CN106293103A - Four-axle aircraft gesture control device based on inertial sensor and control method - Google Patents

Abstract

The present invention relates to body-sensing gesture control device and the control method of a kind of four-axle aircraft, gesture control device includes: controller and inertial sensor.Described inertia sensing node must comprise three axis angular rate meter and three axis accelerometers, or six axle inertial sensors of both one, in three axle magnetometers can be not included in.Described inertia sensing node is fixed on finger second knuckle back and Y-axis positive direction points to finger tip.Described athletic posture merges employing strap-down navigation algorithm.Integrated six axle inertial sensors on described controller, as reference point, the actual angle measurement degree of finger is the inertial sensor relative angle with reference point of finger-joint.Control method, can be divided into sensors configured, Acquisition Error and calculating finger three steps of instruction according to the sequencing gathered, process by process.Described control method only uses roll angle to judge finger gesture.Described Left-hand gesture instructs, and determines accelerator gear according to flattened finger number.Described right-hand gesture instructs, and determines that aircraft is to forward and backward, left and right heading according to thumb and remaining four receipts of stretching referred to.

Description

Four-axle aircraft gesture control device based on inertial sensor and control method

Technical field

The present invention relates to a kind of gesture control device and method, particularly to four-axle aircraft hands based on inertial sensor Gesture controls device and control method.

Background technology

In recent years, four-axle aircraft, as a kind of special " self-shooting bar ", is the most gradually popularized in consumption market.So And for the control mode of four-axle aircraft, the most commercial product remains based on handle operation.The most also some research People attempts utilizing gestures to control four-axle aircraft, and it is exactly gesture identification and gesture instruction that gesture controls most crucial part.

At present, gesture identification generally has two ways, and a kind of mode is based on machine vision.That is, by binocular camera, Extracting captured three-dimensional depth of view information, gesture is done three-dimensional reconstruction the most again, Typical Representative is exactly kinect and leap motion.This mode, maximum advantage can realize the operation of naked hands, and this is optimal control mode.But, shortcoming is exactly Requiring harsher to ambient light, illumination power, uniformity etc. are the biggest on the impact of discrimination.It addition, hands based on image What gesture recognizer was carried out is all Second Order Vector computing, needs special graphic process unit to be accelerated, whole processing procedure Time delay and power consumption are the biggest, are the most all to use on the host device.

Another way is based on sensor technology, i.e. utilize the various kinds of sensors detection with finger-joint laminating to sell Finger action.Wherein, a topmost class sensor is exactly inertial sensor.This inertial sensor generally comprises three axle gyros Instrument, three axis accelerometer (portioned product also comprises three axle magnetometers).This gesture identification mode, maximum advantage is measured exactly Data direct, quick, low in energy consumption and affected by environment little, it is adaptable to the scene higher to requirement of real-time, the suitableeest Together in manipulating four-axle aircraft out of doors.

, there are three problems: (1) accuracy of identification and speed cannot in existing gestural control method based on inertial sensor Taking into account, some employs 9 axle inertial sensors and corresponding attitude algorithm algorithm, the precision of the attitude algorithm that covets, this side After case resolves, stable time delay to reach tens the most hundreds of milliseconds；3 axle inertial sensors are only used not do attitude algorithm And fusion, directly use initial data to make a decision, follow-up accuracy of identification is affected very by the drift of this scheme lower sensor itself Greatly.(2) robustness of gesture identification is inadequate, and simply when palm keeps a certain given pose, discrimination is higher, such as flat act, and When hand has an angle of inclination, then discrimination drastically declines.(3) diversity of gesture instruction is obvious not, such as, rotates hands Wrist and swinging arm, also can occur slight spinning movement, easily produce maloperation when of swing.

Summary of the invention

The problem that invention is to be solved

The technical problem to be solved in the present invention is, how to balance gesture identification accuracy and speed, improves gesture identification Shandong Rod and propose a set of diversity significantly facilitate stable identification gesture motion instruction.

For solving the scheme of problem

In view of this, the present invention proposes a kind of four-axle aircraft gesture control device based on inertial sensor and control Method, proposes solution for the problems referred to above.

On the one hand, it is proposed that a kind of gesture control device, including controller, inertia sensing node.Wherein, described control Device is fixed on the back of the hand, and described inertia sensing node is fixed at finger second knuckle.Described inertial sensor is used for gathering hands The athletic posture angle information that refers to also exports to controller, described controller for gathering the output data of described sensor, and to Four-axle aircraft sends control instruction.

Described inertia sensing node must comprise three axis angular rate meter and three axis accelerometers, and three axle magnetometers can not comprise Including.

Described inertia sensing node is fixed on finger second knuckle back and Y-axis positive direction points to finger tip.

Described athletic posture merges employing strap-down navigation algorithm, and the pitch angle measurement scope after fusion is-80 °～+80 °； It is-180 °～180 ° that roll angle measures scope；Earth magnetism causes yaw angle persistently to be drifted about, without accurate results.

In described control method, roll angle is only used to judge finger gesture.

An integrated inertial sensor on described controller, as reference point, the actual angle measurement degree of finger is that finger closes The inertial sensor of joint and the relative angle of reference point.

On the other hand, it is proposed that a kind of control method, step is implemented as follows:

Step 1: sensors configured Acquisition Error value, refers to according to necessarily requiring sensors configured, and acquisition angle speed Degree and the error amount of acceleration.

Step 2: gather finger information and calculate the degree of crook of finger, referring to gather acceleration and the angle of each finger Speed, calculates each finger degree of crook relative to the back of the hand.

Step 3: calculate current gesture and send corresponding control command, refers to the digital flexion degree according to both hands, Calculate current gesture, and send corresponding gesture control instruction to four-axle aircraft.

Described left hand control instruction, particularly as follows:

One grade of throttle: the palm of the hand is towards ground, and flattened forefinger, remaining finger is curled.Described gesture is as a example by forefinger, it is also possible to be it The flattened action of remaining any one finger.

Two grades of throttle: the palm of the hand is towards ground, and flattened forefinger and middle finger, remaining finger is curled.Described gesture with forefinger and middle finger is Example, it is also possible to be the flattened action of remaining any two finger.

Throttle third gear: the palm of the hand is towards ground, and flattened forefinger, middle finger and the third finger, remaining finger is curled.Described gesture with forefinger, As a example by middle finger and the third finger, it is also possible to be the flattened action of remaining any three finger.

Throttle fourth gear: the palm of the hand is towards ground, and flattened forefinger, middle finger, the third finger and little finger, thumb is curled.Described gesture with As a example by forefinger, middle finger, the third finger and little finger, it is also possible to be the flattened action of remaining any four finger.

Five grades of throttle: represent the palm of the hand towards ground, flattened five fingers.

Described right-hand gesture instructs, particularly as follows:

Flight forward: the palm of the hand is towards sky, and thumb is curled, remaining four finger is flattened.

Flight backward: the palm of the hand is towards sky, and thumb is curled, remaining four finger is curled and is pressed on thumb.

Flight to the left: the palm of the hand is towards ground, and thumb is flattened to the left, remaining four finger is curled.

Flight to the right: the palm of the hand is towards sky, and thumb is flattened to the right, remaining four finger is curled.

Accompanying drawing explanation

Fig. 1: be the left gesture command schematic diagram controlling device of the present invention；

Fig. 2: be the right gesture command schematic diagram controlling device of the present invention；

Fig. 3: be the schematic diagram controlling device of the present invention；

Fig. 4: be the control flow chart of the present invention；

Detailed description of the invention

Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.In accompanying drawing identical Reference represent the same or analogous element of function.Although the various aspects of embodiment shown in the drawings, but remove Non-specifically is pointed out, it is not necessary to accompanying drawing drawn to scale.

The most special word " exemplary " means " as example, embodiment or illustrative ".Here as " exemplary " Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.

It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous details. It will be appreciated by those skilled in the art that do not have some detail, the present invention equally implements.In some instances, for Method well known to those skilled in the art, means, element and circuit are not described in detail, in order to highlight the purport of the present invention.

Fig. 1 illustrates the left gesture command signal controlling device of one embodiment of the invention, finger numbering 101～105 in figure Represent left hand thumb, forefinger, middle finger, the third finger, thumb the most successively.Left hand controls the throttle of four-axle aircraft, gesture 106～110 represent that controlling throttle is divided into five grades from low to high respectively.

Left hand gesture 106: represent the palm of the hand towards ground, flattened forefinger, remaining finger curls, and it is one grade that this gesture controls throttle.Institute State gesture as a example by forefinger, it is also possible to be the flattened action of remaining any one finger.

Left hand gesture 107: represent the palm of the hand towards ground, flattened forefinger and middle finger, remaining finger curls, and it is two that this gesture controls throttle Shelves.Described gesture is as a example by forefinger and middle finger, it is also possible to be the flattened action of remaining any two finger.

Left hand gesture 108: represent the palm of the hand towards ground, flattened forefinger, middle finger and the third finger, remaining finger curls, and this gesture controls Throttle is third gear.Described gesture is as a example by forefinger, middle finger and the third finger, it is also possible to be the flattened dynamic of remaining any three finger Make.

Left hand gesture 109: represent the palm of the hand towards ground, flattened forefinger, middle finger, the third finger and little finger, thumb curls, this gesture Control throttle is fourth gear.Described gesture is as a example by forefinger, middle finger, the third finger and little finger, it is also possible to be remaining any four hands The flattened action referred to.

Left hand gesture 110: represent the palm of the hand towards ground, flattened five fingers.It is five grades that this gesture controls throttle.

Fig. 2 illustrates the control device right gesture command schematic diagram of one embodiment of the invention, finger numbering 201 in figure ～205 represent right hand thumb, forefinger, middle finger, the third finger, thumb the most successively.Right hand gesture 206～209 represents control respectively Four-axle aircraft processed forward, backward, to the left, to the right four direction flight, what is called direction all around is relative to four axles herein The initial position of aircraft.

Right hand gesture 206: the expression palm of the hand is towards sky, and thumb is curled, remaining four finger is flattened, and this gesture controls aircraft and flies forward OK.

Right hand gesture 207: represent the palm of the hand towards sky, thumb is curled, remaining four refer to curl and be pressed on thumb, this gesture control Aircraft processed flies backward.

Right hand gesture 208: represent the palm of the hand towards ground, thumb is flattened to the left, remaining four refer to curl, this gesture control aircraft to Left flight.

Right hand gesture 209: represent the palm of the hand towards sky, thumb is flattened to the right, remaining four refer to curl, this gesture control aircraft to Right flight.

Fig. 3 illustrates that control device 300, connecting line 309 and the articulations digitorum manus of the present invention one example detects the signal of device 310 Figure, as it can be seen, this control device includes microcontroller 301, inertial sensor 302, wireless transport module (1) 303, wireless biography Other peripheral modules 306 such as defeated module (2) 304, power module 305, LED, this detection device includes that connection jaws 307, inertia pass Sensor 308.Wherein, described microcontroller 301 passes through SPI communication respectively at described inertial sensor module 302, described wireless biography Defeated module (1) 303, described wireless transport module (2) 304, described connection jaws 307 connect.Described interface line 307 and described inertia Sensor 308 is directly connected to.Control device 300 to be fixed on the back of the hand and the Y-axis positive direction sensing four of described inertial sensor 302 Individual finger.Detection device 310 is fixed on the Y-axis positive direction of finger second knuckle back and described inertial sensor 308 and refers to First lid.

Fig. 4 illustrates that the present invention provides the control method of a kind of four-axle aircraft.Implement step as follows:

Step 1: sensors configured Acquisition Error value

In a kind of possible implementation, controller requires configuration inertial sensor according to certain and control inertia sensing Device is according to the angular velocity Gyro of certain speed acquisition finger and acceleration A cc, and two kinds of data are read in controllers counts respectively Calculate angular velocity error e _ gyro and acceleration error e_acc.Wherein, angular velocity and acceleration are trivector.

In one embodiment:

The both hands the five fingers closed up the back of the hand horizontal positioned upward and keeps resting state, gather acceleration and magnitude of angular velocity and remember Record times of collection num.

The size of acquisition angle speed: Gyro (i)=Gyro_Correct ()

The size of collection acceleration: Acc (i)=Acc_Correct ()

Calculating angular velocity error:

$\left\{\begin{array}{c}e\_gyro.X=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Gyro\left(i\right).X\\ e\_gyro.Y=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Gyro\left(i\right).Y\\ e\_gyro.Z=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Gyro\left(i\right).Z\end{array}\right.---\left(1\right)$

Calculating acceleration error:

$\left\{\begin{array}{c}e\_acc.X=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Acc\left(i\right).X\\ e\_acc.Y=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Acc\left(i\right).Y\\ e\_acc.Z=\frac{1}{num}\underset{i=1}{\overset{num}{\Σ}}Acc\left(i\right).Z\end{array}\right.---\left(2\right)$

Step 2: gather finger information and calculate the degree of crook of finger

In a kind of possible implementation, acquisition angle speed Gyro (i), acceleration A cc (i) use inertial navigation algorithm (IMU) carry out finger gesture resolving and calculate the degree of crook of finger.

In one embodiment:

(1) first the Gyro (i) collected, Acc (i) are calibrated

$\left\{\begin{array}{c}Final.Gyro\left(i\right).X=Gyro\left(i\right).X-e\_gyro.X\\ Final.Gyro\left(i\right).Y=Gyro\left(i\right).Y-e\_gyro.Y\\ Final.Gyro\left(i\right).Z=Gyro\left(i\right).Z-e\_gyro.Z\end{array}\right.---\left(3\right)$

With

$\left\{\begin{array}{c}Final.Acc\left(i\right).X=Acc\left(i\right).X-e\_acc.X\\ Final.Acc\left(i\right).Y=Acc\left(i\right).Y-e\_acc.Y\\ Final.Acc\left(i\right).Z=Acc\left(i\right).Z-e\_acc.Z\end{array}\right.---\left(4\right)$

Wherein, Final.Gyro (i) .X, Final.Gyro (i) .Y, Final.Gyro (i) .Z, Final.Acc (i) .X Final.Acc (i) .Y, Final.Acc (i) .Z represents the angular velocity after calibration, acceleration each axle size respectively.

(2) again calibration after acceleration, angular velocity unitization, obtain FN.Gyro (i) .X, FN.Gyro (i) .Y, FN.Gyro(i).Z、FN.Acc(i).X、FN.Acc(i).Y、FN.Acc(i).Z。

(3) the acceleration of gravity vector in geographic coordinate systemPass through pose transformation matrixChange into Vector in carrier coordinate systemSo

$V=C_n^b\·R---\left(5\right)$

Wherein,It is by quaternary numberThe matrix constituted and the initial value of quaternary number

(4) under carrier coordinate system, calculate acceleration FN.Acc (i) that measured of inertial sensor and turned by attitude matrix Error between the acceleration V changed, is denoted as e.

E=FN.Acc (i) × V (6)

(5) proportion of utilization, integration correction angle speed, correction δ and revised angular velocity w are respectively:

δ=K_pe+K_i∫e (7)

W=FN.Gyro (i)+δ (8)

(6) revised angular velocity is utilized to go to update quaternary number

Obtained by quaternion differential equation:

$\left[\begin{array}{c}\stackrel{\·}{q_0}\\ \stackrel{\·}{q_1}\\ \stackrel{\·}{q_2}\\ \stackrel{\·}{q_3}\end{array}\right]=\left[\begin{array}{cccc}0& -w_x& -w_y& -w_z\\ w_x& 0& w_z& -w_y\\ w_y& -w_z& 0& w_x\\ w_z& w_y& -w_x& 0\end{array}\right]\left[\begin{array}{c}{q}_0\\ q_1\\ q_2\\ q_3\end{array}\right]---\left(9\right)$

WhereinIt it is each component of quaternary number after updating

(7) utilize with the quaternary number after new obtains Eulerian angles

Course angle:

The angle of pitch: pitch=arcsin (2 (q₀q₂-q₁q₃))

Roll angle:

Roll angle is exactly the angle that inertial sensor rotates around X-axis, is denoted as D₀, therefore calculate the inertial sensor on the back of the hand 302 angles D rotated around X-axis₀Angle D rotated around X-axis with inertial sensor 308 (except thumb) on each finger_i, then Angle DT that each finger (except thumb) bends relative to the back of the hand_i=D_i-D₀。

Step 3: calculate current gesture and send corresponding control command

In a kind of possible implementation, when the five fingers close up stretch the back of the hand keep static upward time, D₀At C₁To C₂It Between.Such as, through experiment is repeated several times, surveying-3 ° to+3 ° is steady statue.Being used on forefinger, middle finger, the third finger, little finger Angle D that property sensor rotates around X-axis₂、D₃、D₄、D₅At C₃To C₄Between, such as, through experiment is repeated several times, actual measurement is when four fingers Closing up to stretch keeps steady timing point to show between-3 ° to+5 °.The angle that inertial sensor on thumb rotates around X-axis D₁At C₅To C₆Between, such as, through experiment is repeated several times, actual measurement is steady statue between 30 ° to 40 °.

When the back of the hand level upward four refer to second knuckles hold, thumb towards be perpendicular to four finger directions open time, D₂、D₃、D₄、 D₅All at C₇To C₈Between, such as, through experiment is repeated several times, field data show is stable between 75 ° Dao+93 °.D₁At C₉Arrive C₁₀Between, such as, stable between 70 ° to 87 ° through experimental data is repeated several times.

Comprehensively learn, work as DT_i(i=2,3,4,5) are at 0 ° to (C₄-C₁+ ε) ° between time, such as time between 0 ° Dao+10 °, Think DT_iCorresponding finger is in straight configuration relative to the back of the hand；Work as D₁At 0 ° to (C₆+ ε) between time, such as at 0 ° Dao+40 ° Between time, it is believed that thumb is in and closes up state.Wherein ε represents the least angle allowance.

Work as DT_i(i=2,3,4,5) are more than (C₇+ ε) time, when being greater than 65 °, it is believed that DT_iCorresponding finger is relative to hands The back of the body is in the state of holding；Work as D₁More than (C₉+ ε) time, when being greater than 70 °, it is believed that thumb is in open configuration.

Thus open according to finger or which gesture is the number held it is determined that be currently at, the most backward four axles fly Row device sends the order corresponding to gesture.

Claims (9)

1. gesture control device, it is characterised in that including: controller, inertia sensing node, wherein, described controller is fixed on On the back of the hand, described inertia sensing node is fixed at finger second knuckle；Described inertial sensor is for gathering the motion of finger Attitude angle information also exports to controller, and described controller is for gathering the output data of described sensor, and flies to four axles Device sends control instruction.

Gesture control device the most according to claim 1, it is characterised in that described inertia sensing node must comprise three axles Turn meter and three axis accelerometer, or six axle inertial sensors of both one, in three axle magnetometers can be not included in.

Gesture control device the most according to claim 1, it is characterised in that described inertia sensing node is fixed on finger Two refer to that joint back and Y-axis positive direction point to finger tip.

Gesture control device the most according to claim 1, it is characterised in that described athletic posture merges employing strap-down navigation Algorithm, the pitch angle measurement scope after fusion is-90 ° ~+90 °；It is-180 ° ~ 180 ° that roll angle measures scope；Earth magnetism causes partially Boat angle persistently drifts about, without accurate results.

Gesture control device the most according to claim 1, it is characterised in that integrated six axle inertia on described controller Sensor, as reference point, the actual angle measurement degree of finger is the inertial sensor relative angle with reference point of finger-joint.

6. on the other hand, it is proposed that a kind of control method, it is characterised in that

Process can be divided into three steps according to the sequencing gathered, process by described control method:

Step 1: sensors configured Acquisition Error value, refers to according to necessarily requiring sensors configured, and acquisition angle speed and The error amount of acceleration；

Step 2: gather finger information and calculate the degree of crook of finger, refers to gather the acceleration of each finger and angle speed Degree, calculates each finger degree of crook relative to the back of the hand；

Step 3: calculate current gesture and send corresponding control command, refers to the digital flexion degree according to both hands, calculates Go out current gesture, and send corresponding gesture control instruction to four-axle aircraft.

Gestural control method the most according to claim 6, it is characterised in that in described control method, only uses roll angle Judge finger gesture.

Gestural control method the most according to claim 6, it is characterised in that described left hand control instruction, particularly as follows:

One grade of throttle: the palm of the hand is towards ground, and flattened forefinger, remaining finger is curled；Described gesture is as a example by forefinger, it is also possible to be remaining The flattened action of a piece finger of meaning；

Two grades of throttle: the palm of the hand is towards ground, and flattened forefinger and middle finger, remaining finger is curled；Described gesture is as a example by forefinger and middle finger, also It can be the flattened action of remaining any two finger；

Throttle third gear: the palm of the hand is towards ground, and flattened forefinger, middle finger and the third finger, remaining finger is curled；Described gesture is with forefinger, middle finger As a example by the third finger, it is also possible to be the flattened action of remaining any three finger；

Throttle fourth gear: the palm of the hand is towards ground, and flattened forefinger, middle finger, the third finger and little finger, thumb is curled；Described gesture with forefinger, As a example by middle finger, the third finger and little finger, it is also possible to be the flattened action of remaining any four finger；

Five grades of throttle: represent the palm of the hand towards ground, flattened five fingers.

Gestural control method the most according to claim 6, it is characterised in that

Described right-hand gesture instructs, particularly as follows:

Flight forward: the palm of the hand is towards sky, and thumb is curled, remaining four finger is flattened；

Flight backward: the palm of the hand is towards sky, and thumb is curled, remaining four finger is curled and is pressed on thumb；

Flight to the left: the palm of the hand is towards ground, and thumb is flattened to the left, remaining four finger is curled；

Flight to the right: the palm of the hand is towards sky, and thumb is flattened to the right, remaining four finger is curled.