiment, a battery 16 is further provided in the remote controller body 3; the remote controller body 3 is also provided with a power switch 14, and the battery 16 is electrically connected with the controller 1 through the power switch 14; the remote controller body 3 is also provided with a first LED lamp 18 and a power supply charging manager 17, the first LED lamp 18 is electrically connected with the battery 16 through the power supply charging manager 17, and the first LED lamp 18 is used for displaying the charging state of the battery 16; the remote controller body 3 is further provided with a USB interface 15, and the USB interface 15 is electrically connected with the controller 1 and used for upgrading firmware or charging a battery 16.
As shown in fig. 2, in addition to the above embodiment, the remote controller body 3 is further provided with a vibration motor 13 and an active buzzer 12, and both the vibration motor 13 and the active buzzer 12 are electrically connected to the controller 1. The vibration motor 13 and active buzzer 12, may be used in conjunction with the GPS locator 5, to alert the operator when the drone 27 deviates from a preset flight trajectory, or reaches a preset destination, etc. Of course, the operation pleasure of the operator can be increased by matching with the actions of the operator, such as: when the operator performs one action, the vibration motor 13 vibrates, or the active buzzer 12 makes a sound.
As shown in fig. 2, on the basis of the above embodiment, further, a second LED lamp 11 is further disposed on the remote controller body 3, and the second LED lamp 11 is electrically connected with the controller 1 to display the flight state of the unmanned aerial vehicle 27.
Fig. 3 is a schematic structural diagram of the somatosensory remote control flight system provided by the embodiment of the invention. As shown in fig. 3, an embodiment of the present invention further provides a somatosensory remote control flight system, which includes an airborne flight control system 21 and the somatosensory remote controller; the airborne flight control system 21 is provided with a second wireless data transmission module 22, and the second wireless data transmission module is in wireless communication connection with the first wireless data transmission module; the airborne flight control system 21 is used for controlling the unmanned aerial vehicle 27 to fly according to the flight instruction.
The airborne flight control system 21 further comprises a positioning module 25, an attitude and heading reference system 24, an air pressure gauge module 26 and a microprocessor 23; the microprocessor 23 is used for acquiring the flight information of the unmanned aerial vehicle 27 through the positioning module 25, the attitude and heading reference system 24 and the barometer module 26, and transmitting the flight information to the somatosensory remote controller through the second wireless data transmission module 22.
In this embodiment, the onboard flight control system 21 transmits the flight information to the somatosensory remote controller, and the somatosensory remote controller can adjust the flight attitude of the unmanned aerial vehicle 27 according to the flight information, so that the unmanned aerial vehicle 27 can fly beyond the visual range.
Fig. 4 is a flowchart of a somatosensory remote control flight method according to an embodiment of the present invention. As shown in fig. 4, an embodiment of the present invention further provides a somatosensory remote control flight method, which specifically includes the following steps:
And then transmitted to the controller 1;
According to the somatosensory remote control flight method, the attitude sensor 4 is used for acquiring initial state information of the current position of the remote controller body 3 and movement information of the remote controller body 3 moving to the preset position, and the controller 1 obtains a flight instruction according to the initial state information and the movement information. When the operator uses the somatosensory remote controller to control the unmanned aerial vehicle 27, the attitude sensor 4 acquires initial state information of the current position of the remote controller, and the current position is the center position. When the operator moves the remote controller body 3, the initial state information is used as a reference, and the flight instruction is obtained by combining the movement information. Like this, remote controller body 3 can both regard as the central point of feeling the remote controller with arbitrary position, so, the operator need not to be looking for the central point of feeling the remote controller, reduces the requirement to operator's technical merit, and the person of being convenient for to control controls.
Fig. 5 is a flowchart of a somatosensory remote control flight method according to another embodiment of the present invention. As shown in fig. 5, based on the above embodiment, further, in step 300, the controller 1 obtains the flight command according to the initial state information and the movement information, and specifically includes the following steps:
and step 330, obtaining a flight instruction according to the space coordinate of the initial position and the space coordinate of the preset position.
In this embodiment, controller 1 calculates according to the initial state information that acquires and feels the space coordinate of remote controller at initial position, central point promptly, then, calculates the space coordinate of presetting the position according to the mobile information, through the removal of remote controller body 3 on space coordinate to the accurate removal orbit that acquires remote controller body 3 on the space coordinate system, thereby realizes the accurate control to unmanned aerial vehicle 27.
Fig. 6 is a flowchart of a somatosensory remote control flight method according to another embodiment of the present invention. As shown in fig. 6, based on the above embodiment, further, in step 330, obtaining the flight command according to the spatial coordinate of the initial position and the spatial coordinate of the preset position, specifically includes the following steps:
The quaternion is a mathematical concept discovered by william, lucun, hamilton, an irish mathematician in 1843. The multiplication of quaternions does not conform to the commutative law. In particular, quaternions are irreplaceable extensions of complex numbers. If the set of quaternions is considered to be a multi-dimensional real space, the quaternions represent a four-dimensional space, two-dimensional with respect to the complex numbers.
In this embodiment, utilize quaternion can be quick calculate remote controller body 3 and use initial position as the benchmark, the variable quantity in the space coordinate system, remote controller body 3 pivoted euler angle promptly reduces the operand, improves controller 1's work efficiency, can also further improve simultaneously and control the precision.
Fig. 7 is a flowchart of a somatosensory remote control flight method according to still another embodiment of the invention; fig. 8 is a general flowchart of a somatosensory remote control flight method according to an embodiment of the present invention. As shown in fig. 7 and 8, based on the above embodiment, further, in step 335, obtaining a flight command by using the euler angle, the method specifically includes the following steps:
and step 3352, obtaining the flight instructions of the pitch angle and the roll angle of the unmanned aerial vehicle 27 by using the final direction cosine matrix.
Because the singular point exists in the euler angle when the pitch angle range is about 90 degrees and-90 degrees, in order to avoid the singular point position of the euler angle and make the operation and control more sensitive, the vicinity of the central position of the somatosensory remote controller needs to be changed into the singular point position of the euler angle. Therefore, the pitch angle corresponding to the cosine matrix of the moving direction is increased by 90 degrees.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. A somatosensory remote controller is characterized by comprising: the remote controller comprises a posture sensor, a controller, a first wireless data transmission module and a remote controller body;
the posture sensor, the first wireless data transmission module and the controller are all arranged on the remote controller body, and the posture sensor and the first wireless data transmission module are all electrically connected with the controller;
the posture sensor is used for acquiring initial state information of the current position of the remote controller body and movement information of the movement of the remote controller body and transmitting the initial state information and the movement information to the controller;
the controller is used for obtaining a flight instruction according to the initial state information and the movement information and sending the flight instruction through the first wireless data transmission module;
the remote controller body is also provided with a somatosensory activation button; the motion sensing activation button is electrically connected with the controller and used for activating the controller; when the somatosensory activation button is pressed, the posture sensor records the initial state information of the position of the remote controller body at the moment;
still be provided with the precision adjustment module on the controller, the precision adjustment module is used for adjusting unmanned aerial vehicle along unmanned aerial vehicle coordinate system Y rotation 90 to make when the remote controller body is in initial position department, unmanned aerial vehicle keeps the horizontality.
2. The somatosensory remote controller according to claim 1, wherein the initial state information comprises angular velocity and acceleration of an initial position;
the movement information includes an angular velocity and an acceleration at which the remote controller body moves to a preset position.
3. The somatosensory remote controller of claim 2, wherein the gesture sensor comprises a gyroscope and an accelerometer;
the gyroscope and the accelerometer are arranged on the remote controller body and are electrically connected with the controller; the gyroscope and the accelerometer are respectively used for acquiring the angular velocity and the acceleration of the initial position of the remote controller body and the angular velocity and the acceleration of the remote controller body moving to a preset position;
the controller obtains a flight instruction according to the angular velocity and the acceleration of the initial position and the angular velocity and the acceleration of the remote controller body moving to the preset position, and transmits the flight instruction to the airborne flight control system, and the airborne flight control system controls the flight of the unmanned aerial vehicle.
4. The somatosensory remote controller according to any one of claims 1-3, wherein the remote controller body is further provided with a GPS (global positioning system) positioner and a return key; the GPS positioner and the return button are electrically connected with the controller and are used for controlling the return of the unmanned aerial vehicle;
and/or the remote controller body is also provided with a take-off and landing key, and the take-off and landing key is electrically connected with the controller and used for controlling the take-off and landing of the unmanned aerial vehicle;
and/or the remote controller body is also provided with a photographing key, and the photographing key is electrically connected with the controller;
and/or the remote controller body is also provided with a camera shooting key, and the camera shooting key is electrically connected with the controller;
and/or a task starting or suspending key and a task stopping key are further arranged on the remote controller body, and the task starting or suspending key and the task stopping key are electrically connected with the controller.
5. The somatosensory remote controller according to any one of claims 1-3, wherein a battery is further provided in the remote controller body; the remote controller body is also provided with a power switch, and the battery is electrically connected with the controller through the power switch;
the remote controller body is also provided with a first LED lamp and a power supply charging manager, the first LED lamp is electrically connected with the battery through the power supply charging manager, and the first LED lamp is used for displaying the charging state of the battery;
the remote controller body is also provided with a USB interface which is electrically connected with the controller and used for upgrading firmware or charging the battery;
and/or the remote controller body is also provided with a vibration motor and an active buzzer, and the vibration motor and the active buzzer are both electrically connected with the controller;
and/or, still be provided with the second LED lamp on the remote controller body, the second LED lamp with the controller electricity is connected to show unmanned aerial vehicle's flight state.
6. A somatosensory remote control flight system is characterized by comprising an airborne flight control system and the somatosensory remote controller according to any one of claims 1-5;
the airborne flight control system is provided with a second wireless data transmission module, and the second wireless data transmission module is in wireless communication connection with the first wireless data transmission module; and the airborne flight control system is used for controlling the unmanned aerial vehicle to fly according to the flight instruction.
7. The somatosensory remote control flight system according to claim 6, wherein the airborne flight control system further comprises a positioning module, a navigation attitude reference system, a barometer module and a microprocessor;
the microprocessor is used for acquiring flight information of the unmanned aerial vehicle through the positioning module, the navigation attitude reference system and the barometer module, and transmitting the flight information to the somatosensory remote controller through the second wireless data transmission module.
8. A somatosensory remote control flight method is characterized by comprising the following steps:
when the somatosensory remote control flight mode is detected to be activated, positioning the current position of the remote controller body as an initial position, acquiring initial state information of the remote controller body by using the posture sensor, and transmitting the initial state information to the controller;
when the remote controller body moves, the posture sensor acquires the movement information of the remote controller body and transmits the movement information to the controller;
the controller obtains a flight instruction according to the initial state information and the movement information; the unmanned aerial vehicle is adjusted to rotate 90 degrees along the Y axis of the coordinate system of the unmanned aerial vehicle, so that the unmanned aerial vehicle is kept in a horizontal state when the remote controller body is at the initial position;
the controller transmits the flight instruction to the airborne flight control system, and the airborne flight control system controls the unmanned aerial vehicle to fly.
9. The somatosensory remote control flight method according to claim 8, wherein the step of obtaining the flight instruction by the controller according to the initial state information and the movement information specifically comprises the following steps:
calculating the space coordinate of an initial position according to the initial state information, and recording the space coordinate of the initial position;
calculating the space coordinate of the preset position according to the movement information, and recording the space coordinate of the preset position;
and obtaining a flight instruction according to the space coordinate of the initial position and the space coordinate of the preset position.
10. The somatosensory remote control flight method according to claim 9, wherein the step of obtaining the flight command according to the spatial coordinates of the initial position and the spatial coordinates of the preset position specifically comprises the following steps:
recording a quaternion corresponding to the space coordinate of the initial position, and calculating an initial direction cosine matrix corresponding to the quaternion;
recording a quaternion corresponding to the space coordinate of the preset position, and calculating a current direction cosine matrix corresponding to the quaternion;
multiplying the transposed matrix of the initial direction cosine matrix with the current direction cosine matrix to obtain a moving direction cosine matrix of the current direction cosine matrix relative to the initial direction cosine matrix;
calculating an Euler angle of the current remote controller body relative to an initial position by utilizing the cosine matrix of the moving direction;
and obtaining a flight command by utilizing the Euler angle.
11. The somatosensory remote control flight method according to claim 10, wherein the step of obtaining the flight command by using the euler angle further comprises the following steps:
rotating the moving direction cosine matrix by 90 degrees around the y-axis of the machine body coordinate system corresponding to the initial direction cosine matrix to obtain a final direction cosine matrix;
and obtaining the pitch angle and the roll angle of the unmanned aerial vehicle by utilizing the final direction cosine matrix, and controlling the flight instruction of the unmanned aerial vehicle.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511032422.8A CN105469579B (en) | 2015-12-31 | 2015-12-31 | Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method |
| PCT/CN2016/086473 WO2017113648A1 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method |
| US16/067,557 US11327477B2 (en) | 2015-12-31 | 2016-06-20 | Somatosensory remote controller, somatosensory remote control flight system and method, and head-less control method |
| EP16880456.5A EP3399380B1 (en) | 2015-12-31 | 2016-06-20 | Headless control method |
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| CN201511032422.8A CN105469579B (en) | 2015-12-31 | 2015-12-31 | Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method |
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| CN105469579A CN105469579A (en) | 2016-04-06 |
| CN105469579B true CN105469579B (en) | 2020-05-29 |
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