CN106227230A - A kind of unmanned aerial vehicle (UAV) control method - Google Patents
A kind of unmanned aerial vehicle (UAV) control method Download PDFInfo
- Publication number
- CN106227230A CN106227230A CN201610543859.6A CN201610543859A CN106227230A CN 106227230 A CN106227230 A CN 106227230A CN 201610543859 A CN201610543859 A CN 201610543859A CN 106227230 A CN106227230 A CN 106227230A
- Authority
- CN
- China
- Prior art keywords
- helmet
- unmanned plane
- photographic head
- angle
- gesture
- 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 25
- 230000000875 corresponding effect Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention provides a kind of unmanned aerial vehicle (UAV) control method, the method includes: VR camera collection unmanned plane present position surrounding and the view data of vertical direction, described VR photographic head is arranged at described unmanned plane side, end face and bottom surface；The described view data collected is sent to the VR helmet by described VR photographic head by wireless network；The view data received is carried out merging generation VR scene image by the described VR helmet；The described VR helmet shows described VR scene image to user, so that described unmanned plane is controlled by described user according to described VR scene image.
Description
Technical field
The communications field of the present invention, particularly relates to a kind of unmanned aerial vehicle (UAV) control method.
Technical field
Along with the development of unmanned air vehicle technique, unmanned plane is more and more universal.
Control to unmanned plane at present is usually and uses remote controller to carry out, and user uses distant by the position of range estimation unmanned plane
Control device controls the running orbit of unmanned plane.
But, when unmanned plane flies to distance users remote position or flies to the position of a large amount of barrier, use
Family may just be difficult to the accurate control to unmanned plane by range estimation.
Summary of the invention
The invention provides a kind of unmanned aerial vehicle (UAV) control method.
The unmanned aerial vehicle (UAV) control method that the present invention provides, including:
VR camera collection unmanned plane present position surrounding and the view data of vertical direction, described VR photographic head
It is arranged at described unmanned plane side, end face and bottom surface；
The described view data collected is sent to the VR helmet by described VR photographic head by wireless network；
The view data received is carried out merging generation VR scene image by the described VR helmet；
The described VR helmet shows described VR scene image to user, so that described user is according to described VR scene image pair
Described unmanned plane is controlled.
Alternatively, it is provided with remote controller in the described VR helmet；
Described method also includes:
The described VR helmet is by Client-initiated telecommand described in described remote control；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
Alternatively, the described VR helmet is provided with gesture identification photographic head；
Described method also includes:
The described VR helmet creates gesture working region and interest region, and described interest region is contained in described gesture identification and takes the photograph
Coverage as head；
The described VR helmet obtains the location parameter of self；
The described VR helmet adjusts described interest region according to described location parameter, so that described in described interest region overlay
Gesture working region；
The described VR helmet gathers the images of gestures in described gesture working region；
Images of gestures described in described VR helmet identification obtains telecommand；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
Alternatively, the described VR helmet includes according to the described interest region of described location parameter adjustment:
When the described VR helmet is overlooked or looked up, the described VR helmet obtains the angle of pitch, institute by described location parameter
State the angle that the angle of pitch offsets downward or upward for indicating the described VR helmet；
The described VR helmet utilizes the first relational expression to calculate the adjustment angle of described gesture identification photographic head according to the described angle of pitch
Degree；
The described VR helmet according to the angle of described adjustment angle adjustment reflecting mirror and/or adjusts described hands by rotation motor
The shooting angle of gesture identification camera, and then adjust described interest region, described reflecting mirror is for by the visual field of the described VR helmet
In the range of image reflect in the coverage of described gesture identification photographic head；
Described first relational expression is:
Or,
Described (Xworld,Yworld,Zworld) it is the coordinate of described gesture working region, described (Xcamera,Ycamera,Zcamera)
For the coordinate in described interest region, describedFor the described angle of pitch, described φ is described adjustment angle, and described θ is described region of interest
The angle in territory, described 1 is the length of described gesture identification photographic head, described dxFor described gesture identification photographic head and described hands
The vertical dimension of gesture working region, described dzHorizontal range for described gesture identification photographic head Yu described gesture working region.
Alternatively, the described VR helmet is provided with motion sensor；
Described method also includes:
The orientation that the described VR helmet senses described user by described motion sensor moves；
The described VR helmet moves generation telecommand according to described orientation；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
The present invention can pass through the picture of VR camera collection unmanned plane periphery and send back the VR helmet, and user is using VR
The peripheral information of unmanned plane current location just can be known, it is possible to more accurate and flexible unmanned plane is controlled during the helmet.
Accompanying drawing explanation
Fig. 1 is unmanned aerial vehicle (UAV) control method flow schematic diagram.
Detailed description of the invention
In order to make those skilled in the art be better understood from technical scheme, real with concrete below in conjunction with the accompanying drawings
The present invention is described in further detail to execute mode.
Referring to Fig. 1, in the embodiment of the present invention, a kind of unmanned aerial vehicle (UAV) control method includes:
101, VR camera collection unmanned plane present position surrounding and the view data of vertical direction, described VR takes the photograph
As head is arranged at described unmanned plane side, end face and bottom surface；
102, the described view data collected is sent to the VR helmet by VR photographic head by wireless network；
103, the view data received is carried out merging generation VR scene image by the VR helmet；
104, the VR helmet shows described VR scene image to user, so that described user is according to described VR scene image pair
Described unmanned plane is controlled.
In the present embodiment, user is controlled there is various ways to unmanned plane, specifically includes:
One, the remote controller that user uses VR inner helmet to arrange is remotely controlled:
It should be noted that remote controller can be connected with the VR helmet by communication interface, it is not absolutely required to be embedded in VR
In the helmet.
In the present embodiment, the method that unmanned plane is controlled by user is:
The described VR helmet is by Client-initiated telecommand described in described remote control；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
Two, user makes to use gesture and is remotely controlled:
In the present embodiment, the VR helmet is provided with gesture identification photographic head；
The method that unmanned plane is controlled by user is:
The described VR helmet creates gesture working region and interest region, and described interest region is contained in described gesture identification and takes the photograph
Coverage as head；
The described VR helmet obtains the location parameter of self；
The described VR helmet adjusts described interest region according to described location parameter, so that described in described interest region overlay
Gesture working region；
The described VR helmet gathers the images of gestures in described gesture working region；
Images of gestures described in described VR helmet identification obtains telecommand；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
In the present embodiment, the VR helmet adjusts described interest region according to described location parameter and includes:
When the described VR helmet is overlooked or looked up, the described VR helmet obtains the angle of pitch, institute by described location parameter
State the angle that the angle of pitch offsets downward or upward for indicating the described VR helmet；
The described VR helmet utilizes the first relational expression to calculate the adjustment angle of described gesture identification photographic head according to the described angle of pitch
Degree；
The described VR helmet according to the angle of described adjustment angle adjustment reflecting mirror and/or adjusts described hands by rotation motor
The shooting angle of gesture identification camera, and then adjust described interest region, described reflecting mirror is for by the visual field of the described VR helmet
In the range of image reflect in the coverage of described gesture identification photographic head；
Described first relational expression is:
Or,
Described (Xworld,Yworld,Zworld) it is the coordinate of described gesture working region, described (Xcamera,Ycamera,Zcamera)
For the coordinate in described interest region, describedFor the described angle of pitch, described φ is described adjustment angle, and described θ is described region of interest
The angle in territory, described 1 is the length of described gesture identification photographic head, described dxFor described gesture identification photographic head and described hands
The vertical dimension of gesture working region, described dzHorizontal range for described gesture identification photographic head Yu described gesture working region.
By the way of above-mentioned, so that the gesture identification photographic head on the VR helmet is positioned user's hand all the time, from
And gesture can be collected timely.
Three, user user displacement is dynamic is remotely controlled:
In the present embodiment, the VR helmet is provided with motion sensor；
The method that unmanned plane is controlled by user is:
The orientation that the described VR helmet senses described user by described motion sensor moves；
The described VR helmet moves generation telecommand according to described orientation；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane refers to according to described remote control
Order carries out corresponding action.
The above, above example only in order to technical scheme to be described, is not intended to limit；Although with reference to front
State embodiment the present invention has been described in detail, it will be understood by those within the art that: it still can be to front
State the technical scheme described in each embodiment to modify, or wherein portion of techniques feature is carried out equivalent；And these
Amendment or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (5)
1. a unmanned aerial vehicle (UAV) control method, it is characterised in that including:
VR camera collection unmanned plane present position surrounding and the view data of vertical direction, described VR photographic head is arranged
In described unmanned plane side, end face and bottom surface；
The described view data collected is sent to the VR helmet by described VR photographic head by wireless network；
The view data received is carried out merging generation VR scene image by the described VR helmet；
The described VR helmet shows described VR scene image to user so that described user according to described VR scene image to described
Unmanned plane is controlled.
Method the most according to claim 1, it is characterised in that be provided with remote controller in the described VR helmet；
Described method also includes:
The described VR helmet is by Client-initiated telecommand described in described remote control；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane enters according to described telecommand
The corresponding action of row.
Method the most according to claim 1, it is characterised in that be provided with gesture identification photographic head on the described VR helmet；
Described method also includes:
The described VR helmet creates gesture working region and interest region, and described interest region is contained in described gesture identification photographic head
Coverage；
The described VR helmet obtains the location parameter of self；
The described VR helmet adjusts described interest region according to described location parameter, so that gesture described in described interest region overlay
Working region；
The described VR helmet gathers the images of gestures in described gesture working region；
Images of gestures described in described VR helmet identification obtains telecommand；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane enters according to described telecommand
The corresponding action of row.
Method the most according to claim 3, it is characterised in that the described VR helmet adjusts described emerging according to described location parameter
Interest region includes:
When the described VR helmet is overlooked or is looked up, the described VR helmet by described location parameter obtain the angle of pitch, described in bow
The angle that the elevation angle offsets downward or upward for indicating the described VR helmet；
The described VR helmet utilizes the first relational expression to calculate the adjustment angle of described gesture identification photographic head according to the described angle of pitch；
The described VR helmet according to the angle of described adjustment angle adjustment reflecting mirror and/or adjusts the knowledge of described gesture by rotation motor
The shooting angle of other photographic head, and then adjust described interest region, described reflecting mirror is for by the field range of the described VR helmet
Interior image reflects in the coverage of described gesture identification photographic head；
Described first relational expression is:
Or,
Described (Xworld,Yworld,Zworld) it is the coordinate of described gesture working region, described (Xcamera,Ycamera,Zcamera) be institute
State the coordinate in interest region, describedFor the described angle of pitch, described φ is described adjustment angle, and described θ is described interest region
Angle, described 1 is the length of described gesture identification photographic head, described dxFor described gesture identification photographic head and described gesture work
Make the vertical dimension in region, described dzHorizontal range for described gesture identification photographic head Yu described gesture working region.
Method the most according to claim 1, it is characterised in that be provided with motion sensor on the described VR helmet；
Described method also includes:
The orientation that the described VR helmet senses described user by described motion sensor moves；
The described VR helmet moves generation telecommand according to described orientation；
Described telecommand is sent to described unmanned plane by the described VR helmet so that described unmanned plane enters according to described telecommand
The corresponding action of row.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543859.6A CN106227230A (en) | 2016-07-09 | 2016-07-09 | A kind of unmanned aerial vehicle (UAV) control method |
| HK17105911.6A HK1232308A1 (en) | 2016-07-09 | 2017-06-14 | A method for controlling drone |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610543859.6A CN106227230A (en) | 2016-07-09 | 2016-07-09 | A kind of unmanned aerial vehicle (UAV) control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106227230A true CN106227230A (en) | 2016-12-14 |
Family
ID=57519591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610543859.6A Pending CN106227230A (en) | 2016-07-09 | 2016-07-09 | A kind of unmanned aerial vehicle (UAV) control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106227230A (en) |
| HK (1) | HK1232308A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319289A (en) * | 2017-01-16 | 2018-07-24 | 翔升（上海）电子技术有限公司 | Head-wearing display device, unmanned plane, flight system and unmanned aerial vehicle (UAV) control method |
| CN108475064A (en) * | 2017-05-16 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Method, equipment and computer readable storage medium for equipment control |
| CN108986481A (en) * | 2018-07-17 | 2018-12-11 | 太仓远见科技咨询服务有限公司 | A kind of increasingly automated vehicular traffic |
| CN109292103A (en) * | 2018-07-27 | 2019-02-01 | 北京臻迪科技股份有限公司 | Holder method of adjustment, device, unmanned plane and holder adjust system |
| CN112153348A (en) * | 2020-09-28 | 2020-12-29 | 斯舰力(上海)电梯有限公司 | Engineering supervision system based on VR technology |
| WO2021217430A1 (en) * | 2020-04-28 | 2021-11-04 | SZ DJI Technology Co., Ltd. | System and method for operating a movable object based on human body indications |
| CN114205527A (en) * | 2021-12-13 | 2022-03-18 | 广州穿越千机创新科技有限公司 | Panoramic shooting method, device and system based on unmanned aerial vehicle |
| US11340609B2 (en) | 2018-05-03 | 2022-05-24 | Formula Square Holdings Ltd | Systems and methods for providing driving guidance |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081918A (en) * | 2010-09-28 | 2011-06-01 | 北京大学深圳研究生院 | Video image display control method and video image display device |
| CN105704501A (en) * | 2016-02-06 | 2016-06-22 | 普宙飞行器科技（深圳）有限公司 | Unmanned plane panorama video-based virtual reality live broadcast system |
| CN105739525A (en) * | 2016-02-14 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | System of matching somatosensory operation to realize virtual flight |
-
2016
- 2016-07-09 CN CN201610543859.6A patent/CN106227230A/en active Pending
-
2017
- 2017-06-14 HK HK17105911.6A patent/HK1232308A1/en unknown
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102081918A (en) * | 2010-09-28 | 2011-06-01 | 北京大学深圳研究生院 | Video image display control method and video image display device |
| CN105704501A (en) * | 2016-02-06 | 2016-06-22 | 普宙飞行器科技（深圳）有限公司 | Unmanned plane panorama video-based virtual reality live broadcast system |
| CN105739525A (en) * | 2016-02-14 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | System of matching somatosensory operation to realize virtual flight |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108319289A (en) * | 2017-01-16 | 2018-07-24 | 翔升（上海）电子技术有限公司 | Head-wearing display device, unmanned plane, flight system and unmanned aerial vehicle (UAV) control method |
| CN108475064A (en) * | 2017-05-16 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Method, equipment and computer readable storage medium for equipment control |
| US11340609B2 (en) | 2018-05-03 | 2022-05-24 | Formula Square Holdings Ltd | Systems and methods for providing driving guidance |
| CN108986481A (en) * | 2018-07-17 | 2018-12-11 | 太仓远见科技咨询服务有限公司 | A kind of increasingly automated vehicular traffic |
| CN109292103A (en) * | 2018-07-27 | 2019-02-01 | 北京臻迪科技股份有限公司 | Holder method of adjustment, device, unmanned plane and holder adjust system |
| WO2021217430A1 (en) * | 2020-04-28 | 2021-11-04 | SZ DJI Technology Co., Ltd. | System and method for operating a movable object based on human body indications |
| CN112153348A (en) * | 2020-09-28 | 2020-12-29 | 斯舰力(上海)电梯有限公司 | Engineering supervision system based on VR technology |
| CN112153348B (en) * | 2020-09-28 | 2021-05-14 | 郑州大学建设科技集团有限公司 | Engineering supervision system based on VR technology |
| CN114205527A (en) * | 2021-12-13 | 2022-03-18 | 广州穿越千机创新科技有限公司 | Panoramic shooting method, device and system based on unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| HK1232308A1 (en) | 2018-01-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106227230A (en) | A kind of unmanned aerial vehicle (UAV) control method | |
| CN110692027B (en) | System and method for providing easy-to-use release and automatic positioning of drone applications | |
| CN110494360B (en) | System and method for providing autonomous photography and photography | |
| US11340606B2 (en) | System and method for controller-free user drone interaction | |
| US20220091607A1 (en) | Systems and methods for target tracking | |
| WO2018086130A1 (en) | Flight trajectory generation method, control device, and unmanned aerial vehicle | |
| CN111596649B (en) | Single hand remote control device for an air system | |
| US10901437B2 (en) | Unmanned aerial vehicle including an omnidirectional depth sensing and obstacle avoidance aerial system and method of operating same | |
| WO2018134796A1 (en) | System and method for omni-directional obstacle avoidance in aerial systems | |
| CN105959625A (en) | Method and device of controlling unmanned plane tracking shooting | |
| JPWO2019082301A1 (en) | Detection system, detection method, and program | |
| CN110716579A (en) | Target tracking method and unmanned aerial vehicle | |
| WO2019051832A1 (en) | Movable object control method, device and system | |
| CN109814588A (en) | Aircraft and object tracing system and method applied to aircraft | |
| CN105933615A (en) | Unmanned aerial vehicle based image acquisition system, image acquisition method and unmanned aerial vehicle | |
| CN204287973U (en) | flight camera | |
| CN109754420B (en) | Target distance estimation method and device and unmanned aerial vehicle | |
| CN206117842U (en) | Image acquisition system and unmanned aerial vehicle based on unmanned aerial vehicle | |
| CN109885100A (en) | A kind of unmanned plane target tracking searching system | |
| CN108270950B (en) | Imaging system and aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 1232308 Country of ref document: HK |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161214 |
|
| REG | Reference to a national code |
Ref country code: HK Ref legal event code: WD Ref document number: 1232308 Country of ref document: HK |