CN106054911A - Quadrocopter capable of gesture identification operation and method thereof - Google Patents
Quadrocopter capable of gesture identification operation and method thereof Download PDFInfo
- Publication number
- CN106054911A CN106054911A CN201610583570.7A CN201610583570A CN106054911A CN 106054911 A CN106054911 A CN 106054911A CN 201610583570 A CN201610583570 A CN 201610583570A CN 106054911 A CN106054911 A CN 106054911A
- Authority
- CN
- China
- Prior art keywords
- module
- wireless communication
- axle aircraft
- communication module
- gesture identification
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 59
- 238000012545 processing Methods 0.000 claims description 26
- 238000010276 construction Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000007812 deficiency Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 230000010006 flight Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract 2
- 238000011897 real-time detection Methods 0.000 abstract 1
- 238000004148 unit process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- 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)
- Position Input By Displaying (AREA)
- Toys (AREA)
Abstract
The present invention discloses a quadrocopter capable of gesture identification operation and a method thereof. The control system comprises an MCU master control unit, a distance measurement module, an attitude sensor module, a wireless communication module and an electron speed regulator. The MCU master control unit processes the feedback information obtained from the attitude sensor module and then sends the feedback information to the wireless communication module which transmits the information in a wireless communication mode to the wireless communication module of a wireless operation system so as to allow an operator to realize the wireless control of the quadrocopter through an operation platform. The quadrocopter combines the attitude sensor module and the distance measurement module to realize the real-time detection of the distance from the roll angle, the pitch angle and the course angle of the quadrocopter to the ground to obtain the real-time attitude and the height of the quadrocopter so as to realize the stable flight of the quadrocopter through the data matching control algorithm.
Description
Technical field
The present invention relates to aircraft and control thereof, particularly relate to a kind of four-axle aircraft carrying out gesture identification operation with
Method.
Background technology
Along with the development of remotely pilotless vehicle technology, current various vehicle technologies occur in a large number, apply the widest
General.But, existing four-axle aircraft needs to carry out flight control by a hand-held remote controller, and it needs to depend critically upon
The eyes of flight operation personnel observe the flight progress of four-axle aircraft, very rely on flight operation personnel operating experience and
Operating technology and it needs to constantly remote controller stablizes the flying height of four-axle aircraft.This defect makes four-axle aircraft
It is difficult to fly in indoor, and flight operation personnel's skill is required too high, thus greatly limit four-axle aircraft
Promotion and application.
Summary of the invention
It is an object of the invention to overcome the shortcoming and defect of above-mentioned prior art, it is provided that a kind of simple in construction, layout are closed
Reason, manipulation can carry out four-axle aircraft and the method for gesture identification operation easily.
The present invention is achieved through the following technical solutions:
A kind of four-axle aircraft carrying out gesture identification operation, including aircraft body frame, radio operating system, by
The control system that aircraft body frame is carried, and the power module powered to control system；Described control system includes MCU
Main control unit, range finder module, attitude transducer module, brushless electric machine 6, wireless communication module one and electron speed regulator；Wireless behaviour
Wireless communication module two and operating platform is included as system；
Described MCU Main Processing Unit connects wireless communication module one, electron speed regulator, range finder module, attitude transducer respectively
Module；Described brushless electric machine connects electron speed regulator, attitude transducer module, range finder module respectively；
Described attitude transducer module, range finder module and electron speed regulator realize unidirectional wired respectively with MCU Main Processing Unit
Communication；Feedback information is passed to MCU Main Processing Unit by attitude transducer module and range finder module, and MCU Main Processing Unit again will instruction
Information passes to electron speed regulator, thus controls the motion of brushless electric machine；
MCU Main Processing Unit and wireless communication module one realize two-way wire communication, and this wireless communication module one is again with wireless
Wireless communication module two in operating system realizes two-way wireless communication；MCU Main Processing Unit will obtain from attitude transducer mould
Feedback information is sent to wireless communication module one after calculation process, and this wireless communication module one is by the way of radio communication
Pass information to the wireless communication module two of radio operating system, so that manipulator realizes flying four axles by operating platform
The wireless operated of row device.
Described aircraft body frame includes in crossing distribution at four mechanical axis 3 of fuselage 1 side, is separately mounted to four
The brushless electric machine 6 of individual mechanical axis 3 afterbody, the propeller 2 being arranged on brushless electric machine 6, be arranged on the antenna plate 5 above fuselage 1,
It is arranged on the support 4 for carrying system of taking photo by plane below fuselage 1.
Described fuselage 1 is aerial construction；Described MCU Main Processing Unit and attitude transducer module are arranged on the upside of fuselage 1；
Power module is arranged in fuselage 1 aerial construction；Range finder module is arranged on the downside of fuselage 1；Wireless communication module one is arranged on
In antenna plate 5.
Described four mechanical axis 3 are internal is hollow-core construction, and electron speed regulator is laid within it, and brushless with tail end respectively
Motor 6 electrically connects.
Described attitude transducer module includes gyroscope, accelerometer and electronic compass；Gyroscope, accelerometer and electronics
Compass is integrated in one piece of PCB.
Described range finder module includes ultrasonic distance measuring module and barometer；Ultrasonic distance measuring module and barometer are integrated in one
In block PCB.
The described system of taking photo by plane includes photographic head 7 of taking photo by plane, and connects for the data that photographic head 7 of taking photo by plane shoots are transferred to ground
The wireless image transmission module of receiving unit.
Described power module includes battery and monitoring voltage module thereof, and cell voltage monitoring module is when cell voltage deficiency
Report to the police sending the form of the sound.
Described operating platform includes PC, OPENCV system and host computer operating system；PC carries shooting
Head.
The control method of the above-mentioned four-axle aircraft carrying out gesture identification operation is as follows: obtained by attitude transducer module
Take the real-time attitude of four-axle aircraft, and by the real-time distance of range finder module acquisition four-axle aircraft with ground, by wireless
Communication module one and wireless communication module two realize the two-way communication of four-axle aircraft and PC, by OPENCV system and
Manipulator's gesture instruction is analyzed and instruction is sent to wireless communication module one and radio communication by host computer operating system
Module two, thus the gesture of the stabilized flight and user realizing four-axle aircraft under the dispatch deal of MCU Main Processing Unit is known
Do not operate.
The present invention, relative to prior art, has such advantages as and effect:
1) present invention incorporates attitude transducer module and range finder module, can detect in real time four-axle aircraft roll angle,
The angle of pitch, course angle and distance ground level, i.e. obtain real-time attitude and the height of four-axle aircraft, thus by these data
Control algolithm is coordinated to realize the stabilized flight of four-axle aircraft.
2) present invention incorporates wireless communication module, the radio communication of four-axle aircraft and computation platform can be realized.
3) present invention incorporates wireless image transmission module, the real-time Transmission of the image of four-axle aircraft periphery can be realized.
4) present invention incorporates and include PC, OPENCV system and the operating platform of host computer operating system, it is achieved
By using gesture instruction to control the function of four-axle aircraft flight, simplify the operation of four-axle aircraft, also make four axle flights
The interest of the operation of device is greatly enhanced, and considerably improves the Consumer's Experience of four-axle aircraft operation.
5) present invention can realize the two kinds of different operational modes of pattern and gesture instruction control model that independently suspend, can basis
It is actually needed and carries out pattern switching.
Accompanying drawing explanation
Fig. 1 is the control system schematic diagram that the present invention can carry out the four-axle aircraft of gesture identification operation.
Fig. 2 is the perspective view that the present invention can carry out the four-axle aircraft of gesture identification operation.
Fig. 3 is Fig. 2 partial schematic diagram one.
Fig. 4 is Fig. 2 partial schematic diagram two.
Fig. 5 is Fig. 2 partial schematic diagram three.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
If Fig. 1 is to shown in 5.The invention discloses a kind of four-axle aircraft carrying out gesture identification operation, including flight
Device main stand, radio operating system, the control system carried by aircraft body frame, and the electricity powered to control system
Source module；Described control system includes MCU Main Processing Unit, range finder module, attitude transducer module, brushless electric machine 6, radio communication
Module one and electron speed regulator；Radio operating system includes wireless communication module two and operating platform；The MCU of MCU Main Processing Unit
Chip model is stm32f407.
Described MCU Main Processing Unit connects wireless communication module one, electron speed regulator, range finder module, attitude transducer respectively
Module；Described brushless electric machine connects electron speed regulator, attitude transducer module, range finder module respectively；
Described attitude transducer module, range finder module and electron speed regulator realize unidirectional wired respectively with MCU Main Processing Unit
Communication；Feedback information is passed to MCU Main Processing Unit by attitude transducer module and range finder module, and MCU Main Processing Unit again will instruction
Information passes to electron speed regulator, thus controls the motion of brushless electric machine；
MCU Main Processing Unit and wireless communication module one realize two-way wire communication, and this wireless communication module one is again with wireless
Wireless communication module two in operating system realizes two-way wireless communication；MCU Main Processing Unit will obtain from attitude transducer mould
Feedback information is sent to wireless communication module one after calculation process, and this wireless communication module one is by the way of radio communication
Pass information to the wireless communication module two of radio operating system, so that manipulator realizes flying four axles by operating platform
The wireless operated of row device.
Described aircraft body frame includes in crossing distribution at four mechanical axis 3 of fuselage 1 side, is separately mounted to four
The brushless electric machine 6 of individual mechanical axis 3 afterbody, the propeller 2 being arranged on brushless electric machine 6, be arranged on the antenna plate 5 above fuselage 1,
It is arranged on the support 4 for carrying system of taking photo by plane below fuselage 1.
Described fuselage 1 is aerial construction；Described MCU Main Processing Unit and attitude transducer module are arranged on the upside of fuselage 1；
Power module is arranged in fuselage 1 aerial construction；Range finder module is arranged on the downside of fuselage 1；Wireless communication module one is arranged on
In antenna plate 5.Fuselage 1 uses carbon fibre material.
Described four mechanical axis 3 are internal is hollow-core construction, and electron speed regulator is laid within it, and brushless with tail end respectively
Motor 6 electrically connects.
Described attitude transducer module includes gyroscope, accelerometer and electronic compass；Gyroscope, accelerometer and electronics
Compass is integrated in one piece of PCB.Electronic compass BMP180；Gyroscope and accelerometer model are MPU6050.
Described range finder module includes ultrasonic distance measuring module and barometer；Ultrasonic distance measuring module and barometer are integrated in one
In block PCB.Ultrasonic distance measuring module model is US-100；Barometer model is MS5611.
The described system of taking photo by plane includes photographic head 7 of taking photo by plane, and connects for the data that photographic head 7 of taking photo by plane shoots are transferred to ground
The wireless image transmission module of receiving unit.
Described power module includes battery and monitoring voltage module thereof, and cell voltage monitoring module is when cell voltage deficiency
Report to the police sending the form of the sound.
Described operating platform includes PC, OPENCV system and host computer operating system；PC carries shooting
Head.
Four-axle aircraft of the present invention, the autonomy moved according to it, it is divided into autonomous suspension pattern and gesture instruction to control
Pattern.User can pass through the host computer operating system pattern from main separation four-axle aircraft.
Independently suspend pattern: four-axle aircraft by attitude transducer module and range finder module obtain the real-time angle of pitch,
Roll angle, yaw angle and elevation information, by these information are carried out calculation process, obtain certain command information, thus control
Stablizing of the flight parameter of four-axle aircraft processed, thus realize autonomous suspension.Meanwhile, four-axle aircraft can be by real-time appearance
State and elevation information be delivered to host computer operation software on, simultaneously by captured in real-time to image be delivered to host computer operation software
On, facilitate user to observe the surrounding enviroment of four-axle aircraft.
Gesture instruction control model: four-axle aircraft is endowed " adjusting height ", " adjustment course angle ", " to assigned direction
Flight " etc. instruction, possess multiple gesture identification method through OPENCV platform in host computer operating system simultaneously, recognizable many
Individual different gesture.By host computer operating system, this gesture can be matched by user with corresponding instruction, thus by being somebody's turn to do
Gesture, can make aloft four-axle aircraft obtain the instruction of correspondence by wireless communication module, and four-axle aircraft will be held
This instruction of row.
Therefore, by the gesture of manipulator, it is possible to operation four-axle aircraft completes required flare maneuver.Meanwhile,
Real-time attitude and elevation information can be delivered in host computer operating system by four-axle aircraft, the figure simultaneously arrived by captured in real-time
Image relaying, in host computer operating system, facilitates user to observe the surrounding enviroment of four-axle aircraft.Additionally, manipulator can be led to
Cross the pairing of host computer operating system amendment gesture and instruction, it is also possible to increase new gesture instruction newly by OPENCV system.
As it has been described above, just can preferably realize the present invention.
Embodiments of the present invention are also not restricted to the described embodiments, other any spirit without departing from the present invention
With the change made under principle, modify, substitute, combine, simplify, all should be the substitute mode of equivalence, be included in the present invention's
Within protection domain.
Claims (10)
1. can carry out a four-axle aircraft for gesture identification operation, including aircraft body frame, radio operating system, by flying
The control system that row device main stand carries, and the power module powered to control system；It is characterized in that: described control is
System includes that MCU Main Processing Unit, range finder module, attitude transducer module, brushless electric machine (6), wireless communication module one and electronics are adjusted
Speed device；Radio operating system includes wireless communication module two and operating platform；
Described MCU Main Processing Unit connects wireless communication module one, electron speed regulator, range finder module, attitude transducer module respectively；
Described brushless electric machine connects electron speed regulator, attitude transducer module, range finder module respectively；
Described attitude transducer module, range finder module and electron speed regulator realize unidirectional wire communication respectively with MCU Main Processing Unit；
Feedback information is passed to MCU Main Processing Unit by attitude transducer module and range finder module, and command information is passed again by MCU Main Processing Unit
Pass electron speed regulator, thus control the motion of brushless electric machine；
MCU Main Processing Unit and wireless communication module one realize two-way wire communication, this wireless communication module one again with radio operation
Wireless communication module two in system realizes two-way wireless communication；The feedback that MCU Main Processing Unit will obtain from attitude transducer mould
Information is sent to wireless communication module one after calculation process, and this wireless communication module one will letter by the way of radio communication
Breath passes to the wireless communication module two of radio operating system, so that manipulator is realized four-axle aircraft by operating platform
Wireless operated.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 1, it is characterised in that: described aircraft master
Body frame includes in crossing distribution four mechanical axis (3) of fuselage (1) side, is separately mounted to four mechanical axis (3) afterbodys
Brushless electric machine (6), the propeller (2) being arranged on brushless electric machine (6), be arranged on fuselage (1) top antenna plate (5), peace
It is contained in the support (4) for carrying system of taking photo by plane of fuselage (1) lower section.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described fuselage (1)
For aerial construction；
Described MCU Main Processing Unit and attitude transducer module are arranged on the upside of fuselage (1)；
Power module is arranged in fuselage (1) aerial construction；
Range finder module is arranged on the downside of fuselage (1)；
Wireless communication module one is arranged in antenna plate (5).
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described four machineries
Axle (3) is internal is hollow-core construction, and electron speed regulator is laid within it, and electrically connects with the brushless electric machine (6) of tail end respectively.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described attitude senses
Device module includes gyroscope, accelerometer and electronic compass；Gyroscope, accelerometer and electronic compass are integrated in one block of PCB electricity
On the plate of road.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described range finder module
Including ultrasonic distance measuring module and barometer；Ultrasonic distance measuring module and barometer are integrated in one piece of PCB.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that system of taking photo by plane described in:
Including photographic head of taking photo by plane (7), and for the data that photographic head of taking photo by plane (7) shoots being transferred to the wireless image transmission of ground receiving equipment
Module.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described power module
Including battery and monitoring voltage module thereof, cell voltage monitoring module is carried out sending the form of the sound when cell voltage deficiency
Report to the police.
The four-axle aircraft of gesture identification operation can be carried out the most according to claim 2, it is characterised in that: described operating platform
Including PC, OPENCV system and host computer operating system；PC carries photographic head.
10. can carry out the control method of the four-axle aircraft of gesture identification operation according to any one of claim 1 to 9, it is special
Levy and be: obtained the real-time attitude of four-axle aircraft by attitude transducer module, and obtain four axles flights by range finder module
Device and the real-time distance on ground, realize four-axle aircraft and PC by wireless communication module one and wireless communication module two
Two-way communication, by OPENCV system and host computer operating system, manipulator's gesture instruction is analyzed and instruction is transmitted
To wireless communication module one and wireless communication module two, thus realize four-axle aircraft under the dispatch deal of MCU Main Processing Unit
Stabilized flight and user gesture identification operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610583570.7A CN106054911A (en) | 2016-07-22 | 2016-07-22 | Quadrocopter capable of gesture identification operation and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610583570.7A CN106054911A (en) | 2016-07-22 | 2016-07-22 | Quadrocopter capable of gesture identification operation and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106054911A true CN106054911A (en) | 2016-10-26 |
Family
ID=57417540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610583570.7A Pending CN106054911A (en) | 2016-07-22 | 2016-07-22 | Quadrocopter capable of gesture identification operation and method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054911A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106919179A (en) * | 2017-04-28 | 2017-07-04 | 东华理工大学 | A kind of four-rotor aircraft control system and control method |
| CN107411270A (en) * | 2017-05-15 | 2017-12-01 | 肇庆学院 | It is a kind of that there is the intelligent parasols for suspending and following human motion function |
| CN107807662A (en) * | 2017-11-25 | 2018-03-16 | 东莞市众前电子有限公司 | A kind of interactive four-axle aircraft and its gesture control interactive approach |
| CN107831788A (en) * | 2017-12-01 | 2018-03-23 | 深圳蚁石科技有限公司 | A kind of flight control system and control method |
| CN112947589A (en) * | 2021-03-10 | 2021-06-11 | 南京理工大学 | Indoor four-rotor unmanned aerial vehicle based on dual-core DSP gesture control |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102219051A (en) * | 2011-04-29 | 2011-10-19 | 北京工业大学 | Method for controlling four-rotor aircraft system based on human-computer interaction technology |
| CN204116962U (en) * | 2014-01-08 | 2015-01-21 | 谢强 | Support the four-axle aircraft of automatic obstacle-avoiding and height-lock control |
| CN105235897A (en) * | 2015-10-16 | 2016-01-13 | 华南理工大学 | Parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts |
| CN205031895U (en) * | 2015-10-14 | 2016-02-17 | 李海雄 | Flight toy device based on infrared induction technique |
| CN205060009U (en) * | 2015-10-16 | 2016-03-02 | 华南理工大学 | Rotatable parallel axis four shaft air vehicle of horn axle |
| CN105573333A (en) * | 2016-01-22 | 2016-05-11 | 青岛大学 | Modular control method for four-rotor aircraft |
| CN105620737A (en) * | 2016-02-26 | 2016-06-01 | 厦门大学嘉庚学院 | Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft |
-
2016
- 2016-07-22 CN CN201610583570.7A patent/CN106054911A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102219051A (en) * | 2011-04-29 | 2011-10-19 | 北京工业大学 | Method for controlling four-rotor aircraft system based on human-computer interaction technology |
| CN204116962U (en) * | 2014-01-08 | 2015-01-21 | 谢强 | Support the four-axle aircraft of automatic obstacle-avoiding and height-lock control |
| CN205031895U (en) * | 2015-10-14 | 2016-02-17 | 李海雄 | Flight toy device based on infrared induction technique |
| CN105235897A (en) * | 2015-10-16 | 2016-01-13 | 华南理工大学 | Parallel-shaft quad-rotor aircraft with rotatable aircraft arm shafts |
| CN205060009U (en) * | 2015-10-16 | 2016-03-02 | 华南理工大学 | Rotatable parallel axis four shaft air vehicle of horn axle |
| CN105573333A (en) * | 2016-01-22 | 2016-05-11 | 青岛大学 | Modular control method for four-rotor aircraft |
| CN105620737A (en) * | 2016-02-26 | 2016-06-01 | 厦门大学嘉庚学院 | Voice remote control system used for helicopter type aircraft and helicopter type remote control aircraft |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106919179A (en) * | 2017-04-28 | 2017-07-04 | 东华理工大学 | A kind of four-rotor aircraft control system and control method |
| CN107411270A (en) * | 2017-05-15 | 2017-12-01 | 肇庆学院 | It is a kind of that there is the intelligent parasols for suspending and following human motion function |
| CN107807662A (en) * | 2017-11-25 | 2018-03-16 | 东莞市众前电子有限公司 | A kind of interactive four-axle aircraft and its gesture control interactive approach |
| CN107831788A (en) * | 2017-12-01 | 2018-03-23 | 深圳蚁石科技有限公司 | A kind of flight control system and control method |
| CN112947589A (en) * | 2021-03-10 | 2021-06-11 | 南京理工大学 | Indoor four-rotor unmanned aerial vehicle based on dual-core DSP gesture control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106054911A (en) | Quadrocopter capable of gesture identification operation and method thereof | |
| CN106716272B (en) | System and method for flight simulation | |
| EP3505808B1 (en) | Systems and methods for payload stabilization | |
| EP3783454B1 (en) | Systems and methods for adjusting uav trajectory | |
| CN105469579B (en) | Somatosensory remote controller, somatosensory remote control flight system and somatosensory remote control flight method | |
| CN109219785B (en) | Multi-sensor calibration method and system | |
| CN205891228U (en) | Flying robot | |
| CN106068592B (en) | Unmanned aerial vehicle battery replacement system and method | |
| CN107735736B (en) | Method for addressing functional modules of a movable object | |
| CN104816829B (en) | Skyeye aircraft applicable to investigation | |
| CN104808675A (en) | Intelligent terminal-based somatosensory flight operation and control system and terminal equipment | |
| CN114379809A (en) | Unmanned vehicles energy supply station | |
| CN106628211A (en) | Ground guiding type unmanned aerial vehicle flying landing system and method based on LED dot matrix | |
| CN104898524A (en) | Unmanned plane remote control system based on gesture | |
| CN206012963U (en) | It is provided with the unmanned vehicle of double mechanical arms | |
| CN104995575B (en) | A kind of data processing method, device and aircraft | |
| CN110770123A (en) | Portable integrated UAV | |
| CN206865192U (en) | Aerial unmanned plane charging platform | |
| CN205692054U (en) | A kind of wireless line walking machine of head movement monitoring | |
| WO2020136703A1 (en) | Unmanned aerial vehicle control system, unmanned aerial vehicle control method, and program | |
| WO2017113648A1 (en) | Somatosensory remote controller, somatosensory remote control flight system and method, and remote control method | |
| CN110096056A (en) | A kind of intelligent vehicle detection system and its control method based on unmanned aerial vehicle platform | |
| CN107942348B (en) | Road law enforcement system based on unmanned aerial vehicle and robot technique | |
| CN205899385U (en) | Four shaft air vehicle of gesture recognition operation can carry out | |
| CN106989728A (en) | A kind of building ground mapping system based on unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161026 |