CN207650653U - Gesture control quadrotor based on Leap Motion - Google Patents
Gesture control quadrotor based on Leap Motion Download PDFInfo
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- CN207650653U CN207650653U CN201820011261.7U CN201820011261U CN207650653U CN 207650653 U CN207650653 U CN 207650653U CN 201820011261 U CN201820011261 U CN 201820011261U CN 207650653 U CN207650653 U CN 207650653U
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- quadrotor
- leap motion
- control unit
- module
- machine
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Abstract
The utility model discloses a kind of gesture control quadrotors based on Leap Motion comprising quadrotor, supervisory controller and Leap Motion controllers；Quadrotor includes the control unit and inertia measuring module being connect with control unit, drive module and first communication module, and drive module is connect with power supply module；Supervisory controller includes second communication module and PC machine, and PC machine is communicated by second communication module and first communication module with control unit；Optical sensor and two cameras, camera and optical sensor are connect with PC machine.
Description
Technical field
The utility model is related to technical field of computer vision, and in particular to a kind of gesture control based on Leap Motion
Quadrotor processed.
Background technology
With the fast development of computer vision technique, the gesture control based on machine vision has brought prodigious
It is convenient.Quadrotor can carry out aerial reconnaissance in the complex environments such as Urban Streets, tunnel, interior and close ground,
Quadrotor possesses stronger mobility and flexibility.And it can militarily be increased by the collaboration flight of multiple aircraft and be appointed
The success rate that business is completed.The four-axle aircraft of early stage there is it is complicated, bulky, not easy to operate the problems such as.
Utility model content
For above-mentioned deficiency in the prior art, the gesture control four provided by the utility model based on Leap Motion
Rotor craft can pass through gesture control quadrotor change of flight mode.
In order to reach foregoing invention purpose, the technical solution adopted in the utility model is：
There is provided a kind of gesture control quadrotor based on Leap Motion comprising quadrotor, upper
Machine controller and Leap Motion controllers；Quadrotor includes that control unit and the inertia being connect with control unit are surveyed
Amount module, drive module and first communication module, drive module are connect with power supply module；Supervisory controller includes the second communication
Module and PC machine, PC machine are communicated by second communication module and first communication module with control unit；Optical sensor and
Two cameras, camera and optical sensor are connect with PC machine.
Further, inertia measuring module includes passing through I2Angular-rate sensor that C buses are connect with control unit accelerates
Degree meter and baroceptor.
Further, inertia measuring module further includes passing through I with control unit2The magnetometer of C buses connection.
Further, Leap Motion controllers further include multiple infrared LED lamps.
Further, drive module include be connected with each other machine governor and brshless DC motor, machine governor with
Control unit connects, and brshless DC motor drives the propeller of quadrotor.
The beneficial effects of the utility model are：This programme by the gesture of Leap Motion controller acquisition operations persons, and
It is uploaded to supervisory controller PC machine, PC machine identifies the gesture of operator by existing Gesture Recognition, according to
The corresponding quadrotor flight directive of gesture of its storage inside, and by flight directive send quadrotor control
Unit, the quadrotor current state that control unit is acquired further according to flight directive and inertia measuring module, four rotation of adjustment
Rotor aircraft flight attitude.
The flight attitude for changing quadrotor through the above way, can simplify existing adjustment aircraft flight posture
Mode of operation, make it is simple to operate, flexible, while can also make between aircraft and people have good interaction.
Description of the drawings
Fig. 1 is the general illustration of the gesture control quadrotor based on Leap Motion.
Fig. 2 is quadrotor hardware system structure figure.
Fig. 3 is quadrotor hardware circuit diagram.
Specific implementation mode
Specific embodiment of the present utility model is described below, in order to facilitate understanding by those skilled in the art
The utility model, it should be apparent that the utility model is not limited to the range of specific implementation mode, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the utility model spirit and scope in,
These variations are it will be apparent that all utilize the innovation and creation of the utility model design in the row of protection.
As shown in Figure 1, it includes sequentially connected quadrotor to be somebody's turn to do the gesture control quadrotor based on Leap Motion
Aircraft, supervisory controller and Leap Motion controllers.
As shown in Figures 2 and 3, quadrotor includes control unit and the inertia measurement mould being connect with control unit
Block, drive module and first communication module, drive module are connect with power supply module；The wherein model of control unit
STM32F103T8U6, power supply module are lithium battery.
Supervisory controller includes second communication module and PC machine, and PC machine passes through second communication module and first communication module
It is communicated with control unit；Leap Motion controllers include optical sensor, multiple infrared LED lamps and two camera shootings
Head, camera and optical sensor are connect with PC machine.
Wherein, second communication module and first communication module are wireless communication module, and model is EMW3162；Light
The model SDP8611-003 of sensor is learned, infrared LED lamp is mainly used for carrying out light intensity when two high-definition camera acquisition images
Compensation, about at 150 degree or so, two high-definition cameras shoot to obtain high score from different location the field range of optical sensor
The three-dimensional infrared image of resolution, the binocular stereo vision for simulating the mankind carry out hand gesture location judgement.
When carrying out the adjustment of quadrotor flight attitude, two high-definition cameras inside Leap Motion controllers
The gesture control order of head acquisition operations person, and it is sent to the PC machine of supervisory controller, PC machine passes through existing complementary filter
Merge sensor data simultaneously go out hand gestures using Quaternion Method progress attitude algorithm, then according to the hand stored in PC machine
The corresponding flight directive of posture (for example throttle value need to be adjusted to some specific value) is sent to quadrotor.
Angular speed, acceleration and its place that the control unit of quadrotor is acquired according to inertia measuring module are high
Degree asks poor with the desired angular speed of flight directive, acceleration and height, and difference, which is converted to electric signal, later is sent to driving
Module, drive module adjust the posture of quadrotor according to electric signal.
When implementation, the preferred inertia measuring module of this programme includes passing through I2The angular speed that C buses are connect with control unit passes
Sensor, accelerometer, baroceptor and magnetometer.Wherein angular-rate sensor selects model
Tri- number of axle word gyro sensors of L3G4200DTRL3G4200D；Accelerometer selects brand IFM/ Yi Fumen, model IE-
The acceleration transducer of 2002-FROG/6M/PH；Baroceptor is HPX gas pressure sensors；Magnetometer selects model
JM-2000D digital magnetic field intensitometers.
Gyroscope is to detect quadrotor angular velocity signal, and the output phase is answered after sensing the attitudes vibration of aircraft
Voltage value, which is input to control unit as feedback signal.Accelerometer is internal to detect linear acceleration signals
Acceleration signal is converted to electric signal by potentiometer as displacement sensor, which is input to control as feedback signal
Unit.HPX gas pressure sensors are detecting altitude signal；Magnetometer is used to acquire the magnetic in quadrotor flight place
Field intensity.
When implementation, the preferred drive module of this programme includes the machine governor and brshless DC motor being connected with each other, motor
Governor is connect with control unit, and brshless DC motor drives the propeller of quadrotor.The model of machine governor
JD1A-40/90 governors.
For machine governor in the way of pulsewidth modulation (PWM), the duty ratio of square wave is exported by change makes putting down in load
Equal current power changes, from 0-100% to change motor speed.Brshless DC motor is driving propeller to rotate.Four rotations
The speed that the adjusting of rotor aircraft flight attitude is finally embodied in four brshless DC motors is adjusted, in four brushless dcs
Under the conditions of the different speed combination of machine, quadrotor can realize the different flight attitude such as pitching, roll, yaw.
In conclusion the gesture by acquisition is adjusted the flight attitude of quadrotor, can simplify existing
The mode of operation for adjusting aircraft flight posture, makes simple to operate, flexible.
Claims (5)
1. the gesture control quadrotor based on Leap Motion, which is characterized in that including quadrotor, upper
Machine controller and Leap Motion controllers；The quadrotor includes control unit and is connect with described control unit
Inertia measuring module, drive module and first communication module, the drive module connect with power supply module；The host computer control
Device processed includes second communication module and PC machine, the PC machine by second communication module and first communication module and control unit into
Row communication；The Leap Motion controllers include optical sensor and two cameras, the camera and optical sensor
It is connect with PC machine.
2. the gesture control quadrotor according to claim 1 based on Leap Motion, which is characterized in that institute
It includes passing through I to state inertia measuring module2Angular-rate sensor, accelerometer and the air pressure sensing that C buses are connect with control unit
Device.
3. the gesture control quadrotor according to claim 1 based on Leap Motion, which is characterized in that institute
It further includes passing through I with control unit to state inertia measuring module2The magnetometer of C buses connection.
4. the gesture control quadrotor according to claim 1 based on Leap Motion, which is characterized in that institute
It further includes multiple infrared LED lamps to state Leap Motion controllers.
5. the gesture control quadrotor according to claim 1 based on Leap Motion, which is characterized in that institute
It includes the machine governor and brshless DC motor being connected with each other to state drive module, and the machine governor connects with control unit
It connects, the propeller of the brshless DC motor driving quadrotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820011261.7U CN207650653U (en) | 2018-01-03 | 2018-01-03 | Gesture control quadrotor based on Leap Motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820011261.7U CN207650653U (en) | 2018-01-03 | 2018-01-03 | Gesture control quadrotor based on Leap Motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207650653U true CN207650653U (en) | 2018-07-24 |
Family
ID=62876198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820011261.7U Expired - Fee Related CN207650653U (en) | 2018-01-03 | 2018-01-03 | Gesture control quadrotor based on Leap Motion |
Country Status (1)
| Country | Link |
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| CN (1) | CN207650653U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113485437A (en) * | 2021-07-29 | 2021-10-08 | 合肥工业大学 | Anti-interference unmanned aerial vehicle control method and system |
| CN114089784A (en) * | 2021-11-23 | 2022-02-25 | 广东工业大学 | Unmanned aerial vehicle control method and system based on MR glasses |
-
2018
- 2018-01-03 CN CN201820011261.7U patent/CN207650653U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113485437A (en) * | 2021-07-29 | 2021-10-08 | 合肥工业大学 | Anti-interference unmanned aerial vehicle control method and system |
| CN114089784A (en) * | 2021-11-23 | 2022-02-25 | 广东工业大学 | Unmanned aerial vehicle control method and system based on MR glasses |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20190103 |