CN106054911A - Quadrocopter capable of gesture identification operation and method thereof - Google Patents

Quadrocopter capable of gesture identification operation and method thereof Download PDF

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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
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CN
China
Prior art keywords
module
wireless communication
axle aircraft
communication module
gesture identification
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CN201610583570.7A
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Chinese (zh)
Inventor
张东
卢欢鹏
魏伟和
罗佩瑶
邓嘉明
唐英杰
王桂鸿
周梓鹏
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to CN201610583570.7A priority Critical patent/CN106054911A/en
Publication of CN106054911A publication Critical patent/CN106054911A/en
Pending legal-status Critical Current

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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
    • G05D1/08Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808Control of attitude, i.e. control of roll, pitch, or yaw 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)
  • 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

A kind of four-axle aircraft carrying out gesture identification operation and method
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.
CN201610583570.7A 2016-07-22 2016-07-22 Quadrocopter capable of gesture identification operation and method thereof Pending CN106054911A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
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

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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

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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
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Cited By (5)

* Cited by examiner, † Cited by third party
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

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Application publication date: 20161026