CN109254595A - Man-machine flight control method and the system of dancing together of aircraft - Google Patents
Man-machine flight control method and the system of dancing together of aircraft Download PDFInfo
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- CN109254595A CN109254595A CN201811431117.XA CN201811431117A CN109254595A CN 109254595 A CN109254595 A CN 109254595A CN 201811431117 A CN201811431117 A CN 201811431117A CN 109254595 A CN109254595 A CN 109254595A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000033001 locomotion Effects 0.000 abstract description 14
- 230000006870 function Effects 0.000 description 7
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- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 description 2
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- 230000004807 localization Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
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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
- G05D1/12—Target-seeking control
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Abstract
The embodiment of the present application provides a kind of man-machine flight control method of dancing together of aircraft, which includes: location data, the location data of people and at least two field pictures including face coordinate value for receiving aircraft；Flight control command is generated according to the location data of the aircraft, the location data of people and the coordinate value for being handled to obtain face on every frame image at least two field pictures；The aircraft flight is controlled according to the flight control command.The application realizes the man-machine specific reciprocal motion danced together during aircraft flight.
Description
Technical field
This application involves aircraft fields, man-machine flight control method of dancing together, dress in particular to a kind of aircraft
It sets and system.
Background technique
The flight of aircraft is controlled in the prior art, preset flight path or rule are often based on, with exterior object
Generation movement interaction, the case where also easily misrecognition when being interacted with each other between people and aircraft.Therefore, aircraft at present
Demonstration flight process needs accurately man-machine flight control method of dancing together.
Summary of the invention
In view of this, the embodiment of the present application provides the man-machine flight control method of dancing together of aircraft a kind of, device and is
System, to improve the problem of above-mentioned aircraft needs precise positioning during man-machine dance together.
To achieve the goals above, the application the technical solution adopted is as follows:
A kind of man-machine flight control method of dancing together of aircraft, which comprises
Receive location data, the location data of people of aircraft；
Flight control command is generated according to the location data of the aircraft, the location data of people；
The aircraft is controlled according to the flight control command to bypass from the predetermined position of the people according to predetermined direction
The people.
Illustrate as an example, the location data of the people includes: the coordinate data of the predetermined position of people.
Illustrate as an example, control the aircraft from the predetermined position of the people according to predetermined direction around described
While people, take the average value of at least two field pictures of face coordinate value as fixed point, aircraft is in the flight for bypassing the people
In the process, it needs to detect fixed point, and keeps pre-determined distance with fixed point.
Illustrate as an example, it is described that flight control is generated according to location data, the location data of people of the aircraft
Before system order, the method also includes:
According to the location data of the aircraft and the location data of the people, the aircraft and the people's are calculated
Distance；
It according to the location data of the aircraft, the location data of people generation flight control command is less than in the distance
Or equal to pre-determined distance threshold value in the case where execute.
A kind of flight control system, the system comprises positioning system, earth station and aircraft, wherein
The positioning system is for obtaining the location data of the aircraft and the location data of people, and by the flight
The location data of device and the location data of the people are sent to earth station；
The earth station is sent to institute for receiving the location data of the aircraft and the location data of the people
State aircraft；
The aircraft is used to receive the location data of the aircraft and determining for the people that the earth station sends
Position data generate flight control command according to the location data of the aircraft, the location data of people, and are controlled according to the flight
System order controls the aircraft and bypasses the people according to predetermined direction from the predetermined position of the people.
Man-machine dance together flight control method and the system of aircraft provided by the embodiments of the present application, aircraft receive aircraft
Location data and people location data, generate flight control command further according to the location data of aircraft, the location data of people
It controls aircraft and bypasses the people according to predetermined direction from the predetermined position of the people.Aircraft is in the flight course for bypassing the people
In, need to detect fixed point, and keep pre-determined distance with fixed point.It ensure that the man-machine positioning accuracy danced together, dance together man-machine
Ensuring safety property in performance.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
Fig. 1 shows a kind of flow chart of the man-machine flight control method of dancing together of aircraft provided by the embodiments of the present application；
Fig. 2 shows a kind of people provided by the embodiments of the present application and its mark point, and schematic diagram is arranged；
Fig. 3 shows another process of the man-machine flight control method of dancing together of aircraft provided by the embodiments of the present application
Figure；
Fig. 4 shows the structural block diagram of flight control system provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Ground description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not being done
Every other embodiment obtained under the premise of creative work out, shall fall in the protection scope of this application.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile the application's
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
It aircraft provided by the embodiments of the present application and is moved in specified region per capita, positioning system can specify area to this
Aircraft and people in domain position, and obtain coordinate data, attitude data and the coordinate data of people, posture of aircraft
Data etc..Also, the location data of acquisition can be transmitted directly to aircraft by positioning system, can also be by the positioning number of acquisition
According to earth station is sent to, which is sent to aircraft again by earth station.
The application to the positioning of aircraft, the positioning of people and controls progress to the flight of aircraft by following embodiments
It is described in detail.
Referring to Figure 1, the embodiment of the present application provides a kind of man-machine flight control method of dancing together of aircraft, and this method is used
According to self poisoning data, the location data of people and face at least two field pictures are handled to obtain every frame figure in aircraft
As the coordinate value and flight control mode of upper face generate the control flight of flight control command.
Specifically, this method comprises:
Step S110: the location data of aircraft, the location data of people are received.
In the present embodiment, the location data of aircraft and the location data of people and including face coordinate value at least
Two field pictures are all obtained by positioning system, are sent to aircraft by positioning system or are sent to earth station in positioning system
Afterwards, aircraft is sent to through earth station.
Before this step, further includes being positioned using positioning system to aircraft and people, obtain determining for aircraft
Digit is accordingly and the location data of people and at least two field pictures including face coordinate value.Also, the location data of people can be with
The location data of coordinate data including people perhaps attitude data aircraft may include the coordinate data or posture of aircraft
Data.For at least two field pictures of face coordinate value, a face recognition module can be installed additional in positioning system, to the face of people
Portion is identified, the coordinate value of face in the picture is obtained.
The coordinate data of the spatial position the being presently in it should be understood that coordinate data table of people is leted others have a look at, aircraft indicates
The spatial position that aircraft is presently in can be indicated by three-dimensional coordinate data.In addition, the attitude data of people indicates the people
Posture, the attitude data of aircraft indicates the posture of the aircraft, can pass through roll angle, pitch angle and yaw angle etc.
Attitude data indicates.
In a kind of specific embodiment, positioning system includes multiple optics motion capture equipment and processor.It should
Multiple optics motion capture equipment are arranged in aircraft and the designated movement region of people, can be used for obtaining from different directions winged
Row device and the image of people, so that the processor of positioning system is based on described image and positions to the aircraft and people.
Wherein, the aircraft and people in the case where proper motion, can be acted by least two optics and catch in designated movement region
It catches equipment and gets image.
Also, at least three mark points are provided on the surface of aircraft and human body surface, are set to aircraft table
The mark point in face and the mark point for being set to human body surface are arranged by different arrangement modes, and the mark point of aircraft and people are equal
With unique arrangement mode.At least three mark points of the surface of the aircraft and human body surface be processor can to its at
As the mark point identified.Preferably, the mark point of setting is self-luminous or reflective mark point, and in aircraft and people
The respectively arranged mark point in body surface face is preferably four.The mark point of human body surface is not provided in face.
Processor receives the mark point for the mark point and people including aircraft that multiple optics motion capture equipment obtain
At least two images, and the mark point at least two images is handled, obtains the coordinate data of mark point.
Also, since the mark point for being set to aircraft and the mark point arrangement mode for being set to people are different, positioning system
The processor of system can tell the mark point of people and the label of aircraft according to the mark point of arrangement modes different in image
Point.The location data of people can be obtained further according to the coordinate data of the mark point of people, it can also be according to the mark point of aircraft
The location data of coordinate data acquisition aircraft.
In the present embodiment, the mode that the coordinate data of people is obtained according to the coordinate data of the mark point of people is not intended as limiting
It is fixed, it can be the coordinate of the center of the figure surrounded using all mark points of people as the coordinate data of the people, it can also be with
It is the coordinate data using the average value of the coordinate data of all mark points of people as people.Likewise, according to the label of aircraft
The mode that the coordinate data of point obtains the coordinate data of aircraft can also be consistent with people, is not intended as limiting in the present embodiment
It is fixed.
In addition, obtaining the method for the attitude data of people according to the coordinate data of the mark point of people and according to the mark of aircraft
The attitude data that the coordinate data of note point obtains aircraft can be the figure surrounded according to the mark point of people also not as restriction
Posture and the original posture of people determine the posture of people, the posture of the figure surrounded according to the mark point of aircraft and aircraft
Original posture determines the posture of aircraft.
Positioning system sends the location data of the aircraft of acquisition, and the location data of people is sent.
Further, in the embodiment of the present application, which is optics motion capture system, such as: OptiTrack system
System or VICON system, can achieve submillimeter level positioning accuracy positioning aircraft and people.
Certainly, in the present embodiment, the localization method of positioning system is not intended as limiting, which is also possible to lead to
Cross the positioning system that other localization methods are positioned, such as GPS positioning system, inertial navigation positioning system.
Step S120: flight control command is generated according to the location data of the aircraft, the location data of people；
Step S130: the aircraft is controlled from the predetermined position of the people according to predetermined according to the flight control command
Direction bypasses the people.
In the present embodiment, the location data of the people of acquisition may include the coordinate data of the predetermined position of people.People's is pre-
Determine some edge that position is the center of people, people or other, can be according to the true form of people and the practical need of user
Ask determining.
The coordinate data of the predetermined position of people can be obtained by positioning system, and the mode specifically obtained is not intended as limiting.
In a kind of specific embodiment, it can be positioning system according to the coordinate data of at least three mark points of people and this be pre-
Determine position and 1 points of the positional relationship determines, 1 points of positional relationship of the predetermined position and this is to be arranged
It is predefined when at least three mark point.
Generate flight control command of the predetermined position for controlling aircraft from people according to predetermined direction around the people.This is pre-
Determining direction is a direction relative to the people.For example, the index point is set as circular, predetermined position is a certain on annulus
Point, it will of course be understood that, in some cases, for convenient for distinguishing predetermined position, mark point avoids being symmetrical arranged, such as Fig. 2 institute
Show.In the people 110 of the posture shown in figure, setting predetermined position is overlapped with 111 position of mark point of rightmost, then according to four
Asymmetric unique arrangement mode of mark point 111 can distinguish the mark point 111 of the rightmost, obtain the predetermined position
Coordinate data.Predetermined direction is in the predetermined position to the direction far from the people 110, such as the right of the people 110 in Fig. 2.Then
Generate the flight control command that control aircraft bypasses the people from the right of the point.
Preferably, meanwhile, using at least two field pictures of face coordinate value, aircraft and people is avoided to bump against, precision is high, keeps away
Exempt from the generation of man-machine middle accident of dancing together, particularly, take the average value of at least two field pictures of face coordinate value as fixed point,
Aircraft needs to detect fixed point, and fix at least two field pictures of face coordinate value in around the flight course of the people
Point keeps pre-determined distance.
More preferred, it takes in at least two field pictures of face coordinate value, the high longitudinal axis of distance on two field pictures vertical line
As fixed point, aircraft needs to detect solid coordinate value at coordinate value 2/3rds in around the flight course of the people
Fixed point, and pre-determined distance is kept at least two field pictures fixed point of face coordinate value.Because aircraft usually flies higher than at people
Row takes the coordinate value on two field pictures vertical line at the high ordinate of orthogonal axes value 2/3rds of distance as fixed point, can be because of pitching
Angled-view is good, and more safe and reliable.
Further, in the present embodiment, as shown in figure 3, in the positioning number according to the location data of the aircraft, people
According to and face two field pictures generate flight control command before, further includes:
Step S111: according to the location data of the aircraft and the location data of the people, the aircraft is calculated
At a distance from the people.It is generated and is flown according to the location data of the aircraft, the location data of people and flight control mode
The step 120 of control command is executed in the case where the distance is less than or equal to pre-determined distance threshold value.
I.e. before generating flight control command, it can first determine aircraft at a distance from people.When the distance is less than or waits
When pre-determined distance threshold value, just generated according to the location data of the aircraft, the location data of people and flight control mode
Flight control command.Certainly, aircraft can be according to the coordinate data of aircraft and the seat of the people at a distance from the people
Mark data are calculated.
When the distance is greater than pre-determined distance threshold value, people is except the safe distance of aircraft, and aircraft is not from the predetermined of people
The predetermined direction at position bypasses.
It should be understood that the pre-determined distance threshold value by user determines according to actual conditions, in the embodiment of the present application not
As limitation.
Certainly, in the present embodiment, the location data of the reception aircraft in step S110 and the location data of people, with
And flight control command is generated according to the location data of the aircraft, the location data of people in step S120, it can be
It is completed in other equipment, such as there is the terminal of data-handling capacity can be ground in the present embodiment for server, computer
Face station.The flight control command of generation is sent to aircraft again so that aircraft is according to flight control command control
Aircraft flight.
Using the above method provided by the embodiments of the present application, the volume of single aircraft or multiple aircraft composition may be implemented
Aircraft is controlled according to the motion profile of different people when team performs, enhances the interest of man-machine performance of dancing together and most important
Safety.
There are also a kind of embodiments to provide a kind of flight control system 300 by the application.As shown in figure 4, flight control system
System 300 includes positioning system 310, earth station 320 and aircraft 120.Certainly, the quantity of aircraft 120 and with no restrictions, can be with
It is individually, to be also possible to multiple.Aircraft 120 and earth station 320 and positioning system 310 are connect with the equal signal of earth station 320,
Data interaction may be implemented.
The flight control system 300 is used to realize the motion control to aircraft 120 according to the movement of people.
Specifically, people and aircraft are all set in the orientable region of positioning system 310, aircraft 120 and people 110
On be provided with mark point, positioning system 310 is used to obtain location data and the people of the aircraft 120 by the mark point
Location data, and the location data of the location data of the aircraft 120 and the people is sent to earth station 320, should
Positioning system 310 can be optics motion capture system, such as: OptiTrack system or VICON system are also possible to GPS positioning
Other positioning systems such as system, inertial navigation positioning system.
The earth station 320 is for receiving the location data of the aircraft 120 and the location data of the people, concurrently
Give the aircraft 120.
The aircraft 120 is used to receive location data and the institute for the aircraft 120 that the earth station 320 sends
The location data for stating people generates flight control command, and root according to the location data of the aircraft 120, the location data of people
It controls and flies according to the flight control command.
In conclusion man-machine flight control method of dancing together, the apparatus and system of aircraft provided by the embodiments of the present application,
Receive aircraft location data and people location data after, according to the location data of aircraft, the location data of people and
The two field pictures of face generate flight control command and increase aircraft and people so that aircraft flies according to the control command
Between interactivity and the man-machine most important safety danced together.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the application, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (5)
1. a kind of man-machine flight control method of dancing together of aircraft, which is characterized in that the described method includes:
Receive location data, the location data of people of aircraft；
Flight control command is generated according to the location data of the aircraft, the location data of people；
According to the flight control command control the aircraft from the predetermined position of the people according to predetermined direction around described
People.
2. the method according to claim 1, wherein the location data of the people includes: the predetermined position of people
Coordinate data.
3. according to the method described in claim 2, it is characterized in that, control the aircraft from the predetermined position of the people according to
While predetermined direction bypasses the people, take the average value of at least two field pictures of face coordinate value as fixed point, aircraft
In around the flight course of the people, need to detect fixed point, and keep pre-determined distance with fixed point.
4. according to the method described in claim 3, it is characterized in that, the location data according to the aircraft, people are determined
Before position data generate flight control command, the method also includes:
According to the location data of the aircraft and the location data of the people, calculate the aircraft and the people away from
From；
According to the location data of the aircraft, the location data of people and flight control mode generate flight control command be
The distance executes in the case where being less than or equal to pre-determined distance threshold value.
5. a kind of flight control system, which is characterized in that the system comprises positioning system, earth station and aircraft, wherein
The positioning system is for obtaining the location data of the aircraft and the location data of people, and by the aircraft
Location data and the location data of the people are sent to earth station；
The earth station is sent to described fly for receiving the location data of the aircraft and the location data of the people
Row device；
The aircraft is used to receive the location data for the aircraft that the earth station sends and the positioning number of the people
According to according to the location data of the aircraft, the location data of people generation flight control command, and according to flight control life
The predetermined position for controlling the aircraft from the people is enabled to bypass the people according to predetermined direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811431117.XA CN109254595A (en) | 2018-11-28 | 2018-11-28 | Man-machine flight control method and the system of dancing together of aircraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811431117.XA CN109254595A (en) | 2018-11-28 | 2018-11-28 | Man-machine flight control method and the system of dancing together of aircraft |
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| CN201811431117.XA Pending CN109254595A (en) | 2018-11-28 | 2018-11-28 | Man-machine flight control method and the system of dancing together of aircraft |
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Cited By (1)
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| CN111207741A (en) * | 2020-01-16 | 2020-05-29 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle navigation positioning method based on indoor vision vicon system |
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Application publication date: 20190122 |