CN110162088A - Unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane, wearable device and storage medium - Google Patents
Unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane, wearable device and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- 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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
This disclosure relates to a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane, wearable device and storage medium, can solve in the related technology due to the problem of unmanned aerial vehicle (UAV) control inaccuracy caused by the fine jitter of wearable device control signal.The unmanned aerial vehicle (UAV) control method includes: acquisition target control signal, wherein the target control signal is the k power value for the corresponding practical control signal of user's head rotational angle that wearable device detects, k is the number greater than 1；The flight control instruction for controlling the unmanned plane during flying state is generated according to the target control signal.
Description
Technical field
This disclosure relates to air vehicle technique field, and in particular, to a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane, can
Wearable device and storage medium.
Background technique
UAV abbreviation unmanned plane (Unmanned_Aerial_Vehicle, abbreviation UAV) is to utilize radio
The not manned aircraft of remote control equipment and the presetting apparatus provided for oneself manipulation, or by car-mounted computer fully or intermittently from
The not manned aircraft of main operation.In order to control the flight stability of unmanned plane, the corresponding actual control instruction of unmanned plane is all control
The minor change of terminal control signal processed.
But in the related art, the control semaphore of controlling terminal and to being linear between the practical control amount of unmanned plane
Variation, therefore, when winged hand carries out flight control to unmanned plane by controlling terminal, the control of significant care controlling terminal
Otherwise change amount signal may lead to the problem to unmanned aerial vehicle (UAV) control inaccuracy because of the minor change of control signal, thus
Influence the stabilized flight of unmanned plane.
Summary of the invention
Purpose of this disclosure is to provide a kind of unmanned aerial vehicle (UAV) control method, apparatus, unmanned plane, wearable device and storages to be situated between
Matter, to solve the problems, such as the inaccuracy of unmanned aerial vehicle (UAV) control present in the relevant technologies.
To achieve the goals above, in a first aspect, the disclosure provides a kind of unmanned aerial vehicle (UAV) control method, it is applied to unmanned plane,
Include:
Obtain target control signal, wherein the target control signal is that the user's head that wearable device detects turns
The k power value of the corresponding practical control signal of angle is moved, k is the number greater than 1；
The flight control instruction for controlling the unmanned plane during flying state is generated according to the target control signal.
Optionally, before the acquisition target control signal, comprising:
Receive the corresponding practical control signal of user's head rotational angle that the wearable device is sent；
The acquisition target control signal, comprising:
The calculating of k power is carried out to the practical control signal, obtains the target control signal.
Optionally, the acquisition target control signal includes:
Receive the target control signal that the wearable device is sent.
Optionally, the flight control generated according to the target control signal for controlling the unmanned plane during flying state
System instruction, comprising:
Determine TiThe target control signal and T at momenti-1Difference between the target control signal at moment, wherein Ti-1Moment
For TiThe last moment at moment；
When the difference is greater than the first preset threshold, according to following formula, to TiThe target control signal at moment carries out
Primary filtering processing:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal；
The flight for controlling the unmanned plane during flying state is generated according to primary filtered target control signal to control
Instruction.
Optionally, once filtered target control signal is generated for controlling the unmanned plane during flying state basis
Flight control instruction, comprising:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment primary filtered target
The first difference that control signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment
Carry out the second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or described second
When difference is greater than the second preset threshold, according to following formula, primary filtered target control signal is carried out at secondary filtering
Reason:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering；
The flight for controlling the unmanned plane during flying state is generated according to the target control signal after secondary filtering to control
Instruction.
Second aspect, the disclosure also provide a kind of unmanned aerial vehicle (UAV) control method, are applied to wearable device, the method packet
It includes:
Detect the head rotation angle of user；
Determine the corresponding practical control signal of the head rotation angle；
The k power value of the practical control signal is determined as target control signal, wherein k is the number greater than 1；
The target control signal is sent to the unmanned plane.
Optionally, the target control signal is sent to the unmanned plane, comprising:
Determine TiThe target control signal and T at momenti-1Difference between the target control signal at moment, wherein Ti-1Moment
For TiThe last moment at moment；
When the difference is greater than the first preset threshold, according to following formula, to TiThe target control signal at moment carries out
Primary filtering processing:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal；
Primary filtered target control signal is sent to the unmanned plane.
It is optionally, described that primary filtered target control signal is sent to the unmanned plane, comprising:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment primary filtered target
The first difference that control signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment
Carry out the second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or described second
When difference is greater than the second preset threshold, according to following formula, primary filtered target control signal is carried out at secondary filtering
Reason:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering；
Target control signal after secondary filtering is sent to the unmanned plane.
The third aspect, the disclosure also provide a kind of unmanned aerial vehicle (UAV) control device, are applied to unmanned plane, and described device includes:
Module is obtained, for obtaining target control signal, wherein the target control signal is that wearable device detects
The corresponding practical control signal of user's head rotational angle k power value, k is the number greater than 1；
Generation module, for generating the flight for controlling the unmanned plane during flying state according to the target control signal
Control instruction.
Fourth aspect, the disclosure also provide a kind of unmanned aerial vehicle (UAV) control device, are applied to wearable device, described device packet
It includes:
Detection module, for detecting the head rotation angle of user；
First determining module, for determining the corresponding practical control signal of the head rotation angle；
Second determining module, for the k power value of the practical control signal to be determined as target control signal, wherein k
For the number greater than 1；
Sending module, for the target control signal to be sent to the unmanned plane.
5th aspect, the disclosure also provide a kind of unmanned plane, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one of first aspect institute
The step of stating method.
6th aspect, the disclosure also provide a kind of wearable device, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize any one of second aspect institute
The step of stating method.
7th aspect, the disclosure also provide a kind of computer readable storage medium, are stored thereon with computer program, the journey
The step of any one of first aspect and second aspect the method are realized when sequence is executed by processor.
Through the above technical solutions, target control signal can be the user's head rotational angle that wearable device detects
The k power value of corresponding practical control signal, i.e. the control semaphore of wearable device and between the practical control amount of unmanned plane
Change curve can be high order curve.Since the variation of high order curve middle section is more gentle, the variation of two rim portions is more apparent, because
When this can make in the control semaphore of wearable device near position, the change amount signal of wearable device it is corresponding nobody
The practical control amount of machine is smaller, and when minimax controls near semaphore, the corresponding nothing of the change amount signal of wearable device
Man-machine practical control amount is larger, so as to avoid due to wearable device control semaphore minor change caused by nobody
The problem of machine control inaccuracy, guarantees the stabilized flight of unmanned plane.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of flow chart of unmanned aerial vehicle (UAV) control method shown according to one exemplary embodiment of the disclosure；
Fig. 2 is a kind of flow chart of unmanned aerial vehicle (UAV) control method shown according to disclosure another exemplary embodiment；
Fig. 3 is a kind of block diagram of unmanned aerial vehicle (UAV) control method shown according to one exemplary embodiment of the disclosure；
Fig. 4 is a kind of block diagram of unmanned aerial vehicle (UAV) control method shown according to disclosure another exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Illustrate that the unmanned plane in the embodiment of the present disclosure can be the different types such as vector unmanned plane, multi-rotor unmanned aerial vehicle first
Unmanned plane, the embodiment of the present disclosure is not construed as limiting the form and type of unmanned plane.
Fig. 1 is a kind of unmanned aerial vehicle (UAV) control method shown according to one exemplary embodiment of the disclosure, and this method can be applied
In unmanned plane, comprising:
Step S101, obtain target control signal, wherein target control signal be wearable device detect use account
The k power value of the corresponding practical control signal of portion's rotational angle, k is the number greater than 1.
Step S102 generates the flight control instruction for controlling unmanned plane during flying state according to target control signal.
Illustratively, the wearable device in step S201 can be such as VR (Virtual Reality, virtual reality) and set
The electronic equipment that can detecte user's head rotational angle such as standby.User's head rotational angle can be by wearable device
What the angular transducer set detected.Certainly, wearable device can also detect user's head rotational angle by other means,
The embodiment of the present disclosure is not construed as limiting this.
Illustratively, user's head rotational angle and the practical control signal to unmanned plane can be stored in advance in wearable device
Between corresponding relationship can be according to the head rotation angle therefore after wearable device detects the head rotation angle of user
Degree and the corresponding relationship determine the practical control signal to unmanned plane.
The practical control signal of unmanned plane can be used for characterizing winged hand by wearable device (controlling terminal) to unmanned plane
Signal knots modification when being controlled.In the related technology, due to the change amount signal of controlling terminal and to the practical control of unmanned plane
It is linear change between amount (for example, to control amount of unmanned plane course, rolling or pitching) processed, it is thus possible to due to controlling signal
Minor change and lead to the problem to unmanned aerial vehicle (UAV) control inaccuracy.
In order to solve this problem, the target control signal got in the embodiment of the present disclosure detects for wearable device
The corresponding practical control signal of user's head rotational angle k power value, therefore, the control semaphore of wearable device with it is right
Change curve between the practical control amount of unmanned plane can be high order curve.Since the variation of high order curve middle section is relatively flat
Slow, the variation of two rim portions is more apparent, therefore when can make in the control semaphore of wearable device near position, wearable to set
The practical control amount of the corresponding unmanned plane of standby change amount signal is smaller, and when minimax controls near semaphore, it is wearable
The practical control amount of the corresponding unmanned plane of the change amount signal of equipment is larger, so as to avoid controlling signal due to wearable device
The problem of unmanned aerial vehicle (UAV) control inaccuracy, guarantees the stabilized flight of unmanned plane caused by the minor change of amount.
It should be understood that the corresponding practical control signal of user's head rotational angle that wearable device detects may
It is a large range of numerical value (such as 0~20000), it therefore, can be to the practical control signal for subsequent convenience of calculation
Equal proportion scaling processing is carried out, for example practical control signal can be converted into (- 1,1) range after equal proportion scaling processing
Interior variables A.
In a kind of possible mode, calculated to further facilitate, it can also be according to following formula equity scaling
Practical control signal afterwards carries out clipping and again range of distribution:
Wherein, A is the practical control signal after equal proportion scaling, and A' is that clipping is laid equal stress on the letter of the control after new range of distribution
Number, m is the default positive number greater than 0 less than 1.It should be understood that the value of m can be set according to the actual conditions of unmanned plane
Fixed, the embodiment of the present disclosure is not construed as limiting the specific value of m.
In a kind of possible mode, the mode for obtaining target control signal, which can be, first receives what wearable device was sent
The corresponding practical control signal of user's head rotational angle, then carries out the calculating of k power to the practical control signal, obtains target
Control signal.
In such mode, the corresponding practical control signal of user's head rotational angle can be sent to by wearable device
Unmanned plane can carry out the calculating of k power to the practical control signal after unmanned plane receives the practical control signal, thus
To target control signal.Alternatively, after unmanned plane receives the practical control signal that wearable device is sent, it can also be according to above-mentioned
Mode pre-processes the practical control signal, then carries out the calculating of k power to the pretreated practical control signal.
Illustratively, the value of k can be winged hand according to rotate head unmanned plane is controlled when practical impression and
Voluntarily select, or can be voluntarily selected according to practical flight scene, etc., tool of the embodiment of the present disclosure for k
Body sampling process is not construed as limiting.For example, it is contemplated that arriving the practical flight demand of unmanned plane, the value of k be can be set as between 1~2
Any value, for example, the value of k can be set as 1.5, or also can be set as 2, etc..
It should be understood that the value of k is bigger, the corresponding reality of user's head rotational angle controls signal and to unmanned plane
Practical control amount between high order curve radian it is bigger, also mean that the high order curve middle section variation it is gentler, two
Rim portion variation is more obvious, thus in the signal controlled variable of wearable device near position when, user's head rotational angle is corresponding
Practical control amount it is smaller, and when near the minimax signal controlled variable of wearable device, user's head rotational angle pair
The practical control amount answered is bigger.Conversely, user's head rotation corresponds to when then in the signal controlled variable of wearable device near position
Practical control amount it is bigger, and when near the minimax signal controlled variable of wearable device, user's head rotation is corresponding
Practical control amount is smaller.
In alternatively possible mode, the mode for obtaining target control signal, which can be, receives what wearable device was sent
The corresponding target control signal of user's head rotational angle.In other words, it can be wearable device first to rotate user's head
The corresponding practical control signal of angle carries out k power value and target control signal is calculated, and then sends target control signal
To unmanned plane, in this case, unmanned plane can obtain mesh by receiving the target control signal that wearable device is sent
Mark control signal, then generates flight control instruction according to the target control signal, guarantees the stabilized flight of unmanned plane.
It, can also be to the target in order to further ensure the stabilized flight of unmanned plane after obtaining target control signal
Control signal is filtered, and eliminates the influence of high frequency components signal.Therefore, in a kind of possible mode, according to target
The process that control signal generates flight control instruction, which can be, first determines TiThe target control signal and T at momenti-1The target at moment
Control the difference between signal, wherein Ti-1Moment is TiThe last moment at moment.Then, when the difference is greater than the first preset threshold
When, according to following formula, to TiThe target control signal at moment is once filtered:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal.
It is controlled finally, generating the flight for controlling unmanned plane during flying state according to primary filtered target control signal
Instruction.
Illustratively, the first preset threshold can be the preset value of practical flight scene according to unmanned plane, Huo Zheye
It can be according to unmanned plane history flight record and the empirical value, etc. of determination, the embodiment of the present disclosure are not construed as limiting this.
Illustratively, TiThe target control signal and T at momenti-1Difference between the target control signal at moment can be TiMoment
Target control signal subtract Ti-1The difference that the target control signal at moment obtains, or it is also possible to Ti-1The target control at moment
Signal processed subtracts TiThe difference that the target control signal at moment obtains, as long as T can be characterizediThe target control signal and T at momenti-1When
Variable quantity between the target control signal at quarter.
For example, the first preset threshold is set as 10, TiThe target control signal at moment is 20, Ti-1The target control at moment
Signal is -15, TiThe target control signal and T at momenti-1Difference between the target control signal at moment is 35, i.e. the difference is big
In the first preset threshold.It therefore, can be according to formula (2) to TiThe target control signal at moment is once filtered, so
The flight control instruction for controlling unmanned plane during flying state is generated according to primary filtered target control signal afterwards.
By the above-mentioned means, unmanned plane can be according to formula (2) when the target control signal difference at two moment is larger
Target control signal is filtered, so that filtered target control signal is more smooth, so as to according to filtering
Target control signal afterwards generates more accurate flight control instruction, guarantees the stabilized flight of unmanned plane.
Target control signal is carried out after once filtering, is believed to further avoid accidental pulse signal to target control
Number influence, secondary filtering can also be carried out to primary filtered target control signal.
Therefore, in a kind of possible mode, flight control instruction is generated according to primary filtered target control signal
Process can be first determine in TiMoment carries out primary filtered target control signal and subtracts in Ti-1After moment once filters
Obtained the first difference of target control signal, and in Ti-1Moment carries out primary filtered target control signal and subtracts
Ti-2Moment carries out the second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1Upper the one of moment
At the moment, then when the first difference is different from the positive and negative values of the second difference, and to be greater than second default for the first difference and/or the second difference
When threshold value, according to following formula, secondary filtering processing is carried out to primary filtered target control signal:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering.
Finally, generating the flight for controlling the unmanned plane during flying state according to the target control signal after secondary filtering
Control instruction.
Illustratively, the second preset threshold can be the preset value of practical flight scene according to unmanned plane, Huo Zheye
It can be according to unmanned plane history flight record and the empirical value, etc. of determination, the embodiment of the present disclosure are not construed as limiting this.
Illustratively, the positive and negative values difference of the first difference and the second difference can be multiplying by the first difference and the second difference
What product was determined less than 0.In other words, in the embodiments of the present disclosure, after determining the first difference and the second difference, unmanned plane can
To judge the product of the first difference and the second difference whether less than 0.If the product of the first difference and the second difference less than 0,
It can further judge whether the first difference and/or the second difference are greater than the second preset threshold.If the first difference and/or second
Difference is greater than the second preset threshold, then unmanned plane can carry out two to primary filtered target control signal according to formula (3)
Secondary filtering processing.
By the above-mentioned means, unmanned plane target control signal can be once filtered and secondary filtering processing,
To remove the periodic perturbation signal and accidental pulse-type disturbance signal in target control signal, so that according to filtered target
It is more accurate to control the flight control instruction that signal generates, further such that unmanned plane can more accurately be controlled by flying hand,
Guarantee the stabilized flight of unmanned plane.
Based on the same inventive concept, referring to Fig. 2, the embodiment of the present disclosure also provides a kind of unmanned aerial vehicle (UAV) control method, this method
It can be applied to wearable device, comprising:
Step S201 detects the head rotation angle of user.
Illustratively, detection user's head rotational angle can be is detected by the angular transducer built in wearable device
, it is of course also possible to detect user's head rotational angle by other means, the embodiment of the present disclosure is not construed as limiting this.
Step S202 determines the corresponding practical control signal of head rotation angle.
Illustratively, user's head rotational angle and the practical control signal to unmanned plane can be stored in advance in wearable device
Between corresponding relationship can be according to the head rotation angle then after wearable device detects the head rotation angle of user
Degree and the corresponding relationship determine the practical control signal to unmanned plane.
The k power value of practical control signal is determined as target control signal, wherein k is the number greater than 1 by step S203.
Target control signal is sent to unmanned plane by step S204.
By above-mentioned unmanned aerial vehicle (UAV) control method, user's head rotates corresponding practical control signal and the reality to unmanned plane
Change curve between the control amount of border can be high order curve.Since high order curve middle section changes more gentle, two rim portions change
Change more apparent, therefore when can make in the signal controlled variable of wearable device near position, user's head rotational angle is corresponding
Practical control amount it is smaller, and when near the minimax signal controlled variable of wearable device, user's head rotational angle pair
The practical control amount answered is larger, so as to avoid unmanned aerial vehicle (UAV) control caused by the minor change due to control signal inaccurate
The problem of, guarantee the stabilized flight of unmanned plane.
In a kind of possible mode, in order to remove the influence of high frequency components signal, wearable device can also be to target
Control signal is filtered.In other words, in the embodiments of the present disclosure, target control signal is sent to the mistake of unmanned plane
Journey, which can be, first determines TiThe target control signal and T at momenti-1Difference between the target control signal at moment, wherein Ti-1When
Carving is TiThe last moment at moment.Then, when the difference is greater than the first preset threshold, according to following formula, to TiThe mesh at moment
Mark control signal is once filtered:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal.
Finally, primary filtered target control signal is sent to unmanned plane.
Illustratively, the first preset threshold can be pre- according to the practical flight scene of the unmanned plane communicated with wearable device
The value first set, or be also possible to according to the unmanned plane history flight record communicated with wearable device and the experience of determination
Value, etc., the embodiment of the present disclosure is not construed as limiting this.
Illustratively, TiThe target control signal and T at momenti-1Difference between the target control signal at moment can be TiMoment
Target control signal subtract Ti-1The difference that the target control signal at moment obtains, or it is also possible to Ti-1The target control at moment
Signal processed subtracts TiThe difference that the target control signal at moment obtains, as long as T can be characterizediThe target control signal and T at momenti-1When
Variable quantity between the target control signal at quarter.
By the above-mentioned means, wearable device can be according to public affairs when the target control signal difference at two moment is larger
Formula (2) is filtered target control signal, and target control signal more smooth after filtering is then sent to nobody
Machine guarantees so that unmanned plane can generate more accurate flight control instruction according to filtered target control signal
The stabilized flight of unmanned plane.
In alternatively possible mode, wearable device can also carry out two to primary filtered target control signal
Secondary filtering processing.In other words, the process that the target control signal after primary filtering processing is sent to unmanned plane be can be into elder generation
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment primary filtered target control signal
The first obtained difference, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment carries out primary
The second difference that filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment, then when first
Difference is different from the positive and negative values of the second difference, and when the first difference and/or the second difference are greater than the second preset threshold, according to following
Formula carries out secondary filtering processing to primary filtered target control signal:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering.
Finally, the target control signal after secondary filtering is sent to unmanned plane.
Illustratively, the second preset threshold can be pre- according to the practical flight scene of the unmanned plane communicated with wearable device
The value first set, or be also possible to according to the unmanned plane history flight record communicated with wearable device and the experience of determination
Value, etc., the embodiment of the present disclosure is not construed as limiting this.
Illustratively, the positive and negative values difference of the first difference and the second difference can be multiplying by the first difference and the second difference
What product was determined less than 0.In other words, in the embodiments of the present disclosure, wearable to set after determining the first difference and the second difference
Whether the standby product that may determine that the first difference and the second difference is less than 0.If the product of the first difference and the second difference is less than
0, then it can further judge whether the first difference and/or the second difference are greater than the second preset threshold.If the first difference and/or
Second difference is greater than the second preset threshold, then wearable device can believe primary filtered target control according to formula (3)
Number carry out secondary filtering processing.
By the above-mentioned means, wearable device target control signal can be once filtered and secondary filtering at
Reason, so that the periodic perturbation signal and accidental pulse-type disturbance signal in target control signal are removed, so that according to filtered
The flight control instruction that target control signal generates is more accurate, further such that unmanned plane can more accurately be controlled by flying hand
System, guarantees the stabilized flight of unmanned plane.
Based on the same inventive concept, referring to Fig. 3, the embodiment of the present disclosure also provides a kind of unmanned aerial vehicle (UAV) control device 300, applies
In unmanned plane, some or all of unmanned plane can be become in such a way that software, hardware or both combine, comprising:
Module 301 is obtained, for obtaining target control signal, wherein the target control signal is wearable device inspection
The k power value of the corresponding practical control signal of the user's head rotational angle measured, k is the number greater than 1；
Generation module 302, for being generated according to the target control signal for controlling the unmanned plane during flying state
Flight control instruction.
Optionally, described device 300 further include:
Receiving module, for receiving the corresponding practical control letter of user's head rotational angle that the wearable device is sent
Number；
The acquisition module 301 is used to carry out the calculating of k power to the practical control signal, obtains the target control letter
Number.
Optionally, it obtains module 301 and is used to receive the target control signal that the wearable device is sent.
Optionally, generation module 302 includes:
First determines submodule, for determining TiThe target control signal and T at momenti-1Between the target control signal at moment
Difference, wherein Ti-1Moment is TiThe last moment at moment；
First filtering submodule, is used for when the difference is greater than the first preset threshold, according to following formula, to TiMoment
Target control signal be once filtered:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal；
Submodule is generated, for generating according to primary filtered target control signal for controlling the unmanned plane during flying
The flight control instruction of state.
Optionally, the generation submodule is used for:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment primary filtered target
The first difference that control signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment
Carry out the second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or described second
When difference is greater than the second preset threshold, according to following formula, primary filtered target control signal is carried out at secondary filtering
Reason:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering；
The flight for controlling the unmanned plane during flying state is generated according to the target control signal after secondary filtering to control
Instruction.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
By any of the above-described unmanned aerial vehicle (UAV) control device applied to unmanned plane, the control semaphore of wearable device and to nothing
Change curve between man-machine practical control amount can be high order curve.Since the variation of high order curve middle section is more gentle, two
Rim portion variation is more apparent, therefore when can make in the control semaphore of wearable device near position, wearable device
The corresponding practical control amount of change amount signal is smaller, and when minimax controls near semaphore, the signal of wearable device
The corresponding practical control amount of variable quantity is larger, so as to avoid leading since wearable device controls the minor change of semaphore
The problem of the unmanned aerial vehicle (UAV) control inaccuracy of cause, guarantees the stabilized flight of unmanned plane.
Based on the same inventive concept, referring to Fig. 4, the embodiment of the present disclosure also provides a kind of unmanned aerial vehicle (UAV) control device 400, applies
In wearable device, some or all of wearable device, packet can be become in such a way that software, hardware or both combine
It includes:
Detection module 401, for detecting the head rotation angle of user；
First determining module 402, for determining the corresponding practical control signal of the head rotation angle；
Second determining module 403, for the k power value of the practical control signal to be determined as target control signal,
In, k is the number greater than 1；
Sending module 404, for the target control signal to be sent to the unmanned plane.
Optionally, sending module 404 includes:
Second determines submodule, for determining TiThe target control signal and T at momenti-1Between the target control signal at moment
Difference, wherein Ti-1Moment is TiThe last moment at moment；
Second filtering submodule, is used for when the difference is greater than the first preset threshold, according to following formula, to TiMoment
Target control signal be once filtered:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For
TiMoment carries out primary filtered target control signal；
Sending submodule, for primary filtered target control signal to be sent to the unmanned plane.
Optionally, the sending submodule is used for:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment primary filtered target
The first difference that control signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment
Carry out the second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or described second
When difference is greater than the second preset threshold, according to following formula, primary filtered target control signal is carried out at secondary filtering
Reason:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment into
The primary filtered target control signal of row,For in TiMoment carries out the target control signal after secondary filtering；
Target control signal after secondary filtering is sent to the unmanned plane.
About the device in above-described embodiment, wherein modules execute the concrete mode of operation in related this method
Embodiment in be described in detail, no detailed explanation will be given here.
By any of the above-described unmanned aerial vehicle (UAV) control method applied to wearable device, the control semaphore of wearable device with
High order curve can be between the change curve the practical control amount of unmanned plane.Since the variation of high order curve middle section is relatively flat
Slow, the variation of two rim portions is more apparent, therefore when can make in the control semaphore of wearable device near position, wearable to set
The practical control amount of the corresponding unmanned plane of standby change amount signal is smaller, and when minimax controls near semaphore, it is wearable
The practical control amount of the corresponding unmanned plane of the change amount signal of equipment is larger, so as to avoid controlling signal due to wearable device
The problem of unmanned aerial vehicle (UAV) control inaccuracy, guarantees the stabilized flight of unmanned plane caused by the minor change of amount.
Based on the same inventive concept, the embodiment of the present disclosure also provides a kind of unmanned plane, comprising:
Memory is stored thereon with computer program；
Processor, it is any of the above-described applied to nobody to realize for executing the computer program in the memory
The step of unmanned aerial vehicle (UAV) control method of machine.
In a further exemplary embodiment, a kind of computer readable storage medium including program instruction is additionally provided, it should
The step of above-mentioned unmanned aerial vehicle (UAV) control method applied to unmanned plane is realized when program instruction is executed by processor.
Based on the same inventive concept, the embodiment of the present disclosure also provides a kind of wearable device, comprising:
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, with realize it is any of the above-described be applied to can wear
The step of wearing the unmanned aerial vehicle (UAV) control method of equipment.
In a further exemplary embodiment, a kind of computer readable storage medium including program instruction is additionally provided, it should
The step of above-mentioned unmanned aerial vehicle (UAV) control method applied to wearable device is realized when program instruction is executed by processor.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (13)
1. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that the method is applied to unmanned plane, which comprises
Obtain target control signal, wherein the target control signal is the user's head angle of rotation that wearable device detects
The k power value of corresponding practical control signal is spent, k is the number greater than 1；
The flight control instruction for controlling the unmanned plane during flying state is generated according to the target control signal.
2. the method according to claim 1, wherein before the acquisition target control signal, comprising:
Receive the corresponding practical control signal of user's head rotational angle that the wearable device is sent；
The acquisition target control signal, comprising:
The calculating of k power is carried out to the practical control signal, obtains the target control signal.
3. the method according to claim 1, wherein the acquisition target control signal includes:
Receive the target control signal that the wearable device is sent.
4. method according to claim 1 to 3, which is characterized in that described generated according to the target control signal is used
In the flight control instruction for controlling the unmanned plane during flying state, comprising:
Determine TiThe target control signal and T at momenti-1Difference between the target control signal at moment, wherein Ti-1Moment is TiWhen
The last moment at quarter；
When the difference is greater than the first preset threshold, according to following formula, to TiThe target control signal at moment is once filtered
Wave processing:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For in TiWhen
It carves and carries out primary filtered target control signal；
The flight control instruction for controlling the unmanned plane during flying state is generated according to primary filtered target control signal.
5. according to the method described in claim 4, it is characterized in that, the basis once filtered target control signal generation
For controlling the flight control instruction of the unmanned plane during flying state, comprising:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment once filtered target control
The first difference that signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment carries out
The second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or second difference
When greater than the second preset threshold, according to following formula, secondary filtering processing is carried out to primary filtered target control signal:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment carries out primary
Filtered target control signal,For in TiMoment carries out the target control signal after secondary filtering；
The flight control instruction for controlling the unmanned plane during flying state is generated according to the target control signal after secondary filtering.
6. a kind of unmanned aerial vehicle (UAV) control method, which is characterized in that the method is applied to wearable device, which comprises
Detect the head rotation angle of user；
Determine the corresponding practical control signal of the head rotation angle；
The k power value of the practical control signal is determined as target control signal, wherein k is the number greater than 1；
The target control signal is sent to the unmanned plane.
7. according to the method described in claim 6, it is characterized in that, the target control signal is sent to the unmanned plane,
Include:
Determine TiThe target control signal and T at momenti-1Difference between the target control signal at moment, wherein Ti-1Moment is TiWhen
The last moment at quarter；
When the difference is greater than the first preset threshold, according to following formula, to TiThe target control signal at moment is once filtered
Wave processing:
Wherein,For TiThe target control signal at moment,For Ti-1The target control signal at moment,For in TiWhen
It carves and carries out primary filtered target control signal；
Primary filtered target control signal is sent to the unmanned plane.
8. the method according to the description of claim 7 is characterized in that described be sent to primary filtered target control signal
The unmanned plane, comprising:
It determines in TiMoment carries out primary filtered target control signal and subtracts in Ti-1Moment once filtered target control
The first difference that signal obtains, and in Ti-1Moment carries out primary filtered target control signal and subtracts in Ti-2Moment carries out
The second difference that primary filtered target control signal obtains, wherein Ti-2Moment is Ti-1The last moment at moment；
When first difference is different from the positive and negative values of second difference, and first difference and/or second difference
When greater than the second preset threshold, according to following formula, secondary filtering processing is carried out to primary filtered target control signal:
Wherein,For in Ti-2Moment carries out primary filtered target control signal,For in TiMoment carries out primary
Filtered target control signal,For in TiMoment carries out the target control signal after secondary filtering；
Target control signal after secondary filtering is sent to the unmanned plane.
9. a kind of unmanned aerial vehicle (UAV) control device, which is characterized in that be applied to unmanned plane, described device includes:
Module is obtained, for obtaining target control signal, wherein the target control signal is the use that wearable device detects
The k power value of the corresponding practical control signal of account portion rotational angle, k is the number greater than 1；
Generation module, for generating the flight control for controlling the unmanned plane during flying state according to the target control signal
Instruction.
10. a kind of unmanned aerial vehicle (UAV) control device, which is characterized in that be applied to wearable device, described device includes:
Detection module, for detecting the head rotation angle of user；
First determining module, for determining the corresponding practical control signal of the head rotation angle；
Second determining module, for the k power value of the practical control signal to be determined as target control signal, wherein k is big
In 1 number；
Sending module, for the target control signal to be sent to the unmanned plane.
11. a kind of unmanned plane characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize described in any one of claim 1-5
The step of method.
12. a kind of wearable device characterized by comprising
Memory is stored thereon with computer program；
Processor, for executing the computer program in the memory, to realize described in any one of claim 6-8
The step of method.
13. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claim 1-8 the method is realized when execution.
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