CN105955306A - Wearable device and unmanned aerial vehicle control method and system based on wearable device - Google Patents

Wearable device and unmanned aerial vehicle control method and system based on wearable device Download PDF

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Publication number
CN105955306A
CN105955306A CN201610573089.XA CN201610573089A CN105955306A CN 105955306 A CN105955306 A CN 105955306A CN 201610573089 A CN201610573089 A CN 201610573089A CN 105955306 A CN105955306 A CN 105955306A
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wearable device
user
signal
unmanned plane
control
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CN201610573089.XA
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李军强
李玮琛
刘汉成
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Zhang Wendong
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Xi'an Zhongke Biqi Innovation Technology Co Ltd
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Priority to CN201610573089.XA priority Critical patent/CN105955306A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10Simultaneous control of position or course in three dimensions
    • G05D1/101Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

The invention provides a wearable device and an unmanned aerial vehicle control method and system based on the wearable device. The control system comprises an unmanned aerial vehicle and the wearable device. The unmanned aerial vehicle is in communication connection with the wearable device; and the wearable device is worn at a specific position of the body of a user. The wearable device comprises an electromyographic signal collection device, a gyroscope device, a processing device and a communication device. The electromyographic signal collection device collects gestures and movements of the user to form electromyographic signals; the gyroscope device collects device posture signals reflecting the current motion state of the wearable device; and the processing device processes the electromyographic signals and the device posture signals to form corresponding control instructions, and sends the control instructions to the unmanned aerial vehicle through the communication device to finish control of the flight state of the unmanned aerial vehicle. The method can realize small-size control device, does not need to use both hands, is simple to operate and high in image acquisition recognition rate, is suitable for the environment, where mobility of the control device is highly required, and is not limited by application scenes.

Description

Wearable device, unmanned aerial vehicle (UAV) control method and system based on wearable device
Technical field
The present invention relates to industrial control field, particularly relate to a kind of wearable device, unmanned aerial vehicle (UAV) control method and system based on wearable device.
Background technology
In current unmanned plane field, the control program of unmanned plane mainly has remote controller to control and image acquisition controls.The major defect of both control programs includes controlling that equipment volume is big, take both hands, operation is complicated, image acquisition discrimination is low, and is not suitable in the environment higher to controlling equipment mobility requirement, be not suitable for yet application scenarios restricted under the conditions of.
In the field of intelligent control of man-machine interaction, the interactive mode based on gesture, due to more directly perceived and expressing information is flexible and varied, is furtherd investigate and be applicable to each different field.The present invention provides a kind of unmanned aerial vehicle (UAV) control method and device, can overcome the shortcoming currently without Human-machine Control scheme, it is achieved the miniaturization of unmanned aerial vehicle (UAV) control equipment and wearingization.
Summary of the invention
Therefore, for solving technological deficiency and the deficiency that prior art exists, the present invention provides a kind of unmanned aerial vehicle control system based on wearable device, including unmanned plane and wearable device, unmanned plane communicates to connect with wearable device, wearable device is worn on the specific location of user health, wherein:
Wearable device includes myoelectric signal collection apparatus, gyroscope equipment, processing means and communicator;Wherein, myoelectric signal collection apparatus gathers the gesture motion of user and forms electromyographic signal, the equipment attitude signal of gyroscope equipment collection reflection wearable device current motion state, processing means processes electromyographic signal and equipment attitude signal is formed the control instruction of correspondence and sent to unmanned plane, to complete the control to unmanned plane during flying state by communicator.
The present invention also provides for a kind of wearable device, it is worn on the specific location of user health and is applied to unmanned aerial vehicle control system based on wearable device, wherein, wearable device includes myoelectric signal collection apparatus, gyroscope equipment, processing means and communicator;Wherein, myoelectric signal collection apparatus gathers the gesture motion of user and forms electromyographic signal, the equipment attitude signal of gyroscope equipment collection reflection wearable device current motion state, processing means processes electromyographic signal and equipment attitude signal is formed the control instruction of correspondence and sent to unmanned plane, to complete the control to unmanned plane during flying state by communicator.
In the wearable device that the present invention provides, wearable device also includes the storage device electrically connecting processing means, storage device storage has instruction set matching list, and in instruction set matching list, record has the control instruction of the unmanned plane certain operational motion of discernible representative and the corresponding relation of electromyographic signal.
In the wearable device that the present invention provides, gyroscope equipment includes the 9 axle motion process sensors reflecting wearable device kinestate in real time.
In the wearable device that the present invention provides, electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of multiple muscle surface of user, wherein, the gesture motion of characteristic information reflection user.
The present invention provides a kind of unmanned aerial vehicle (UAV) control method based on wearable device, and wearable device is worn on the specific location of user health, and wherein, method comprises the steps:
Gather the electromyographic signal of user;
Gather the equipment attitude signal of reflection wearable device current motion state;
Electromyographic signal is carried out pretreatment, and bonding apparatus attitude signal, forms control instruction through process;
Control instruction transmission to the unmanned plane setting up instruction pair relationhip with wearable device is performed the flare maneuver corresponding with control instruction for unmanned plane.
In the present invention provides a kind of unmanned aerial vehicle (UAV) control method based on wearable device, described electromyographic signal is carried out pretreatment, including: it is digitized described electromyographic signal processing, forms digitized electromyographic signal;Extract the combination of the respective characteristic information of the different electromyographic signals characterizing the multiple muscle surface of user in described digitized electromyographic signal, the gesture motion of described characteristic information reflection user.
In the present invention provides a kind of unmanned aerial vehicle (UAV) control method based on wearable device, wherein, before gathering the electromyographic signal of user, also include:
Judge that gesture motion is the most consistent with the instruction pair relationhip of acquiescence with the corresponding relation of unmanned plane during flying action;If inconsistent, the instruction pair relationhip of acquiescence is updated to the matching relationship that user resets.
The present invention provides a kind of unmanned aerial vehicle (UAV) control method of wearable device, and wearable device is worn on the specific location of user health, and wherein, method comprises the steps:
The unmanned plane setting up instruction pair relationhip with wearable device receives the control instruction that wearable device sends, and performs the flare maneuver corresponding with control instruction;
Wherein, control instruction is obtained after treatment by the electromyographic signal of user and the equipment attitude signal of wearable device, electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of the multiple muscle surface of user, and characteristic information includes the gesture motion of user.
It is little, without taking both hands, simple to operate, image acquisition discrimination height that the method and apparatus that the present invention provides can realize controlling equipment volume, it is adaptable to requires, in higher environment, not limited by application scenarios to controlling equipment mobility.
Accompanying drawing explanation
In order to the technical scheme of the present invention or prior art is more clearly described, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below.It should be evident that the accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawings according to these accompanying drawings.Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.
The structural representation of a kind of based on wearable device the unmanned aerial vehicle control system that Fig. 1 provides for the embodiment of the present invention;
Fig. 2 is that use different gesture or the gesture stability unmanned plane shown in the embodiment of the present invention performs the schematic diagram of different operating;
A kind of based on wearable device the unmanned aerial vehicle (UAV) control method flow diagram that Fig. 3 provides for another embodiment of the present invention;
Fig. 4 is the operational flowchart of an embodiment in default situations provided by the present invention;
Fig. 5 presets the method flow diagram of the implication of each gesture or attitude for the unmanned aerial vehicle (UAV) control person that the embodiment of the present invention provides;
The structural representation of another embodiment of the wearable device that Fig. 6 provides for the present invention;
Another kind unmanned aerial vehicle (UAV) control based on the wearable device method flow diagram that Fig. 7 provides for the present invention.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and the clearest, below in conjunction with the accompanying drawing of the present invention, technical scheme is carried out clear, complete description.Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on embodiments of the invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into protection scope of the present invention.
The structural representation of a kind of based on wearable device the unmanned aerial vehicle control system that Fig. 1 provides for the embodiment of the present invention.Such as Fig. 1, native system includes unmanned plane 12 and wearable device 11, and unmanned plane 12 communicates to connect with wearable device 11, and wearable device 11 is worn on the specific location of user health.
Wearable device 11 includes myoelectric signal collection apparatus 112, gyroscope equipment 113, processing means 111 and communicator 114.Wherein, myoelectric signal collection apparatus 112 gathers the gesture motion of user and forms electromyographic signal, gyroscope equipment 113 gathers the equipment attitude signal of reflection wearable device 11 current motion state, processing means 111 processes electromyographic signal and equipment attitude signal is formed the control instruction of correspondence and sent to unmanned plane, to complete the control to unmanned plane during flying state by communicator 114.
It is little, without taking both hands, simple to operate, image acquisition discrimination height that the control system that the present invention provides can realize controlling equipment volume, it is adaptable to requires, in higher environment, not limited by application scenarios to controlling equipment mobility.
The embodiment of the present invention also provides for a kind of wearable device for controlling unmanned plane.This equipment is worn on the specific location of user health, is applied in unmanned aerial vehicle control system.
Wearable device includes myoelectric signal collection apparatus, gyroscope equipment, processing means and communicator.Wherein, myoelectric signal collection apparatus gathers the gesture motion of user and forms electromyographic signal, the equipment attitude signal of gyroscope equipment collection reflection wearable device current motion state, processing means processes electromyographic signal and equipment attitude signal is formed the control instruction of correspondence and sent to unmanned plane, to complete the control to unmanned plane during flying state by communicator.
The wearable device for unmanned aerial vehicle control system that the present invention provides, can realize controlling equipment volume little, without taking both hands, simple to operate, image acquisition discrimination height, be applicable to the environment higher to controlling equipment mobility requirement, do not limited by application scenarios.
Further, wearable device also includes the storage device electrically connecting processing means, and storage device storage has instruction set matching list, and in instruction set matching list, record has the control instruction of the unmanned plane certain operational motion of discernible representative and the corresponding relation of electromyographic signal.
This storage device can be EEPROM or other there is storage function and the memory device electrically connected with processing means.Additionally, can also be arranged at the inside of processing means for storing the storage device of instruction set matching list, such as, this storage device can be ROM, RAM or FLASH etc. in processing means.In a further mode of operation, instruction set matching list may be stored in unmanned plane.
Further, gyroscope equipment includes the 9 axle motion process sensors reflecting wearable device kinestate in real time, has the highest susceptiveness in the detection of kinestate.
Further, electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of multiple muscle surface of user, wherein, the gesture motion of characteristic information reflection user.
The structural representation of another embodiment of the wearable device that Fig. 6 provides for the present invention.
Fig. 2 is that use different gesture or the gesture stability unmanned plane shown in the embodiment of the present invention performs the schematic diagram of different operating.The characteristic information expressed at the muscle signal of telecommunication that different muscle surface record due to different gestures or attitude is different, feature combination according to the different surfaces muscle signal of telecommunication, can identify the gesture that user is currently in use, different gestures just can manipulate the action that unmanned plane is different.
A kind of based on wearable device the unmanned aerial vehicle (UAV) control method flow diagram that Fig. 3 provides for another embodiment of the present invention.Wearable device is worn on the specific location of user health, as it is shown on figure 3, the method comprises the steps:
S301, the electromyographic signal of collection user;
S302, the equipment attitude signal of collection reflection wearable device current motion state;
S303, electromyographic signal is carried out pretreatment, and bonding apparatus attitude signal, form control instruction through process;
S304, control instruction is sent to the unmanned plane setting up instruction pair relationhip with wearable device and perform the flare maneuver corresponding with control instruction for unmanned plane.
The subject of implementation of the unmanned aerial vehicle (UAV) control method that the present embodiment provides is wearable device, it is little, without taking both hands, simple to operate, image acquisition discrimination height that the method can realize controlling equipment volume, be applicable to the environment higher to controlling equipment mobility requirement, do not limited by application scenarios.
Further, in another embodiment, described electromyographic signal is carried out pretreatment, specifically may is that and be digitized described electromyographic signal processing, form digitized electromyographic signal;Extract the combination of the respective characteristic information of the different electromyographic signals characterizing the multiple muscle surface of user in described digitized electromyographic signal, the gesture motion of described characteristic information reflection user.
The characteristic information expressed at the muscle signal of telecommunication that different muscle surface record due to different gestures or attitude is different, feature combination according to the different surfaces muscle signal of telecommunication, can identify the gesture that user is currently in use, different gestures just can manipulate the action that unmanned plane is different.
Further, in another embodiment, before gathering the electromyographic signal of user, also have the following steps: judge that gesture motion is the most consistent with the instruction pair relationhip of acquiescence with the corresponding relation of unmanned plane during flying action;If inconsistent, the instruction pair relationhip of acquiescence is updated to the matching relationship that user resets.
Fig. 4 is the operational flowchart of an embodiment in default situations provided by the present invention.In the case of this acquiescence, the implication representated by each gesture or attitude has been preset.Unmanned aerial vehicle (UAV) control person only need to make gesture set in advance or attitude, and unmanned plane can be made the operation of correspondence.
Further, in another embodiment, unmanned plane performs the action corresponding with control instruction, specifically may is that user first passes through training in advance, resets the flare maneuver corresponding with control instruction.
This is a kind of non-default situation.In the case of this non-default, the implication representated by each gesture or attitude is used the mode of action training to be set in advance by user.That is, the embodiment that the present invention provides has training function, and user can determine how, according to personal habits definition gesture or attitude action, the action specifically controlling unmanned plane.
Further, Fig. 5 is the method flow diagram that the unmanned aerial vehicle (UAV) control person that the embodiment of the present invention provides presets the implication of each gesture or attitude.Comprise the steps: as it is shown in figure 5, the method is specific as follows
S501, setting up the communication connection of control equipment and unmanned plane, according to the motion mode of the unmanned plane expected, unmanned aerial vehicle (UAV) control person makes control action;
S502, judge that control action is whether the most consistent with the control action that unmanned plane is preset;
If the judged result of S502 is no, then first carry out following S503:
The matching relationship of the first matching instruction and the first coupling action is released by S503, unmanned plane, sets up and stores the first matching instruction and the matching relationship of the second coupling action, and perform following S504;
If the judged result of S502 is yes, then skip S503, directly perform following S504:
S504, judge that unmanned aerial vehicle (UAV) control person has been set the most and complete everything;
If the judged result of S504 is yes, then train;
If the judged result of S504 is no, then perform following S505:
S505, unmanned aerial vehicle (UAV) control person make another gesture motion, and continue executing with S502, until having trained.
Such as, in the present embodiment, after setting up the communication connection with unmanned plane of the control equipment, unmanned aerial vehicle (UAV) control person, under the prompting controlling equipment, is made that the action making unmanned plane fly vertically upward: clench fist and wrist is bent downwardly.If making default-action that unmanned plane flies vertically upward (this default-action is by unmanned plane manufacturer or controls the manufacturer of equipment and presets) is also to clench fist and wrist is bent downwardly, then without changing default setting;If the default-action making unmanned plane fly vertically upward is to clench fist and wrist is bent upwards, then use the matching relationship of " clench fist and wrist is bent downwardly " and " unmanned plane flies vertically upward ", replace falling the matching relationship of " clench fist and wrist is bent upwards " and " unmanned plane flies vertically upward " of acquiescence, until all of action training completes.
Another kind unmanned aerial vehicle (UAV) control based on the wearable device method flow diagram that Fig. 7 provides for the present invention.Wherein, wearable device is worn on the specific location of user health, and the method comprises the steps:
S701 and wearable device are set up the unmanned plane of instruction pair relationhip and are received the control instruction that wearable device sends;
S702, perform the flare maneuver corresponding with control instruction.
Wherein, control instruction is obtained after treatment by the electromyographic signal of user and the equipment attitude signal of wearable device, electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of the multiple muscle surface of user, and characteristic information includes the gesture motion of user.
It is little, without taking both hands, simple to operate, image acquisition discrimination height that the method that the present invention provides can realize controlling equipment volume, it is adaptable to requires, in higher environment, not limited by application scenarios to controlling equipment mobility.
To sum up, principle and the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is only intended to help to understand method and the core concept thereof of the present invention;Simultaneously for one of ordinary skill in the art, according to the thought of the present invention; the most all will change; to sum up, this specification content should not be construed as limitation of the present invention, and protection scope of the present invention should be as the criterion with appended claim.

Claims (9)

1. a unmanned aerial vehicle control system based on wearable device, including unmanned plane and wearable device, described unmanned plane communicates to connect with described wearable device, and described wearable device is worn on the specific location of user health, it is characterised in that:
Described wearable device includes myoelectric signal collection apparatus, gyroscope equipment, processing means and communicator;Wherein, described myoelectric signal collection apparatus gathers the gesture motion of described user and forms electromyographic signal, described gyroscope equipment collection reflects the equipment attitude signal of described wearable device current motion state, described processing means processes described electromyographic signal and described equipment attitude signal is formed the control instruction of correspondence and sent to described unmanned plane, to complete the control to described unmanned plane during flying state by described communicator.
2. a wearable device, it is worn on the specific location of user health and is applied to unmanned aerial vehicle control system based on wearable device, it is characterized in that, described wearable device includes myoelectric signal collection apparatus, gyroscope equipment, processing means and communicator;Wherein, described myoelectric signal collection apparatus gathers the gesture motion of described user and forms electromyographic signal, described gyroscope equipment collection reflects the equipment attitude signal of described wearable device current motion state, described processing means processes described electromyographic signal and described equipment attitude signal is formed the control instruction of correspondence and sent to described unmanned plane, to complete the control to described unmanned plane during flying state by described communicator.
3. wearable device as claimed in claim 2, it is characterized in that, described wearable device also includes the storage device electrically connecting described processing means, described storage device storage has instruction set matching list, in described instruction set matching list, record has described unmanned plane discernible, represents the control instruction of certain operational motion and the corresponding relation of described electromyographic signal.
4. wearable device as claimed in claim 2, it is characterised in that described gyroscope equipment includes the 9 axle motion process sensors reflecting described wearable device kinestate in real time.
5. wearable device as claimed in claim 2, it is characterised in that described electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of multiple muscle surface of user, wherein, the gesture motion of described characteristic information reflection user.
6. a unmanned aerial vehicle (UAV) control method based on wearable device, described wearable device is worn on the specific location of user health, it is characterised in that described method comprises the steps:
Gather the electromyographic signal of described user;
Gather the equipment attitude signal reflecting that described wearable device currently moves status information;
Described electromyographic signal is carried out pretreatment, and combines described equipment attitude signal, form control instruction through process;
Described control instruction transmission to the unmanned plane setting up instruction pair relationhip with described wearable device is performed the flare maneuver corresponding with described control instruction for described unmanned plane.
7. control method as claimed in claim 6, it is characterised in that described electromyographic signal is carried out pretreatment, including:
It is digitized described electromyographic signal processing, forms digitized electromyographic signal;Extract the combination of the respective characteristic information of the different electromyographic signals characterizing the multiple muscle surface of user in described digitized electromyographic signal, the gesture motion of described characteristic information reflection user.
8. control method as claimed in claim 6, it is characterised in that before gathering the electromyographic signal of described user, also include:
Judge that gesture motion is the most consistent with the instruction pair relationhip of acquiescence with the corresponding relation of unmanned plane during flying action;If inconsistent, the instruction pair relationhip of described acquiescence is updated to the matching relationship that user resets.
9. a unmanned aerial vehicle (UAV) control method based on wearable device, described wearable device is worn on the specific location of user health, it is characterised in that described method comprises the steps:
The unmanned plane setting up instruction pair relationhip with described wearable device receives the control instruction that described wearable device sends, and performs the flare maneuver corresponding with described control instruction;
Wherein, described control instruction is obtained after treatment by the electromyographic signal of user and the equipment attitude signal of wearable device, described electromyographic signal includes the combination of the respective characteristic information of the different muscle signals of telecommunication of the multiple muscle surface of user, and described characteristic information includes the gesture motion of user.
CN201610573089.XA 2016-07-20 2016-07-20 Wearable device and unmanned aerial vehicle control method and system based on wearable device Pending CN105955306A (en)

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