CN106064378A - Control method and device for unmanned aerial vehicle mechanical arm - Google Patents

Control method and device for unmanned aerial vehicle mechanical arm Download PDF

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Publication number
CN106064378A
CN106064378A CN201610403018.5A CN201610403018A CN106064378A CN 106064378 A CN106064378 A CN 106064378A CN 201610403018 A CN201610403018 A CN 201610403018A CN 106064378 A CN106064378 A CN 106064378A
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China
Prior art keywords
unmanned plane
information
mechanical arm
controller
arm
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CN201610403018.5A
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Chinese (zh)
Inventor
郝祁
兰功金
卜亚圣
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Southern University of Science and Technology
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Southern University of Science and Technology
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Application filed by Southern University of Science and Technology filed Critical Southern University of Science and Technology
Priority to CN201610403018.5A priority Critical patent/CN106064378A/en
Priority to PCT/CN2016/102119 priority patent/WO2017211031A1/en
Publication of CN106064378A publication Critical patent/CN106064378A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35448—Datasuit, arm sleeve, actor, operator wears datasuit and generates motion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The invention discloses a control method and a device of an unmanned aerial vehicle mechanical arm, wherein the method comprises the following steps: the wearable sensing equipment acquires motion information of an arm of a user, sends the motion information to a first controller, and the first controller filters and codes the motion information to generate a control instruction and sends the control instruction to a wireless transmitter of a terminal; the wireless transmitter at the terminal sends the control command to the unmanned aerial vehicle, a second controller of the unmanned aerial vehicle decodes the control command to obtain control information, and the mechanical arm of the unmanned aerial vehicle moves according to the control information. According to the scheme, high-precision remote real-time synchronous control over the unmanned aerial vehicle mechanical arm is achieved, the scheme is high in stability, the control method is simple, and complex control actions can be completed to adapt to complex environments.

Description

The control method of a kind of unmanned plane mechanical arm and device
Technical field
The present embodiments relate to hardware controlled techniques, particularly relate to control method and the dress of a kind of unmanned plane mechanical arm Put.
Background technology
Along with the development of science and technology, people gradually begin to use robot to assist the routine work of people, answer for some Miscellaneous task, is generally provided with mechanical arm in robot, performs finer operation by mechanical arm.
Existing robot mostly is ground robot, and its mechanical arm is in carrying out remote task, and applied environment exists certain Limitation, apply in general to land rescue, accident treatment etc., for when remote high-altitude or water surface task and uncomfortable With, the simultaneously complex conditions landform such as a large amount of ruins, ground robot mechanical arm there is also limitation.Especially for aquatic environment Or amphibious environment, ground robot mechanical arm exists clearly disadvantageous.It addition, existing ground robot mechanical arm is remote Journey synchronous task, generally uses remote controller and controls mechanical arm or photographic head to perform task, and this can not well simulate people Arm synchronizes the process of execution task, especially for new user, generally requires operation training for a long time, and it is right to be familiar with The control of ground robot mechanical arm tasks carrying.
Summary of the invention
The present invention provides control method and the device of a kind of unmanned plane mechanical arm, to realize high-precision to unmanned plane mechanical arm Spending remote real-time synchronous to control, program stability is strong, and control method is simple and can complete the control action of complexity to adapt to again Heterocycle border.
First aspect, embodiments provides the control method of a kind of unmanned plane mechanical arm, including:
Wearable sensing equipment obtains the movable information of user's arm, and sends described movable information to the first control Device, described first controller is filtered to described movable information and encodes generation control instruction, and described control instruction sent out Deliver to the wireless transmitter of terminal；
The wireless transmitter of described terminal sends described control instruction to unmanned plane, the second controller pair of described unmanned plane Described control instruction is decoded obtaining control information, and the mechanical arm of described unmanned plane moves according to described control information.
Second aspect, the embodiment of the present invention additionally provides the control device of a kind of unmanned plane mechanical arm, including:
Wearable sensing equipment, for obtaining the movable information of user's arm, and sends described movable information to first Controller；
Described first controller, for being filtered to described movable information and encode generation control instruction, and by described Control instruction sends the wireless transmitter to terminal；
The wireless transmitter of described terminal, is used for sending described control instruction to unmanned plane；
Second controller, for being decoded obtaining control information to described control instruction；
Mechanical arm, for moving according to described control information, wherein said second controller and described mechanical arm collection Become in unmanned plane.
The present invention obtains the movable information of user's arm by wearable sensing equipment, and is sent extremely by described movable information First controller, described first controller is filtered to described movable information and encodes generation control instruction, and by described control System instruction sends the wireless transmitter to terminal, and the wireless transmitter of described terminal sends described control instruction to unmanned plane, institute The second controller stating unmanned plane is decoded obtaining control information to described control instruction, the mechanical arm of described unmanned plane according to Described control information is moved, solve existing robot perform in task process face complex environment cannot effectively, The problem performing task accurately, it is achieved that controlling the High Precision Long-distance real-time synchronization of unmanned plane mechanical arm, the program is stable Property strong, control method is simple and can complete the control action of complexity to adapt to complex environment.
Accompanying drawing explanation
Fig. 1 is the flow chart of the control method of the unmanned plane mechanical arm that the embodiment of the present invention one provides；
The unmanned plane schematic diagram carrying mechanical arm that Fig. 2 provides for the embodiment of the present invention one；
Fig. 3 is the flow chart of the control method of the unmanned plane mechanical arm that the embodiment of the present invention two provides；
Fig. 4 is the flow chart of the control method of the unmanned plane mechanical arm that the embodiment of the present invention three provides；
Fig. 5 is the structure chart controlling device of the unmanned plane mechanical arm that the embodiment of the present invention four provides；
Fig. 6 is the structural representation controlling device of the unmanned plane mechanical arm that the embodiment of the present invention five provides；
The process schematic of the mechanical arm simulation human arm motion that Fig. 7 provides for the embodiment of the present invention five；
Human arm that Fig. 8 provides for the embodiment of the present invention five and the corresponding relation schematic diagram of mechanical arm.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.
Embodiment one
The flow chart of the control method of the unmanned plane mechanical arm that Fig. 1 provides for the embodiment of the present invention one, the present embodiment can be fitted For needing the situation of the execution task of high precision under complex environment, the method can be come by unmanned plane and use end equipment Perform, specifically include following steps:
Step 101, wearable sensing equipment obtain the movable information of user's arm, and send described movable information to the One controller, described first controller is filtered to described movable information and encodes generation control instruction, and by described control Instruction sends the wireless transmitter to terminal.
Wherein, wearable device can directly be worn on user's arm, and it can be completed by integrated hardware and software Powerful interactive function.Exemplary, when user's arm swings, the sensor that wearable sensing equipment is internally integrated can The parameters such as perception, the collection swaying direction of arm, distance.After the movable information of sensor acquisition arm, this movable information is sent To the first controller, optionally, sensor and the first controller communicate alternately, in described controller by bluetooth 4.0 First this movable information is filtered by filter unit, passes through coding unit according to this filtered motion after removing noise jamming Information generates control instruction, then this control instruction is sent the wireless transmitter to terminal.Optionally, this controller can be integrated in On wearable sensing equipment, wearable sensing equipment and terminal are by serial ports wired connection.
Step 102, the wireless transmitter of described terminal send described control instruction to unmanned plane, the second of described unmanned plane Controller is decoded obtaining control information to described control instruction, and the mechanical arm of described unmanned plane enters according to described control information Row motion.
Wherein, this terminal can be that ground controls terminal, and it carries out data interaction with unmanned plane by wireless network and communicates, The wireless transmitter transmission control instruction of terminal is to unmanned plane, after unmanned plane receives control instruction, by second controller pair This control instruction is decoded obtaining control information, and wherein this control information is to control the letter of the concrete motion of unmanned plane mechanical arm Breath.Exemplary, the unmanned plane schematic diagram of the lift-launch mechanical arm that Fig. 2 provides for the embodiment of the present invention one.As described in Figure, unmanned plane Mechanical arm 02 it is equipped with below 01.
The technical scheme of the present embodiment, wearable sensing obtains the action of user's arm, and the mechanical arm of UAV flight is same Step carries out arm action simulation, solve existing robot perform in task process face complex environment cannot be effective, accurate The true problem synchronizing execution task, it is achieved that controlling the High Precision Long-distance real-time synchronization of unmanned plane mechanical arm, the program is steady Qualitative by force, control method is simple and can complete the control action of complexity to adapt to complex environment.
On the basis of technique scheme, described control information includes: the control letter of the degree of freedom of at least one node Breath.Wherein, mechanical arm generally can comprise one or more rotatable node, along with increasing of node, the motility of mechanical arm The highest, more compound action and then complete more complicated task can be taked.In this programme, the information that controls is according to user's arm The degree of freedom that node swings determines, carries out swing the moving with analog subscriber arm of corresponding degree of freedom for controlling mechanical arm node Making, operating process is simple and easy to do.
Embodiment two
The flow chart of the control method of the unmanned plane mechanical arm that Fig. 3 provides for the embodiment of the present invention two, the present embodiment is upper On the basis of stating each embodiment, giving the process that a kind of concrete unmanned plane performs task, this process is made up of two parts, first First guide unmanned plane during flying to task place, complete tasks carrying by mechanical arm, specifically including:
Step 201, unmanned plane are by the photographic head real-time image acquisition information carried, and described image information are sent extremely Described terminal is with the display screen display in described terminal.
Exemplary, the unmanned plane in this programme uses many rotor wing unmanned aerial vehicles, when unmanned plane is in flight course, adopts in real time Collection image is also transferred to terminal, and terminal shows the surrounding residing for unmanned plane by display screen.
The flight directive flight that step 202, described unmanned plane send according to the remote controller of described terminal.
Wherein, unmanned plane leave one's post business scene farther out time, the ring residing for unmanned plane that user shows according to terminal display screen The flight that environment information controls unmanned plane by remote controller arrives appointment scene.
Step 203, wearable sensing equipment obtain the movable information of user's arm, and send described movable information to the One controller, described first controller is filtered to described movable information and encodes generation control instruction, and by described control Instruction sends the wireless transmitter to terminal.
Step 204, the wireless transmitter of described terminal send described control instruction to unmanned plane, the second of described unmanned plane Controller is decoded obtaining control information to described control instruction, and the mechanical arm of described unmanned plane enters according to described control information Row motion.
The technical scheme of the present embodiment, after the local environment information of terminal demonstration unmanned plane, unmanned plane is according to remote control It is on-the-spot that the instruction of device arrives task, and user controls the phase of the mechanical arm execution arm of unmanned plane carry by wearable sensing equipment Answer action with execution task, solve existing robot perform in task process face complex environment cannot effectively, accurate The problem of execution task, it is achieved that controlling the High Precision Long-distance real-time synchronization of unmanned plane mechanical arm, program stability is strong, Control method is simple and can complete the control action of complexity to adapt to complex environment.
Embodiment three
Fig. 4 is the flow chart of the control method of the unmanned plane mechanical arm that the embodiment of the present invention three provides, and the present embodiment is upper On the basis of stating each embodiment, giving the control process of a kind of concrete mechanical arm, this programme comprises the steps.
Step 301, wearable sensing equipment obtain the movable information of user's arm, and send described movable information to the One controller, described first controller is filtered to described movable information and encodes generation control instruction, and by described control Instruction sends the wireless transmitter to terminal.
Step 302, the wireless transmitter of described terminal send described control instruction to unmanned plane, the second of described unmanned plane Controller is decoded obtaining control information to described control instruction, and the mechanical arm of described unmanned plane enters according to described control information Row motion.
Step 303, described second controller obtain the movement state information of the mechanical arm of described unmanned plane in real time, and according to Described movement state information and described control information adjust the motion of described mechanical arm in real time.
Exemplary, second controller uses pid control algorithm to form closed loop control, the motion of mechanical arm that will get The control information that status information and needs perform is compared, and real time calibration controls the motion of mechanical arm, so that mechanical arm is high Effect, the motion of analog subscriber arm accurately perform task.
The technical scheme of the present embodiment, solve existing robot perform in task process face complex environment cannot Effectively, the problem performing task accurately, it is achieved that the High Precision Long-distance real-time synchronization of unmanned plane mechanical arm is controlled, the program Stability is strong, and control method is simple and can complete the control action of complexity to adapt to complex environment.
On the basis of the various embodiments described above, wearable sensing equipment obtains the movable information of user's arm and includes: can wear Wear sensing equipment and obtained the movable information of user's arm by integrated inertance element.Exemplary, inertance element is used for measuring The axle attitude angle (or angular speed) of object and acceleration.Optionally, as a example by three nodes, this inertance element contains three The accelerometer of single shaft and the gyro of three single shafts, accelerometer is for detecting the acceleration letter of independent three axles of arm coordinate system Number, gyro is for detecting the arm angular velocity signal relative to navigational coordinate system, by measurement arm angle in three dimensions Speed and acceleration are to obtain the athletic posture of arm.In this programme, gather use by the inertance element in wearable device The movable information of family arm, gathers degree of accuracy high, reasonably simulates the athletic posture of user's arm.
Embodiment four
Fig. 5 is the structure chart controlling device of the unmanned plane mechanical arm that the embodiment of the present invention four provides, as it can be seen, bag Include:
Wearable sensing equipment 41, for obtaining the movable information of user's arm, and sends described movable information to the One controller；
Described first controller 42, for being filtered to described movable information and encode generation control instruction, and by institute State control instruction and send the wireless transmitter to terminal；
The wireless transmitter 43 of described terminal, is used for sending described control instruction to unmanned plane；
Second controller 44, for being decoded obtaining control information to described control instruction；
Mechanical arm 45, for moving according to described control information, wherein said second controller and described mechanical arm It is integrated in unmanned plane.
The technical scheme of the present embodiment, obtains the movable information of user's arm by wearable sensing equipment, and by described Movable information sends to the first controller, and described first controller is filtered to described movable information and encodes generation control and refers to Order, and described control instruction is sent the wireless transmitter to terminal, the wireless transmitter of described terminal sends described control and refers to Order is to unmanned plane, and the second controller of described unmanned plane is decoded obtaining control information to described control instruction, described unmanned The mechanical arm of machine moves according to described control information, solves existing robot and is facing complexity in performing task process The problem that environment cannot perform task effectively, accurately, it is achieved that the High Precision Long-distance real-time synchronization control to unmanned plane mechanical arm System, program stability is strong, and control method is simple and can complete the control action of complexity to adapt to complex environment.
On the basis of each embodiment above-mentioned, described control information includes: the control of the degree of freedom of at least one node Information.
On the basis of each embodiment above-mentioned, also include: photographic head, for real-time image acquisition information, described shooting Head is arranged on described unmanned plane；Described second controller is additionally operable to: send the image information of described camera collection to institute Stating terminal, with display on the display screen of described terminal, and the flight directive sent according to the remote controller of described terminal controls institute State unmanned plane during flying.
On the basis of each embodiment above-mentioned, described second controller is additionally operable to: obtain the machine of described unmanned plane in real time The movement state information of mechanical arm, and the fortune of described mechanical arm is adjusted in real time according to described movement state information and described control information Dynamic.
On the basis of each embodiment above-mentioned, described wearable sensing equipment specifically includes: inertance element, is used for obtaining The movable information of user's arm.
The said goods can perform the method that any embodiment of the present invention is provided, and possesses the corresponding functional module of execution method And beneficial effect.
Embodiment five
Fig. 6 is the structural representation controlling device of the unmanned plane mechanical arm that the embodiment of the present invention five provides.The present embodiment Can be based on above-described embodiment, it is provided that a kind of preferred embodiment.
As it can be seen, first, the image information of the photographic head 11 Real-time Collection surrounding of unmanned plane, show through video Blender 12 uses wireless mode to be sent out by this image information by the wireless video emitter 13 of unmanned plane after carrying out information processing Delivering to the wireless video receiver 14 of ground based terminal, ground based terminal shows this image information by display screen 15, feeds back to user 16.When unmanned plane does not also arrive task scene, user 16 launches flight by remote controller 22 through wireless data sending emitter 23 and refers to Making the wireless data sending receptor 24 to unmanned plane, the many rotors of unmanned plane 25 fly according to this flight directive.After arriving at, use Family 16 obtains the movable information of arm by the human arm inertia sensing unit 21 in wearable sensing equipment, and this information is passed through Bluetooth 4.0 is transmitted to controller 31, and controller 31 is sent by wireless data sending emitter 32 after encoding this information, unmanned The wireless data sending receptor 33 of machine obtains control information by the decoding of controller 34 after receiving this information, and controller 34 is according to this Control information drives unmanned plane mechanical arm 26 to move by mechanical arm motor.Meanwhile, unmanned plane mechanical arm 26 is being moved through Cheng Zhong, is obtained movable information in real time and is transferred to controller 34 in real time by bluetooth 4.0 by mechanical arm inertance element 35 The motion of calibration unmanned plane mechanical arm.
Concrete, control the process of unmanned plane manipulator motion by human arm as it is shown in fig. 7, Fig. 7 is present invention reality Execute the process schematic of the mechanical arm simulation human arm motion that example five provides.Wherein, human arm inertia sensing unit 21 wraps Including three parts, respectively inertance element 1, inertance element 2 and inertance element 3, wherein inertance element 1 possesses X1And Y1Two parameters, Inertance element 2 possesses X2One parameter, inertance element 3 possesses X3And Y3Two parameters, inertance element obtains the parameter of parameter in real time After value, this value of consult volume is encoded by controller 31, is sent to wireless data sending receptor 33, unmanned plane by wireless transmitter 32 Controller 34 drives motor 1 to motor 5 to drive unmanned plane mechanical arm 26 respectively after being decoded information.Wherein, mechanical arm Inertia sensing unit 35 includes three inertance elements (inertance element 4, inertance element 5 and inertance element 6), wherein, inertia equally Unit 4 possesses X11And Y11Two parameters, inertance element 5 possesses X22One parameter, inertance element 6 possesses X33And Y33Two ginsengs Amount, parameter information is fed back to controller 34 by each parameter again.Wherein, X11And Y11Parameter corresponds to X1And Y1Parameter, X22Parameter Corresponding to X2, X33And Y33Parameter corresponds to X3And Y3Parameter.Concrete, as shown in Figure 8, Fig. 8 provides for the embodiment of the present invention five Human arm and the corresponding relation schematic diagram of mechanical arm.Wherein, parameter X1、Y1、X2、X3、Y3Simulate human arm three respectively The rotation situation of individual articulation nodes, exemplary, this programme can also increase the inertia parameter information of finger, such as X4, it is corresponding Mechanical arm on parameter be X44。
The technical scheme that the present embodiment provides, performs phase by the motion conditions of unmanned plane mechanical arm simulation human arm Answer task, solve existing robot performing and task process cannot perform task effectively, accurately facing complex environment Problem, it is achieved that controlling the High Precision Long-distance real-time synchronization of unmanned plane mechanical arm, program stability is strong, control method letter Single and the control action of complexity can be completed to adapt to complex environment.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change, Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.

Claims (10)

1. the control method of a unmanned plane mechanical arm, it is characterised in that including:
Wearable sensing equipment obtains the movable information of user's arm, and sends described movable information to the first controller, institute State the first controller and described movable information is filtered and is encoded generation control instruction, and described control instruction was sent to end The wireless transmitter of end；
The wireless transmitter described control instruction of transmission of described terminal is to unmanned plane, and the second controller of described unmanned plane is to described Control instruction is decoded obtaining control information, and the mechanical arm of described unmanned plane moves according to described control information.
Method the most according to claim 1, it is characterised in that described control information includes:
The control information of the degree of freedom of at least one node.
Method the most according to claim 1, it is characterised in that also include:
Unmanned plane by carry photographic head real-time image acquisition information, and by described image information send to described terminal with The display screen display of described terminal；
The flight directive flight that described unmanned plane sends according to the remote controller of described terminal.
Method the most according to claim 1, it is characterised in that at the mechanical arm of described unmanned plane according to described control information After moving, also include:
Described second controller obtains the movement state information of the mechanical arm of described unmanned plane in real time, and according to described kinestate Information and described control information adjust the motion of described mechanical arm in real time.
5. according to the method according to any one of claim 1-4, it is characterised in that wearable sensing equipment obtains user's arm Movable information include:
Wearable sensing equipment obtains the movable information of user's arm by integrated inertance element.
6. the control device of a unmanned plane mechanical arm, it is characterised in that including:
Wearable sensing equipment, for obtaining the movable information of user's arm, and sends described movable information to the first control Device；
Described first controller, for being filtered to described movable information and encode generation control instruction, and by described control Instruction sends the wireless transmitter to terminal；
The wireless transmitter of described terminal, is used for sending described control instruction to unmanned plane；
Second controller, for being decoded obtaining control information to described control instruction；
Mechanical arm, for moving according to described control information, wherein said second controller and described mechanical arm are integrated in In unmanned plane.
Device the most according to claim 1, it is characterised in that described control information includes:
The control information of the degree of freedom of at least one node.
Device the most according to claim 1, it is characterised in that also include:
Photographic head, for real-time image acquisition information, described photographic head is arranged on described unmanned plane；
Described second controller is additionally operable to:
The image information of described camera collection is sent to described terminal, with display on the display screen of described terminal, and root The flight directive sent according to the remote controller of described terminal controls described unmanned plane during flying.
Device the most according to claim 1, it is characterised in that described second controller is additionally operable to:
Obtain the movement state information of the mechanical arm of described unmanned plane in real time, and according to described movement state information and described control Information adjusts the motion of described mechanical arm in real time.
10. according to the device according to any one of claim 1-4, it is characterised in that described wearable sensing equipment specifically wraps Include:
Inertance element, for obtaining the movable information of user's arm.
CN201610403018.5A 2016-06-07 2016-06-07 Control method and device for unmanned aerial vehicle mechanical arm Pending CN106064378A (en)

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PCT/CN2016/102119 WO2017211031A1 (en) 2016-06-07 2016-10-14 Unmanned aerial vehicle mechanical arm control method and device

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