CN107272724A - A kind of body-sensing flight instruments and its control method - Google Patents
A kind of body-sensing flight instruments and its control method Download PDFInfo
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- CN107272724A CN107272724A CN201710665536.9A CN201710665536A CN107272724A CN 107272724 A CN107272724 A CN 107272724A CN 201710665536 A CN201710665536 A CN 201710665536A CN 107272724 A CN107272724 A CN 107272724A
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- flight instruments
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000009471 action Effects 0.000 claims abstract description 16
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012360 testing method Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims 8
- 230000008859 change Effects 0.000 abstract description 4
- 230000000875 corresponding effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 8
- 238000000605 extraction Methods 0.000 description 5
- 239000000284 extract Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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)
- Toys (AREA)
Abstract
A kind of body-sensing flight instruments, the flight instruments can be made corresponding action and change by recognizing the action of human skeleton.The flight instruments includes image processing module, for extracting human skeleton information or obstacle information from the scene image in real time；Main control unit, for producing flare maneuver instruction according to the human skeleton information or obstacle information；Flight control modules, the flare maneuver of the body-sensing flight instruments is controlled for being instructed according to the flare maneuver.The flight instruments is with low cost, and playability is high, while having Intelligent Recognition people's environment concurrently, prevents from accidentally injuring children, it is ensured that the safety of children.The invention further relates to a kind of control method of body-sensing flight instruments.
Description
Technical field
The invention belongs to body-sensing technology application field, the high entertainment for children flight dress of more particularly to a kind of safe, resistance to object for appreciation property
Put.
Background technology
At present, the development of toy for children is to have reached prosperity scene in full flourish, and many toy manufacturers also push away
Go out many flying toys, but most of flying toys are all based on hand-held style, such as are passed through with remote control red
Outer mode controls the mode of flight, also or develops into the control modes such as nearest bluetooth, wifi, these flying toys or many
Or it is few be required for a hand-held control device to reach manually or semi-automatic operation, high is required to operation, and exist certain
Security risk.
In recent years as body-sensing technology is continued to develop, body-sensing device is gradually born, but these devices are applied to game mostly
In terminal, majority is all based on gesture identification or based on face detection, does not possess skeleton recognition capability, in the market
Also the control device recognized based on skeleton is not present.
The content of the invention
In order to solve the above problems, present invention firstly provides flying without terminal control is made using skeleton identification technology
Luggage is put, and proposes a kind of action by human body to control flight instruments and its control method.
As the first aspect of the invention, a kind of body-sensing flight instruments is proposed, including；Image processing module, for reality
When human skeleton information or obstacle information are extracted from the scene image；Main control unit, for according to the human body
Framework information or obstacle information produce flare maneuver instruction；Flight control modules, for according to the flare maneuver instruction come
Control the flare maneuver of the body-sensing flight instruments.
Further, described image acquisition module includes multiple cameras, is directed at different directions.
Further, the body-sensing flight instruments also includes power detecting module, and it is connected with the main control unit, uses
The main control unit is sent in the electric power thus supplied of detection battery in real time, and by power supply testing result；The main control unit
When the power supply testing result is under-voltage, send flare maneuver instruction the body-sensing is flown to the flight control modules
Luggage puts landing, while controlling under-voltage warning light to flash.
Further, the body-sensing flight instruments also includes apart from detection module, and it is connected with the main control unit, uses
The distance of player is left in detection flight instruments in real time, and the main control unit will be sent to apart from testing result；The master
Control unit it is described exceed predetermined threshold apart from the distance that testing result is the body-sensing flight instruments and manipulator when, to institute
State flight control modules and send flare maneuver instruction with so that the body-sensing flight instruments flies to manipulator.
As the second aspect of the invention, a kind of control method of body-sensing flight instruments is proposed, including：Obtain scene graph
Picture；Human skeleton information is extracted from the scene image in real time；Flare maneuver is produced according to the human skeleton information to refer to
Order；Instructed to control the flare maneuver of the body-sensing flight instruments according to the flare maneuver.
The present invention has following marked improvement compared with prior art：
One be conglomerate induction device technology of the present invention, personage's skeletal extraction technology and obstacle recognition technology in one,
The intelligent manipulation technology of the flight instruments of complete set is constructed, all traditional controlling equipments have been abandoned, it is auxiliary without other
Help device.The flight instruments designed by the present invention, the strong sense of movement for enough bringing hand-held device not have is brought to user
Novel game experiencing, allows people also to temper body while knowing from experience game-play enjoyment.
Two be that the present invention is directed at different directions using multiple cameras, can be known no matter device can be allowed to be under which visual angle
Do not go out personage, and can correctly parse the action command of personage, compared by the picture of the personage to different scenes, clearly divided
Separate out the action of personage.
Three be power detecting module proposed by the present invention, can detect the electric power thus supplied of battery in real time in plant running,
When the power supply of device is in under-voltage, red under-voltage flash for prompting lamp can remind player timely to charge, it is to avoid as some
The cheap flight instruments phenomenon directly born when device battery is under-voltage.
Four be proposed by the present invention apart from detection module, can detect that flight instruments leaves the distance of player in real time, is ensured
Device will not fly too remote, it is to avoid it is too remote so that the phenomenon that can not be operated beyond the player visual field that device flies.
Five be the simple in construction of the present invention, has given up traditional operation device, has saved manufacturing cost, and human-oriented price allows people
It can receive.
Brief description of the drawings
Fig. 1 is a kind of module frame chart of embodiment of the body-sensing flight instruments of the present invention
Fig. 2 is a kind of flow chart of embodiment of the body-sensing flight instruments control method of the present invention
Embodiment
The facility and advantage that the present invention is designed can be detailed with reference to accompanying drawing progress in ensuing embodiment
Description, and then cause becoming apparent from for advantages of the present invention expression.
It as figure 1 shows a kind of possible layout of body-sensing flight instruments proposed by the present invention.In the embodiment, body-sensing
Flight instruments is in addition to a master unit 1, in addition to camera module 2, image processing module 3, flight control modules
4th, power detecting module 5 and apart from detection module 6.
Wherein, camera module 2 constantly shoots picture by 3 cameras from different visual angles.
The picture that image processing module 3 is shot to camera module 2 is analyzed, and obtains the depth letter of current three-dimensional scenic
Breath, the depth for carrying out human body turns infrared, extracts framework information by skeletal extraction algorithm, and identify the barrier in three-dimensional scenic
Hinder thing, extract obstacle information.In order to reduce the operand of image procossing, before can analyzing the image of shooting, first
Judge to whether there is human body in the picture that current visual angle is shot, only choose the visual angle correspondence for being judged as there is human body in 3 visual angles
Camera shoot picture be further processed.The infrared depth that turns of wherein personage includes, and obtains infrared using infrared module
Data, by the way that the infrared data of acquisition and built-in reference data are carried out into comparing calculation, so that depth map data is drawn, depth map
Data are the object location information in three dimensions.Skeletal extraction algorithm is using the depth map data conduct calculated
The input of skeletal extraction algorithm, is handled using Computer Image Processing algorithm, including edge extracting, binarization operation, figure
Frame-to-frame differences differentiation extracts mobile point coordinates, key node and marks the person recognition realized in three-dimensional scenic.
Flight control modules 4 are used for the angle of inclination of adjusting apparatus in-flight, realize the change of heading.
Power detecting module 5 is used for the state of the power supply of detection flight instruments in real time, and power supply testing result is sent
To the main control unit.
It is used for detecting distance of the flight instruments apart from personage in real time apart from detection module 6, and will be sent out apart from testing result
Give the main control unit.It can be the range sensor being assemblied on flight instruments, be pushed away by launching infrared ray and receiving
Calculate flight instruments and the distance of player.The infrared emission light carried on range sensor can be used, sends infrared to object
Light, light is encountering personage's back reflection by air dielectric transmission, and built-in optical element can be received and reflected
Light, the built-in timer record transmitting light time is with receiving the time of light and calculating distance.
Main control unit 1 mainly completes player identification, flight control, voltage detecting, the work of the part of distance controlling four, below
It is described in detail.
Player identification part.Receive image processing module 3 and analyze obtained framework information, framework information is started for acquiescence
The player of posture (such as standing state) carries out image recognition, and the framework information of player is identified, assign unique ID with
The feature of player is locked, device can enter state to be operated after the completion of extraction, and cut-in voltage is detected.
Flight Control Section.By analyzing the framework information that image processing module 3 is sent, the dynamic of player is extracted
Make information, the action storehouse of record is contrasted, to recognize the control action of player.Takeoff maneuver is made (as played bounce in player
Make) after, control flight instruments starts state of flight of flying and enter.In state of flight, according to the control of the player of identification
Braking sends flight control instruction.Meanwhile, by analyzing the obstacle information that image processing module 3 is sent, knot
Close flight instruments current flight position and direction, automatic dodging barrier (particularly avoiding people) with avoid collision.
Current detection section.Receive the power supply testing result constantly sent of power detecting module, judge whether it is under-voltage,
When occurring under-voltage, device can enter under-voltage condition.Under under-voltage state, main control unit 1 starts landing procedure control
Flight instruments slowly lands, while player device not enough power supply is reminded by red indicator lamp, so as to prevent excessively under-voltage lead
Cause device directly to drop to break.
Apart from detection part.When flight instruments is in state of flight, constantly analyzes apart from testing result, prevent
Flight instruments flies too far.After the threshold value of setting is more than apart from testing result, adjust automatically navigation direction, it is ensured that flight instruments
Do not fly out apart from player too remote place.After flight instruments flight is too remote, player's control action will be difficult to, and now be played
Family can not manipulate flight instruments, may cause the flight in the same direction as of flight instruments simply until under-voltage landing.
Illustrate the control flow of body-sensing flight instruments proposed by the present invention with an example below.
As shown in Figure 2, body-sensing flight instruments running can be circulated constantly, constantly detection scanning, to ensure
The requirement of response player, and keep the operation of the stabilization of itself in real time.In this embodiment, running includes：
Device for opening, and device is stably placed on horizontal plane, the spaciousness and personnel for keeping surrounding environment should not be by
Object is blocked, it is ensured that device can be allowed correctly to recognize player.
After device reads player, plant running status lamp can be changed, and point out user identified, and user can be with this moment
The action taken off is made, device can be acted according to the skeleton of user, perform the action taken off, the steady entry altitude of horizontalization to be installed
After about 1.5m or so height, into state of flight.
Under state of flight, the similar action such as player can make various glidings, take-off, squat down, to flying in-flight
Luggage, which is put, to be controlled, the flight attitude of change of flight device.Flight instruments, is mainly made up of motor driving helical-blade, works as figure
As there is skeleton to tilt in the corresponding control action of framework information that processing module is recognized or during the inconsistent situation of both arms height,
Flight instruments can complete one according to the gradient of the framework information of seizure and dive or soaring oblique movement, with player's bone
The control action of frame keeps synchronous.
Under state of flight, the distance between flight instruments and player can be detected, if device is detected apart from player's mistake
Far, such as set more than 3m, flight instruments, which is understood, oneself to rise and turns around to fly back to player at one's side, and with player holding one section away from
From can so ensure that flight instruments is always held in the field range of player.
Voltage detecting always through during the entire process of plant running, whether device be in firm startup self-detection or
Detected in operation, such action is carried throughout, as long as the output that device detects power supply does not reach the normal fortune of device
OK, device will decline automatically, keep landing state, and produce under-voltage prompting.
The process on flight instruments landing ground is a complex process, when flight instruments captures the landing of player
Act (such as squatting motion), or occur during under-voltage.During landing, flight instruments still constantly landed by detection
Human skeleton within the vision or other barriers in journey, if it find that have the presence of human body or barrier, can adjust automatically
The course of flight, it is to avoid collision, so as to ensure the safety of player and flight instruments.
The explanation being not directed in the embodiment of the present invention belongs to technology well known in the art, refers to known technology
It is carried out.Above embodiment and embodiment are the tools to body-sensing flight instruments proposed by the present invention and its control method
Body is supported, it is impossible to limit protection scope of the present invention with this, every according to technological thought proposed by the present invention, in the technical program
On the basis of any equivalent variations for being done or equivalent change, still fall within the scope of technical solution of the present invention protection.
Claims (6)
1. a kind of body-sensing flight instruments, it is characterised in that including：
Image processing module, for extracting human skeleton information or obstacle information from the scene image in real time；
Main control unit, for producing flare maneuver instruction according to the human skeleton information or obstacle information；
Flight control modules, the flare maneuver of the body-sensing flight instruments is controlled for being instructed according to the flare maneuver.
2. body-sensing flight instruments as claimed in claim 1, it is characterised in that wherein described image acquisition module includes multiple take the photograph
As head, different directions are directed at.
3. body-sensing flight instruments as claimed in claim 1, it is characterised in that also include：
Power detecting module, it is connected with the main control unit, the electric power thus supplied for detecting battery in real time, and power supply is examined
Survey result and be sent to the main control unit；
The main control unit sends flare maneuver to the flight control modules and referred to when the power supply testing result is under-voltage
Order is to cause the body-sensing flight instruments to land, while controlling under-voltage warning light to flash.
4. body-sensing flight instruments as claimed in claim 1, it is characterised in that also include：
Apart from detection module, it is connected with the main control unit, for detecting that flight instruments leaves the distance of player in real time, and
The main control unit will be sent to apart from testing result；
The main control unit it is described exceed apart from the distance that testing result is the body-sensing flight instruments and manipulator it is predetermined
During threshold value, send flare maneuver instruction the body-sensing flight instruments is flown to manipulator to the flight control modules.
5. a kind of control method of body-sensing flight instruments, it is characterised in that including：
Obtain scene image；
Human skeleton information is extracted from the scene image in real time；
Flare maneuver instruction is produced according to the human skeleton information；
Instructed to control the flare maneuver of the body-sensing flight instruments according to the flare maneuver.
6. a kind of control method of body-sensing flight instruments, the control for any one body-sensing flight instruments in such as claim 1-4
System, it is characterised in that including：
Step 1, when initial, the body-sensing flight instruments is in holding state, waits personage to enter the visual field, and wait to be launched；
Step 2, when the effector makes takeoff maneuver, the body-sensing flight instruments enters state of flight；
Step 3, in state of flight, the body-sensing flight instruments spirals in the air, waits the effector to make different controls
Braking is made, and completes corresponding flare maneuver according to the control action of the effector, while detecting the body-sensing flight
Device and the distance with the effector, when the distance exceeds predetermined threshold, control the body-sensing flight instruments to return to institute
State near effector；
Step 4, when the effector makes landing, the body-sensing flight instruments will land automatically, and whether detect periphery
There are human body or barrier with collision free；
In the step 1-4, real-time capture human skeleton information constantly analyzes the action of the effector, while prison in real time
Battery capacity is surveyed, if capacity reaches lower limit, the body-sensing flight instruments lands automatically；
In the step 3-4, in addition to constantly recognizing the control action of the effector, also constantly detection periphery whether someone
Body or barrier, with the generation of collision free.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710665536.9A CN107272724A (en) | 2017-08-04 | 2017-08-04 | A kind of body-sensing flight instruments and its control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710665536.9A CN107272724A (en) | 2017-08-04 | 2017-08-04 | A kind of body-sensing flight instruments and its control method |
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| CN107272724A true CN107272724A (en) | 2017-10-20 |
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| CN201710665536.9A Pending CN107272724A (en) | 2017-08-04 | 2017-08-04 | A kind of body-sensing flight instruments and its control method |
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Cited By (1)
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| CN112506204A (en) * | 2020-12-17 | 2021-03-16 | 深圳市普渡科技有限公司 | Robot obstacle meeting processing method, device, equipment and computer readable storage medium |
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Application publication date: 20171020 |