CN108712614A - A kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback - Google Patents
A kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback Download PDFInfo
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- CN108712614A CN108712614A CN201810552875.0A CN201810552875A CN108712614A CN 108712614 A CN108712614 A CN 108712614A CN 201810552875 A CN201810552875 A CN 201810552875A CN 108712614 A CN108712614 A CN 108712614A
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- 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
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- 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
- H04N23/67—Focus control based on electronic image sensor signals
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- 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
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Multimedia (AREA)
- Signal Processing (AREA)
- Eye Examination Apparatus (AREA)
Abstract
The invention discloses a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback, including unmanned plane and intelligent glasses, unmanned plane includes flying control plate and the capture apparatus for taking photo by plane, the conmmand reciver of remote-control and telemetry transmitter, fly control plate to be electrically connected with the conmmand reciver of remote-control, capture apparatus is electrically connected with telemetry transmitter, intelligent glasses include telecommand transmitter, telemetry receiver, image display, eyeball acts monitoring device and controller, capture apparatus includes image capture module, image coding module, image compression module, image storage module and micro-control module.The present invention using eyeball action induction technology can be best adaptation user observation demand and range of observation selection, the experience of the process of user is not interfered completely, control effect is good, authenticity of finding a view height, whole equipment is easy to carry about with one, the real observation effect on unmanned plane can be realized on ground in people, improves the laser propagation effect of Aerial Images, improves the quality of Aerial Images.
Description
Technical field
The present invention relates to air vehicle technique field, specially a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback.
Background technology
With the mature of the especially more rotary wind type unmanned vehicle technologies of unmanned plane, using more rotary wind type unmanned flights
Device is taken photo by plane, and teaches skill art by real-time figure, and Aerial Images are transferred back to the client of user at one's side, allow user can in real time with
Unmanned plane shares the visual field, becomes a kind of promising demand.In this case, unmanned plane just look like be a meeting fly look in the distance
Mirror, user can pass through the scene of screen viewing to distant place.
It is presently mainly by the camera in front of unmanned plane that surrounding image is real-time for the ease of unmanned plane remote control
Sending the display screen of corresponding controller to, operator finds a view further according to pattern situation or is manipulated accordingly, still,
A defect existing for this view mode is：Picture material can only be obtained from third party's screen, it is difficult on the spot in person to people
Feel.
Meanwhile the operation of present most of unmanned plane is required for being used cooperatively for ground-based computer, which limits it
Using area.A whole set of instrument such as ground data receiving device, data conversion, picture output device is needed for unmanned plane
Device.And control the orientation that the skyborne orientation of unmanned plane changes unmanned plane with greater need for equipment such as manual manipulation rocking bars.Operation
Inconvenience with the cumbersome use for largely limiting unmanned plane.
It is thus proposed that head-wearing type intelligent glasses are combined with the image transmission system of unmanned plane, still through nobody
Machine removes real-time image acquisition, but the image that acquisition is got is transmitted directly to the head-wearing type intelligent glasses, and is directly projected on use
In the visual field at family, user can go to experience the shooting visual field of unmanned plane in a manner of on the spot in person.
Under this mode, user can not be limited to come by visual angle, space length with one kind completely freely movably
Observation things can generate a kind of feeling oneself observed on unmanned plane, and do not have completely especially under vertical view pattern
It is dangerous.
But the problems in prior art is, for the capture apparatus on unmanned plane and unmanned plane control with
The head-wearing type intelligent glasses are separation, and user needs separately to operate unmanned plane using console, and since the visual field is by this
Head-wearing type intelligent glasses are occupied, and are at this moment blind controls for the manipulation of unmanned plane, this operation difficulty forms said program
Promote obstacle.
Another mode is to transfer to the third party to implement the manipulation of unmanned plane, and the wearer of head-wearing type intelligent glasses is only
It is attentively to go to experience.Under this mode, the wearer of the head-wearing type intelligent glasses is not controlled completely for wanting the content of observation
Ability processed can only passively wait for the change of range of observation, can substantially reduce experience effect.
Invention content
The purpose of the present invention is to provide a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback, to solve above-mentioned background
The problem of being proposed in technology.
In order to solve the above technical problem, the present invention provides following technical solutions：One kind being used for unmanned aerial vehicle (UAV) control and passback
Intelligent glasses, including unmanned plane and intelligent glasses, the unmanned plane includes flying control plate and the capture apparatus for taking photo by plane, remote control
Command receiver and telemetry transmitter, the winged control plate are electrically connected with the conmmand reciver of remote-control, the capture apparatus
It is electrically connected with the telemetry transmitter, the intelligent glasses include telecommand transmitter, telemetry receiver, image
Show that equipment, eyeball action monitoring device and controller, the eyeball action monitoring device are set to described image and show equipment
On, the telecommand transmitter connects the conmmand reciver of remote-control, and the telemetry receiver connects the telemetering number
According to transmitter, described image shows that equipment is electrically connected with the telemetry receiver, wherein is sent by the telemetry
The Aerial Images of the capture apparatus are transmitted to described image and show that equipment is shown by device and telemetry receiver, the control
Device acts monitoring device with the eyeball respectively and the telecommand transmitter is electrically connected, and it is suitable for dynamic according to the eyeball
The eyeball action of the user detected as monitoring device generates and sends out control instruction to the unmanned plane, is referred to according to the control
The control capture apparatus is enabled to be acted accordingly；
The capture apparatus include image capture module, image coding module, image compression module, image storage module and
Micro-control module, described image acquisition module acquire vision signal, and the vision signal is a series of set of analog images, institute
It states image coding module the analog image is carried out encoded translated being digital picture, described image compression module is to the number
Image, which carries out forming compression image after coding compression, to be sent described image memory module to and is stored, the micro-control module control
Described image acquisition module processed acquires the vision signal, coordinates control described image coding module and carries out image coding, described
Image compression module carries out compression of images, and described image memory module stores the compression image, the micro-control molding
Block is electrically connected with telemetry transmitter, receives the shooting instruction, from described image memory module described in extraction storage
Compression image is simultaneously sent to the telemetry receiver.
Further, the unmanned plane further includes servomechanism, and the servomechanism includes posture and navigation
Module, manipulation module and battery capacity detection module, the posture and navigation module, the manipulation module and the battery capacity
Detection module is electrically connected with the conmmand reciver of remote-control respectively.
Further, the unmanned plane further includes holder, and the capture apparatus is equipped on the holder, the control
Device includes cradle head controllor, and the cradle head controllor acts monitoring device and the telecommand transmitter with the eyeball respectively
Electrical connection is acted to the unmanned plane it is suitable for the eyeball of the user detected according to eyeball action monitoring device and is sent out
Cradle head control instructs, and the holder adjusts the shooting direction of the capture apparatus according to cradle head control instruction.
Further, the controller further includes flight controller, and the flight controller is acted with the eyeball respectively
Monitoring device is connected with the telecommand transmitter, and it is suitable for being acted to the unmanned plane according to the eyeball detected
Send flight control instruction.
Further, the intelligent glasses further include mode switch element, and the mode switch element is controlled with the flight
Device electrical connection processed, the flight control switched between the first observing pattern and the second observing pattern it is suitable for generating the unmanned plane
System instruction.
Further, the mode switch element includes speech recognition device and/or mode selector switch, wherein institute's predicate
Sound identifier is suitable for identifying the default phonetic order that user sends out, and according to unmanned plane described in the default voice command control
Switch between first observing pattern and second observing pattern, the mode selector switch is supervised with eyeball action
Measurement equipment is electrically connected, and it is suitable for according to presetting unmanned plane described in eyeball action control in first observing pattern and described the
Switch the either mode selector switch between two observing patterns to be connect with the flight controller according to its disconnection or connected
The state control unmanned plane is connect between first observing pattern and second observing pattern to switch.
Further, the intelligent glasses further include eyeball motion analysis instrument, are set respectively with eyeball action monitoring
It is standby to be connected with the flight controller, it is suitable for analyzing eyeball action under second observing pattern, and according to point
Analyse the flight of unmanned plane described in output control.
Compared with prior art, the advantageous effect of the invention reached is：
1), intelligent glasses of the present invention need to using the observation for being adapted to user that eyeball action induction technology can be best
It asks and the selection of range of observation, also, utilizes eyeball action induction technology, without user additionally by otherwise to nothing
Holder on man-machine is manipulated, and does not interfere the experience of the process of user completely, and control effect is good, and authenticity of finding a view is high, and whole
A equipment is easy to carry about with one, and the real observation effect on unmanned plane can be realized on ground in people.
2), intelligent glasses of the present invention can be selected by eyeball action induction technology except field of view, also
The psychology symbol meaning analysis acted to eyeball can be utilized, is completed to unmanned plane during flying track using eyeball action to realize
Control.
3), the capture apparatus that the present invention uses, improves the laser propagation effect of Aerial Images, improves the matter of Aerial Images
Amount, and image capture module is powered with zoom controller so that and image capture module can carry out high standard to lock onto target
Imaging, and then can realize the accurate monitoring to lock onto target.
Description of the drawings
Attached drawing is used to provide further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the system structure diagram of the embodiment of the present invention one；
Fig. 2 is the system structure diagram of the embodiment of the present invention two；
Fig. 3 is the system structure diagram of capture apparatus in the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, technical solution provided by the invention：
Embodiment one
A kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback, including unmanned plane and intelligent glasses, the unmanned plane packet
Include and fly control plate and capture apparatus, the conmmand reciver of remote-control, telemetry transmitter for taking photo by plane, the winged control plate with it is described distant
Command receiver electrical connection is controlled, the capture apparatus is electrically connected with the telemetry transmitter, and the intelligent glasses include distant
Control commander sender, telemetry receiver, image display, eyeball action monitoring device, controller, the eyeball action
Monitoring device is set to described image and shows in equipment, and the telecommand transmitter connects the conmmand reciver of remote-control, institute
It states telemetry receiver and connects the telemetry transmitter, described image shows equipment and telemetry receiver electricity
Connection；Wherein, the Aerial Images of the capture apparatus are transmitted by the telemetry transmitter and telemetry receiver
Show that equipment is shown to described image；Monitoring device is acted with the eyeball respectively for the controller and the telecommand is sent
Device is electrically connected, and it is suitable for acting the eyeball action of the user that detects of monitoring device according to the eyeball to generate and to the nothing
It is man-machine to send out control instruction；The capture apparatus is controlled according to the control instruction to be acted accordingly.
Specifically, the output end of the eyeball action monitoring device is connected with the input terminal of the controller, the control
The output end of device processed is connected with the telecommand transmitter, and the output end and described image of the telemetry receiver are aobvious
Show that the input terminal of equipment is connected, the output end of the telecommand transmitter on the intelligent glasses with it is distant on the unmanned plane
The input terminal of control command receiver is connected, by wireless between the telecommand transmitter and the conmmand reciver of remote-control
The mode of communication is connected, and the output end of the conmmand reciver of remote-control on the unmanned plane is connected with the input terminal of the winged control plate
Connect, it is described it is winged control plate output end be connected with the input terminal of the capture apparatus, the output end of the capture apparatus with it is described
The input terminal of telemetry transmitter is connected, output end and the Brilliant Eyes of the telemetry transmitter on the unmanned plane
The input terminal of telemetry receiver on mirror is connected, between the telemetry transmitter and the telemetry receiver
It is connected through wireless communication.It should be noted that heretofore described connection, can be that wireless connection can also
It is wired connection, can also includes being directly connected to and/or being indirectly connected with, being indirectly connected with here refers to two first devices being connected
Other components are also provided among part.
It is deposited specifically, the capture apparatus includes image capture module, image coding module, image compression module, image
Module and micro-control module are stored up, described image acquisition module acquires vision signal, and the vision signal is a series of analog images
Set, described image coding module to the analog image carry out it is encoded translated be digital picture, described image compression module
The digital picture is carried out forming compression image after coding compression and sends described image memory module to and stores, it is described micro-
Control module controls described image acquisition module and acquires the vision signal, coordinates control described image coding module and carries out image
Coding, described image compression module carry out compression of images, and described image memory module stores the compression image, described
Micro-control module is electrically connected with telemetry transmitter, receives the shooting instruction, is extracted and is deposited from described image memory module
The compression image of storage is simultaneously sent to the telemetry receiver.
Specifically, the unmanned plane further includes servomechanism, the servomechanism includes posture and navigation mould
Block, manipulation module and battery capacity detection module, the posture and navigation module, the manipulation module and battery capacity inspection
Module is surveyed to be electrically connected with the conmmand reciver of remote-control respectively.
Preferably, the eyeball action monitoring device is the eyeball of the user for detecting unmanned plane and monitors the fortune of eyeball
Dynamic and eyeball fixes elements.The eyeball action monitoring device is additionally configured to detect and acquire the eye on image display
Ball watches position attentively and measures the time of each eyeball fixes.
In order to which eyeball fixes track, many different types of technologies may be used in the eyeball action monitoring device.For example,
Three steps may be used to realize that eyeball fixes track in the eyeball action monitoring device：
In the first step, the eyeball in detection user's face is levied based on class Lis Hartel；
In the second step, using the tracking of the action of Lucas Kanade algorithm performs eyeballs；
In third step, eyeball fixes are detected using Gaussian process.
Those skilled in the art will appreciate that technology described above is not intended to unique solution party of eyeball fixes tracking
Case, and many other technologies can be used for eyeball fixes tracking.Camera charge capture and the eyeball fixes point for detecting user.
The camera can be the element of the eyeball action monitoring device.
Preferably, further include reservoir in the controller, storage includes eyeball action and order in the reservoir
Table.In table, each order is associated with the action of corresponding eyeball.For example, when user eyeball moves up, the eye is used
Ball action monitoring device, which detects, translates up eyeball action, then, by detected eyeball action and in the reservoir
Eyeball action in the table of middle storage compares.If it is dynamic to find the eyeball to match with the action of detected eyeball in table
Make, then executes order associated with the matched eyeball action of institute in table.If order is " capture apparatus turns upwards towards ", institute
Winged control plate is stated to be moved upwardly by the lens direction of the capture apparatus on holder.
The embodiment of the present invention to adjust the action of holder, and is realized according to the action of eyeball all directions vertically and horizontally
The adjustment in the shooting orientation of the capture apparatus carried on holder.For example, when sensing that the pupil of eyeball is moved upward,
Capture apparatus is then adjusted to be moved upward relative to current location；When sensing that the pupil of eyeball moves downwards, then
Adjustment capture apparatus moves downwards relative to current location.Other directions are also similar principle.In this way, the observation of user is intended to
Prestige naturally can be perceived and meet, between user is careless, be achieved that user want to see where, camera just to where
It is mobile so that the observation experience of user is greatly improved.
In above-described embodiment, even if eyeball action deforms in certain marginal range compared with its benchmark eyeball acts
It can detect that eyeball acts.
Preferably, the unmanned plane further includes holder, and the capture apparatus is equipped on the holder, the controller
Including cradle head controllor, the cradle head controllor acts monitoring device and telecommand transmitter electricity with the eyeball respectively
Connection acts to the unmanned plane it is suitable for the eyeball of the user detected according to eyeball action monitoring device and sends out cloud
Platform control instruction, the holder adjust the shooting direction of the capture apparatus according to cradle head control instruction.
Certainly, the unmanned plane in the embodiment of the present invention can not also include the holder, for example, the electric rotating for passing through setting
Machine can also realize the change of the shooting direction of the capture apparatus carried on the unmanned plane.
Specifically, the unmanned plane includes unmanned plane main body, camera shooting headstock, control holder, the camera shooting headstock passes through institute
The lower section that control holder is fixed on the unmanned plane body front end is stated, has a pair of of camera, the control in front of the camera shooting headstock
Holder processed includes main electric rotating machine, sidespin rotating motor and holder, and the main electric rotating machine bottom is fixed on the unmanned plane main body
There are a holder in the lower section of front end, the end of the shaft of the main electric rotating machine, the camera shooting headstock both sides respectively with the side
The shaft of electric rotating machine is connected, and face at the lower end of the stand is fixed in sidespin rotating motor bottom.
Preferably, the image display of the intelligent glasses can be display screen, and can also use can allow human eye sense
By any structure of image, such as to the technology of eyeball projection image, do not limit herein.In the following embodiments with display
It is illustrated for screen.
Preferably, the intelligent glasses further include intelligent glasses main body, stabilizer blade, stabilizer blade connects hinge, button, display screen use
Frame holder, display screen, column image projector, eyeball action monitoring device, holder connects hinge and eyeball action monitoring are set
Standby fixed frame, there are two frame, the stabilizer blades to have a pair, described stabilizer blade one end to connect by the stabilizer blade for the intelligent glasses main body
It connects hinge with the side of the intelligent glasses main body to be connected, be respectively arranged on the frame of the intelligent glasses main body above-mentioned distant
Control the conmmand reciver of remote-control and telemetering number of commander sender and telemetry receiver and the unmanned plane body front end
Corresponding according to transmitter, the eyeball action monitoring device acts monitoring device fixed frame by the eyeball and is fixed on the intelligence
Can be in the frame of lens body, the camera lens of eyeball action monitoring device is towards eyeball side, display screen frame holder
Have that 2 frames are corresponding with the frame of intelligent glasses main body, by described aobvious in the frame of display screen frame holder
Display screen, is fixed with the column image projector on the display screen, and the camera lens of the column image projector leans against described aobvious
In display screen, the upper end of display screen frame holder passes through the holder connects hinge and intelligent glasses main body upper end phase
Even, there is button on the stabilizer blade.
Preferably, the button on the stabilizer blade can be to image button and/or photographing button and/or switch button, can root
Image button (capture apparatus for controlling the unmanned plane acquires video data), photographing button accordingly according to function setting
(capture apparatus for controlling the unmanned plane acquires image data), switch button are (for controlling unmanned plane and intelligent glasses
Between work start and close).
Preferably, there is control touch screen below the end that the stabilizer blade is connected with the intelligent glasses main body, pass through institute
It states the control touch screen below stabilizer blade and is controlled and controlled so as to the hand steered glasses of person easy to operation, operation is extremely square
Just.
There are a pair, the eyeball position in order to be accurately positioned the eyeball position eyeball action monitoring device to eyeball
Eyeball action monitoring device is set symmetrically to be fixed in the frame of intelligent glasses main body by eyeball action monitoring device fixed frame
On upper and lower section.
Preferably, the intelligent glasses further include having record image or the memory of video information, such as RAM (is deposited at random
Access to memory), be able to record by being controlled the image that sends over of unmanned plane or video information, the memory respectively with it is described distant
Measured data receiver and display screen electrical connection.Wherein, the intelligent glasses are wear-types, can be worn over the head of user
On, pass through the wireless transport module (for example, above-mentioned telecommand transmitter and telemetry receiver) and the unmanned plane
By radio communication, in the image or transmission of video to the memory that are acquired, then by the memory input described in
It is shown in the display screen of intelligent glasses, user can see picture that unmanned plane is transmitted with it, to supervise in operation
Control site environment appreciates landscape of taking photo by plane.
Preferably, the intelligent glasses, including telemetry receiver, image or video for receiving unmanned plane transmission
Data, wherein described image or video data are shot by the capture apparatus of the UAV flight；Display screen, the display
The quantity of screen is two, is located at two eyeglasses of the intelligent glasses, is connected with the telemetry receiver, is used for
Described image or video data that the telemetry receiver receives are shown；Eyeball acts monitoring device, is used for
Incude the eyeball action of the user of the intelligent glasses；Controller acts monitoring device and the unmanned plane with the eyeball
Fly control plate to be connected, is acted for acting the eyeball that monitoring device senses according to the eyeball, control and carried on the unmanned plane
The capture apparatus acted accordingly.For example, can be acted by the eyeball eyeball that senses of monitoring device to
It is left, to the right, upwards, move down, control the holder of the capture apparatus carried on the unmanned plane, camera lens visual angle enabled to carry out
The corresponding action translated to the left, to the right, upwards, downwards；It is sensed alternatively, monitoring device can also be acted by the eyeball
Eyeball upwards move down, directly control on the unmanned plane carry capture apparatus camera lens zoomed out and be retracted operation
Deng.
Preferably, the display screen is liquid crystal display.The intelligent glasses eyeglass that this mode makes is relatively thin, and volume is more
Small, weight is lighter.The display screen can be touch screen so that in addition to user's input module is (for example, pattern switching hereinafter
Unit) except, the possibility for operating unmanned plane on the display screen can be provided a user.
Preferably, it is additionally provided with protective film on the display screen；Specifically, the protective film is glass protection film, it is main to rise
To the effect of protection display screen, bonded by glue with display screen.
Preferably, the intelligent glasses further include video processor, are connected with the memory and the display screen, are used
In image or the video data processing for receiving the telemetry receiver, and by treated, data transmission is shown to described
Display screen.
Preferably, the telemetry receiver, for example, can be received logical by the wireless receiver that frequency is 5.8G
The picture data information of the camera shooting of the UAV flight is crossed, which can pass through UAV flight's
Transmitter (for example, above-mentioned telemetry transmitter) is with the rate transmission of 540P pixels and 128kb/s；It is passed due to usually wireless
Defeated image or video data is to be handled by compressed encoding, therefore can be arranged in the telemetry receiver and regard
The image received or video data are reduced into the capture apparatus by frequency decoding apparatus by image or video decoding techniques
The adaptation pattern of shooting, or the video decoder can also be arranged in the video processor.
Preferably, the telemetry receiver can be used for receiving the image or video counts of more rotary wind type unmanned plane transmission
According to.Although telemetry receiver can receive the image or video counts of fixed-wing unmanned plane and the transmission of more rotary wind type unmanned planes
According to, but since the characteristics of fixed-wing unmanned plane is that speed is fast, cannot hover, therefore using the Brilliant Eyes in the embodiment of the present invention
The image or video of mirror display shooting, it is possible to cause user to generate spinning sensation, eyes of user is damaged；And more rotary wind types
Unmanned plane its main feature is that can hover, therefore uses the intelligent glasses in the embodiment of the present invention such as quadrotor, six rotors
Show the video of shooting, user is it is seen that the picture that the camera lens of steadily hovering is shot, user experience are more comfortable.
Wherein, the imaging technique operation principle of the intelligent glasses is as follows：Intelligent glasses are in the recent period with virtual reality skill
The video reception terminal of a kind of combination Light Electrical, information technology that art grows up.In embodiments of the present invention, use and its
The different intelligent glasses of tower display terminal are as video display terminal, and intelligent glasses are small, light-weight, are convenient for carrying, energy
Enough show the image or video image passed back on the capture apparatus (for example, card camera) carried in quadrotor drone.It is logical
Often, to may include battery, control circuit (effect for realizing above controller), display module in intelligent glasses (realize
The above effect of display screen), wireless receiving module (effect for realizing above wireless receiver), frame etc..
Preferably, the controller further includes flight controller, and the flight controller acts with the eyeball supervise respectively
Measurement equipment is connected with the telecommand transmitter, and it is suitable for being acted to the unmanned plane according to the eyeball detected
107 send flight control instruction.
Preferably, the intelligent glasses further include mode switch element, and the mode switch element is controlled with the flight
Device is electrically connected, the flight control switched between the first observing pattern and the second observing pattern it is suitable for generating the unmanned plane
Instruction.
Preferably, the mode switch element includes speech recognition device and/or mode selector switch, wherein the voice
Identifier is suitable for identifying the default phonetic order that user sends out, and is existed according to unmanned plane described in the default voice command control
Switch between first observing pattern and second observing pattern；The mode selector switch is monitored with eyeball action
Device is electrically connected, and it is suitable for being seen in first observing pattern and described second according to unmanned plane described in default eyeball action control
It examines and switches the either mode selector switch between pattern and connect with the flight controller according to its disconnection or connection shape
State controls the unmanned plane and switches between first observing pattern and second observing pattern.
Preferably, the intelligent glasses further include eyeball motion analysis instrument, act monitoring device with the eyeball respectively
It is connected with the flight controller, it is suitable for analyzing the eyeball action under second observing pattern, and according to analysis
The flight of unmanned plane described in output control.
Preferably, it is equipped with the program of image analysis in the controller.In described program, different eyeballs is acted
It is provided with the cloud that different control commands, such as advance, retrogressing, left-hand rotation, right-hand rotation, stopping etc. having corresponded to different unmanned planes respectively
Platform control instruction and/or flight control instruction.
Preferably, the communication component (telecommand transmitter, the conmmand reciver of remote-control, telemetry transmitter and distant
Measured data receiver) it is configured to facilitate communication wired or wireless between the intelligent glasses, unmanned plane and other equipment.It can
To access the wireless network based on communication standard, such as WiFi, 2G or 3G or combination thereof.In one exemplary embodiment,
The communication component further includes near-field communication (NFC) communication, to promote short range communication.Know for example, radio frequency can be based in NFC module
(RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) technology, bluetooth (BT) technology and other technologies are not come
It realizes.For example, between the intelligent glasses and other equipment such as user terminal, the use that the user terminal is to be shared with other
NFC communication can be passed through between the terminal of family.
Preferably, it may include the fixed-focus such as hero3 moving camera for the capture apparatus of unmanned plane, micro- single, singly anti-etc., clap
Wireless control can be supported to realize that the remote control of capture apparatus, used camera can also be supported by taking the photograph equipment itself
WIFI is controlled or infrared control, to realize the remote control to camera, carries out taking pictures or recording a video for camera accordingly.Camera is remote
Range controller may include the various functions such as shutter function, camera zoom, pattern.
In the embodiment of the present invention, storage assembly (memory and reservoir) is configured as storing various types of data to prop up
Hold the operation in system.These data include the instruction for any application program or method that operate on this system.Storage
Component can be by any kind of volatibility or non-volatile memory device or combination thereof realization, such as static random-access
Memory (SRAM), Erasable Programmable Read Only Memory EPROM (EPROM), may be programmed electricallyerasable ROM (EEROM) (EEPROM)
Read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or CD.The embodiment of the present invention
A kind of intelligent glasses for controlling unmanned plane are disclosed, head-wearing type intelligent glasses have naturally just corresponded to the eyeball of user, so
The selection of the observation demand for being adapted to user and range of observation that can be best using eyeball action induction technology.Also, it utilizes
Eyeball action induction technology is not done completely without user additionally by being manipulated otherwise to the holder on unmanned plane
Disturb the experience of the process of user.Such control effect is good, and authenticity of finding a view is high, and whole equipment is easy to carry about with one, and people is on ground
The real observation effect on unmanned plane can be realized.
Embodiment two
A kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback, including unmanned plane and intelligent glasses, the unmanned plane packet
Include and fly control plate and capture apparatus, the conmmand reciver of remote-control, telemetry transmitter for taking photo by plane, the winged control plate with it is described distant
Command receiver electrical connection is controlled, the capture apparatus is electrically connected with the telemetry transmitter, and the intelligent glasses include distant
Control commander sender, telemetry receiver, image display, eyeball action monitoring device, controller, the eyeball action
Monitoring device is set to described image and shows in equipment, and the telecommand transmitter connects the conmmand reciver of remote-control, institute
It states telemetry receiver and connects the telemetry transmitter, described image shows equipment and telemetry receiver electricity
Connection, wherein transmitted the Aerial Images of the capture apparatus by the telemetry transmitter and telemetry receiver
Show that equipment is shown to described image；Monitoring device is acted with the eyeball respectively for the controller and the telecommand is sent
Device is electrically connected, and it is suitable for acting the eyeball action of the user that detects of monitoring device according to the eyeball to generate and to the nothing
It is man-machine to send out control instruction；The capture apparatus is controlled according to the control instruction to be acted accordingly.
It is deposited specifically, the capture apparatus includes image capture module, image coding module, image compression module, image
Module and micro-control module are stored up, described image acquisition module acquires vision signal, and the vision signal is a series of analog images
Set, described image coding module to the analog image carry out it is encoded translated be digital picture, described image compression module
The digital picture is carried out forming compression image after coding compression and sends described image memory module to and stores, it is described micro-
Control module controls described image acquisition module and acquires the vision signal, coordinates control described image coding module and carries out image
Coding, described image compression module carry out compression of images, and described image memory module stores the compression image, described
Micro-control module is electrically connected with telemetry transmitter, receives the shooting instruction, is extracted and is deposited from described image memory module
The compression image of storage is simultaneously sent to the telemetry receiver.
Specifically, the unmanned plane further includes servomechanism, the servomechanism includes posture and navigation mould
Block, manipulation module and battery capacity detection module, the posture and navigation module, the manipulation module and battery capacity inspection
Module is surveyed to be electrically connected with the conmmand reciver of remote-control respectively.
Preferably, the unmanned plane further includes holder, and the capture apparatus is equipped on the holder, the controller
Including cradle head controllor, the cradle head controllor acts monitoring device and telecommand transmitter electricity with the eyeball respectively
Connection acts to the unmanned plane it is suitable for the eyeball of the user detected according to eyeball action monitoring device and sends out cloud
Platform control instruction, the holder adjust the shooting direction of the capture apparatus according to cradle head control instruction.
Preferably, the controller further includes flight controller, and the flight controller acts with the eyeball supervise respectively
Measurement equipment is connected with the telecommand transmitter, and it is suitable for being acted to the unmanned plane to send out according to the eyeball detected
Send flight control instruction.
Preferably, the intelligent glasses further include mode switch element, and the mode switch element is controlled with the flight
Device is electrically connected, the flight control switched between the first observing pattern and the second observing pattern it is suitable for generating the unmanned plane
Instruction.
Preferably, the mode switch element includes speech recognition device and/or mode selector switch, wherein the voice
Identifier is suitable for identifying the default phonetic order that user sends out, and is existed according to unmanned plane described in the default voice command control
Switch between first observing pattern and second observing pattern；The mode selector switch is monitored with eyeball action
Equipment is electrically connected, and it is suitable for bases to preset unmanned plane described in eyeball action control in first observing pattern and described second
Switch the either mode selector switch between observing pattern to be connect with the flight controller according to its disconnection or connection
State controls the unmanned plane and switches between first observing pattern and second observing pattern.
Preferably, the default phonetic order may include " open the first observing pattern " and " open the second observing pattern
" similar phonetic order being waited, when the phonetic order that institute speech recognizer identification user sends out is " opens the first observing pattern
" when, it controls the unmanned plane and switches to first observing pattern.Similarly, it is sent out as institute speech recognizer identification user
Phonetic order is " open the second observing pattern " when, control the unmanned plane and switch to second observing pattern.[
Preferably, the mode selector switch may include key on the intelligent glasses or button to input character or life
It enables, and further includes that identification utilizes key or the button inputted character or the function of order.If on the intelligent glasses
Image display is touch screen and equipment be configured as can be then described in image display inputing characters and order
Mode selector switch can be optional.
Preferably, the mode selector switch is electrically connected with eyeball action monitoring device, and it is suitable for according to default
Unmanned plane described in eyeball action control switches between first observing pattern and second observing pattern.The default eye
Ball action may include blink action, for example, when eyeball action monitoring device detects that active user ins succession blink three times
When, switch to second observing pattern from first observing pattern, or switch to from second observing pattern described
First observing pattern.Certainly, specific number of winks can according to circumstances be set, or even can also be according to the difference of each user
Adjustment.Preferably, frequency of wink can also be set, the frequency of wink and the blink work are combined, even more
Further, the blink can also be acted and is combined and is respectively used to the instruction of above-mentioned cradle head control or flight control instruction
Control the flight of the capture apparatus and the unmanned plane.
Preferably, the intelligent glasses further include eyeball motion analysis instrument, act monitoring device with the eyeball respectively
It is connected with the flight controller, it is suitable for analyzing the eyeball action under second observing pattern, and according to analysis
The flight of unmanned plane 107 described in output control.
Preferably, different types of group of eyeball according to the present invention action and the period for completing eyeball action
It closes, the combination producing is used to operate different types of order of unmanned plane.For example, wherein eyeball fixes point is from the left side to the right
Mobile eyeball action." unmanned plane turns to the right " orders with eyeball action and the threshold time for completing eyeball action
The combination of section T is associated.If detect the eyeball act and for complete the time period t of eyeball action be more than or
Equal to predetermined threshold period T, then " unmanned plane turns to the right " order is executed so that unmanned plane turns to the right.If time short t
Less than T, then order will not be executed, it is understood that be less than T when time period t meets t, user only watches the intelligent glasses image and shows
Content in equipment, heading or flying speed without adjusting current unmanned plane, according to preset flying method
Flight.The various combination of eyeball pattern and threshold time period is stored in reservoir.In addition, different command is with described
Different command is stored in the associated state of corresponding combination in reservoir in reservoir.These various combinations and and they
Associated order can be stored in sheet format in reservoir.What eyeball action reflected in fact is the observation interest point of user, institute
To analyse in depth eyeball action, it is known that the observation of user it is expected, a kind of typically observe is contemplated to be：When user's continuous observation
When some particular range, often mean that user is interested in the position, it is desirable to be able to be better understood upon the specific position.Also
The control model of unmanned plane can be designed according to the point of interest of above-mentioned user.That is, the observing pattern of unmanned plane is divided into two kinds
Pattern, one kind being referred to as the first observing pattern, and first observing pattern is static observations pattern, and one kind being referred to as the second observation
Pattern, second observing pattern are dynamic observation pattern.Under the static observations pattern, as foregoing invention embodiment institute
It states, some skyborne specific position of the unmanned plane stopping is motionless, and the holder acts monitoring device according to the eyeball and obtains
The cradle head control instruction arrived, adjusts the direction of the capture apparatus, it is made to meet the observation demand of user.When the eyeball acts
When monitoring device monitors eyeball action, control can be moved to change the shooting direction of capture apparatus automatically by holder, thus
The landscape of eyeball institute moving direction is moved to the center of current range of observation.
Specifically, due to user may sometimes need to do fast full-view to all landscapes within the scope of present viewing field it is clear
Look at, at this time eyeball action can high speed circumference movement, in this case, eyeball action monitoring be not determined as user to
Observation interest point is found at place, and is rapidly adjusted to holder viewfinder range.Because if implemented this quickly unordered
Adjustment mode, user's range of observation Study of Platycladus orientalis-Robinia pseudoacacia may be caused to change on a large scale, and lead to user's dizziness.So only those
Eyeball action is relatively slower, purpose is clear, and the lasting observation behavior of certain time length is kept after eyeball movement, can is
System is identified as effective range of observation change wish can just provide range of observation therewith after system judges these wishes
The cradle head control of adjustment instructs.Under dynamic observation pattern, likewise, when eyeball action monitoring device monitors that eyeball is dynamic
When making, control can be moved to change the shooting direction of capture apparatus automatically by holder, thus by the scape of eyeball institute moving direction
See the center for being moved to current range of observation.
Preferably, when the eyeball motion analysis instrument analysis finds that the range of observation of active user remains constant feelings
(it is more than certain time threshold value, the pupil of eyeball is kept essentially stationary, and mobile range is not up to preset in system change under condition
Become the degree of field range), then it is the just interested part of user to be defaulted as the field range that active user is observing, so
Controllable unmanned plane flies towards the direction pointed by current shooting equipment according to pre-set velocity, close to quilt in this direction
Observe object；And when the eyeball motion analysis instrument finds user's long period lasting concern some specific objective, it can assert
To be the wish observed in detail, and the flare maneuver that the unmanned plane moves closer to is triggered, at this moment, if the specific objective is not
When on the current heading of the unmanned plane, need to send out the flight control instruction for changing the unmanned plane during flying direction.
Above-mentioned static observations pattern and dynamic observation pattern can be by instructions that user provides come free switching, and this instruction can be tactile
Send out input type, voice-control, eyeball action type etc..
Preferably, the controller can pass through central processing unit (CPU) and/or coprocessor, field-programmable gate array
It arranges (FPGA), digital signal processor (DSP), special-purpose tandem circuit (ASIC) and embedded microprocessor (ARM), micro-
Controller, microprocessor or other electronic components are realized.Preferably, the controller includes processing component, is further comprised
One or more processors, and by the memory resource representated by memory, for storing the finger that can be executed by processing component
It enables, such as application program.The application program stored in memory may include it is one or more each correspond to one
The module of group instruction.
Specifically, other than head-wearing type intelligent glasses can select field of view by eyeball action induction technology,
The psychology symbol meaning analysis acted to eyeball can also be utilized, is completed to unmanned plane during flying track using eyeball action to realize
Control.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback, it is characterised in that：It is described including unmanned plane and intelligent glasses
Unmanned plane includes flying control plate and capture apparatus, the conmmand reciver of remote-control and telemetry transmitter for taking photo by plane, the winged control
Plate is electrically connected with the conmmand reciver of remote-control, and the capture apparatus is electrically connected with the telemetry transmitter, the intelligence
Glasses include telecommand transmitter, telemetry receiver, image display, eyeball action monitoring device and controller,
The eyeball action monitoring device is set to described image and shows in equipment, and the telecommand transmitter connection remote control refers to
Receiver, the telemetry receiver is enabled to connect the telemetry transmitter, described image shows equipment and the telemetering
Data sink is electrically connected, wherein by the telemetry transmitter and telemetry receiver by the capture apparatus
Aerial Images are transmitted to described image and show that equipment show, the controller respectively with eyeball action monitoring device and described
Telecommand transmitter is electrically connected, and it is suitable for acting the eyeball for the user that monitoring device detects according to the eyeball to act life
Unmanned plane described in Cheng Bingxiang sends out control instruction, and control the capture apparatus according to the control instruction is acted accordingly；
The capture apparatus includes image capture module, image coding module, image compression module, image storage module and micro-control
Molding block, described image acquisition module acquire vision signal, and the vision signal is a series of set of analog images, the figure
It is digital picture as coding module is encoded translated to analog image progress, described image compression module is to the digital picture
It carries out forming compression image after coding compression and sends described image memory module to and stored, the micro-control module controls institute
It states image capture module and acquires the vision signal, coordinate control described image coding module and carry out image coding, described image
Compression module carries out compression of images, and described image memory module stores the compression image, the micro-control module and
Telemetry transmitter is electrically connected, and receives the shooting instruction, the compression of storage is extracted from described image memory module
Image is simultaneously sent to the telemetry receiver.
2. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 1, it is characterised in that：The nothing
Man-machine further includes servomechanism, and the servomechanism includes posture and navigation module, manipulation module and battery capacity
Detection module, the posture and navigation module, the manipulation module and the battery capacity detection module respectively with the remote control
Command receiver is electrically connected.
3. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 1, it is characterised in that：The nothing
Man-machine further includes holder, and the capture apparatus is equipped on the holder, and the controller includes cradle head controllor, the cloud
Platform controller acts monitoring device with the eyeball respectively and the telecommand transmitter is electrically connected, and it is suitable for according to
The eyeball for the user that eyeball action monitoring device detects acts to the unmanned plane and sends out cradle head control instruction, the holder root
The shooting direction of the capture apparatus is adjusted according to cradle head control instruction.
4. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 1, it is characterised in that：The control
Device processed further includes flight controller, and monitoring device is acted with the eyeball respectively for the flight controller and the telecommand is sent out
Device is sent to connect, it is suitable for being acted to the unmanned plane to send flight control instruction according to the eyeball detected.
5. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 4, it is characterised in that：The intelligence
Energy glasses further include mode switch element, and the mode switch element is electrically connected with the flight controller, and it is suitable for generating
The flight control instruction that the unmanned plane switches between the first observing pattern and the second observing pattern.
6. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 5, it is characterised in that：The mould
Formula switch unit includes speech recognition device and/or mode selector switch, wherein institute's speech recognizer is suitable for identification user's hair
The default phonetic order gone out, and according to unmanned plane described in the default voice command control in first observing pattern and described
Switch between second observing pattern, the mode selector switch is electrically connected with eyeball action monitoring device, and it is suitable for roots
Switch between first observing pattern and second observing pattern according to unmanned plane described in default eyeball action control, or
The mode selector switch is connect with the flight controller, and the unmanned plane is controlled in institute according to its disconnection or connection status
It states and switches between the first observing pattern and second observing pattern.
7. a kind of intelligent glasses being used for unmanned aerial vehicle (UAV) control and passback according to claim 4 or 5, it is characterised in that：Institute
It further includes eyeball motion analysis instrument to state intelligent glasses, acts monitoring device with the eyeball respectively and the flight controller connects
It connects, it is suitable for analyzing the eyeball action under second observing pattern, and the unmanned plane is controlled according to analysis result
Flight.
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Application publication date: 20181026 |