WO2017152865A1 - 一种无人飞行器的追随方法、装置以及可穿戴设备 - Google Patents

一种无人飞行器的追随方法、装置以及可穿戴设备 Download PDF

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Publication number
WO2017152865A1
WO2017152865A1 PCT/CN2017/076218 CN2017076218W WO2017152865A1 WO 2017152865 A1 WO2017152865 A1 WO 2017152865A1 CN 2017076218 W CN2017076218 W CN 2017076218W WO 2017152865 A1 WO2017152865 A1 WO 2017152865A1
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Prior art keywords
user
unmanned aerial
aerial vehicle
orientation
uav
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PCT/CN2017/076218
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English (en)
French (fr)
Inventor
谢馥励
苏鹏程
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歌尔股份有限公司
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Priority to US16/079,099 priority Critical patent/US10816640B2/en
Publication of WO2017152865A1 publication Critical patent/WO2017152865A1/zh

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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
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/30—Determining absolute distances from a plurality of spaced points of known location
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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

Definitions

  • the present invention relates to the field of human-computer interaction, and in particular to a method and device for following an unmanned aerial vehicle and a wearable device.
  • unmanned aerial vehicles also known as unmanned aerial vehicles
  • the miniature multi-rotor UAV is now a consumer product that most people can afford.
  • unmanned aerial vehicles are generally equipped with motion sensor detection sensors such as accelerometers and gyroscopes, and Bluetooth and Wi-Fi data transmission technologies are applied to meet the flight control and state detection requirements of unmanned aerial vehicles.
  • motion sensor detection sensors such as accelerometers and gyroscopes
  • Bluetooth and Wi-Fi data transmission technologies are applied to meet the flight control and state detection requirements of unmanned aerial vehicles.
  • common data transmission technologies such as Bluetooth and Wi-Fi can only complete wireless data communication between the UAV and the signal transmission device, and cannot achieve self-following, and the user experience is poor.
  • the invention provides a method, a device and a wearable device for following the unmanned aerial vehicle, which solves the problem that the prior art cannot achieve the autonomous pursuit of the unmanned aerial vehicle and the user experience is poor.
  • a method of following an unmanned aerial vehicle comprising:
  • a plurality of receiving sensors are mounted on the unmanned aerial vehicle, and the plurality of receiving sensors are matched with one of the user-side intelligent control devices;
  • the horizontal orientation of the UAV is adjusted so that the orientation of the UAV and the user satisfies the preset orientation, and the autonomous follower of the UAV is realized.
  • installing a plurality of receiving sensors on the unmanned aerial vehicle includes:
  • At least three ultrasonic receiving sensors are mounted at different positions of the unmanned aerial vehicle, the ultrasonic receiving sensors being matched with one of the ultrasonic transmitting sensors of the user side intelligent control device.
  • calculating the orientation of the UAV relative to the user according to the received distance signal includes:
  • Unmanned flight based on the distance of each ultrasonic receiving sensor from the user to the unmanned aerial vehicle and the position of the center point of the UAV The distance between the center point of the device and each ultrasonic receiving sensor is used to calculate the center point of the UAV and the orientation of the user.
  • calculating the center point and the user of the unmanned aerial vehicle according to the distance of the user to each ultrasonic receiving sensor on the unmanned aerial vehicle and the position of the unmanned aircraft center point, the distance between the unmanned aircraft center point and each ultrasonic receiving sensor The orientation includes:
  • the unmanned aerial vehicle is a four-rotor unmanned aerial vehicle.
  • the connecting position of the ultrasonic receiving sensor is in a crisscross shape, and the intersection point is the center point of the unmanned aerial vehicle.
  • each of the ultrasonic receiving sensors is located below a rotor of the quadrotor UAV.
  • calculating the center point and the user of the unmanned aerial vehicle according to the distance of the user to each ultrasonic receiving sensor on the unmanned aerial vehicle and the position of the unmanned aircraft center point, the distance between the unmanned aircraft center point and each ultrasonic receiving sensor The orientation includes:
  • the direction of the two ultrasonic receiving sensors passing through the origin is the horizontal coordinate axis
  • the direction perpendicular to the horizontal coordinate axis is the vertical coordinate axis to construct the spatial rectangular coordinate system, defining the current user's current
  • the position coordinates are (x, y, z), and the current position coordinate value of the user is calculated by the following formula:
  • n 1 is the distance from the user to the first ultrasonic receiving sensor
  • n 2 is the distance from the user to the second ultrasonic receiving sensor
  • n 3 is the user To the distance of the third ultrasonic receiving sensor
  • n 4 is the distance from the user to the fourth ultrasonic receiving sensor
  • the center point of the UAV and the orientation of the user are obtained.
  • adjusting the horizontal orientation of the UAV and the user according to the orientation such that the orientation of the UAV with respect to the user satisfies the preset orientation information includes:
  • the proportional integral differential PID controller is used to adjust the flying speed of the unmanned aerial vehicle to adjust the horizontal orientation of the unmanned aerial vehicle relative to the user, so that the orientation of the unmanned aerial vehicle and the user satisfies the preset orientation. Independently follow.
  • the present invention also provides a follow-up device for an unmanned aerial vehicle, wherein a plurality of receiving sensors are installed on the unmanned aerial vehicle, and the plurality of receiving sensors are matched with one of the user-side intelligent control devices.
  • the following devices of the UAV include:
  • a positioning module configured to receive a distance signal transmitted by the user in real time through the receiving sensor, and calculate an orientation of the unmanned aerial vehicle relative to the user according to the distance signal;
  • a follower module for adjusting the horizontal orientation of the unmanned aerial vehicle according to the orientation of the unmanned aerial vehicle calculated by the positioning module relative to the user
  • the unmanned aerial vehicle and the user's orientation satisfy the preset orientation, and the autonomous follower of the unmanned aerial vehicle is realized.
  • At least three ultrasonic receiving sensors are installed at different positions of the unmanned aerial vehicle, and the ultrasonic receiving sensor is matched with one ultrasonic transmitting sensor of the user-side intelligent control device;
  • the positioning module is specifically configured to calculate the distance of each ultrasonic receiving sensor on the unmanned aerial vehicle according to the time when the ultrasonic signal transmitted by the user reaches each ultrasonic receiving sensor on the unmanned aerial vehicle; and according to the user to the unmanned aerial vehicle
  • the distance between the ultrasonic receiving sensor and the position of the unmanned aircraft center point, the distance between the unmanned aircraft center point and each ultrasonic receiving sensor calculates the center point of the unmanned aerial vehicle and the orientation of the user.
  • unmanned aerial vehicles are installed on the unmanned aerial vehicle, and the unmanned aerial vehicle is a four-rotor unmanned aerial vehicle.
  • the connection of the ultrasonic receiving sensor is in a crisscross shape, and the intersection point is the center point of the unmanned aerial vehicle;
  • the positioning module is specifically configured to take the center point of the unmanned aerial vehicle as an origin, and the two ultrasonic receiving sensors connected to the origin are in a horizontal coordinate axis, and the vertical coordinate coordinate is formed in a vertical coordinate axis in a direction perpendicular to the horizontal coordinate axis.
  • System define the user's current position coordinates as (x, y, z), calculate the user's current position coordinate value by the following formula:
  • n 1 is the distance from the user to the first ultrasonic receiving sensor
  • n 2 is the distance from the user to the second ultrasonic receiving sensor
  • n 3 is the user To the distance of the third ultrasonic receiving sensor
  • n 4 is the distance from the user to the fourth ultrasonic receiving sensor
  • the center point of the UAV and the orientation of the user are obtained.
  • a wearable device in which an emission sensor is disposed;
  • the transmitting sensor is matched with a plurality of receiving sensors on the unmanned aerial vehicle to transmit a distance signal to the unmanned aerial vehicle in real time, so that the unmanned aerial vehicle calculates the orientation of the unmanned aerial vehicle relative to the user according to the received distance signal, and according to the orientation Adjusting the horizontal orientation of the UAV so that the UAV and the user's orientation meet the preset orientation.
  • the wearable device is a smart watch, a smart bracelet, smart glasses or smart headphones
  • the transmitting sensor is an infrared emitting sensor
  • the receiving sensor is an infrared receiving sensor.
  • the following method and device for the UAV of the embodiment of the present invention calculates the position of the current UAV relative to the user according to the distance signal transmitted by the user-side intelligent control device in real time, and obtains the relative position between the UAV and the user. And based on the orientation, the technical means for adjusting the orientation of the UAV relative to the user to the preset orientation can maintain the relative static relationship between the UAV and the user in the preset orientation, and provide a set of autonomous pursuit of the UAV.
  • the realization plan enriches the functions of the drone products and improves the unmanned flight. The competitiveness of the line of products.
  • an embodiment of the present invention further provides a wearable device, where the launching sensor is configured to transmit a signal to a plurality of receiving sensors matched on the unmanned aerial vehicle, so as to implement the unmanned aerial vehicle to wear the wearable device.
  • the user's autonomous follow-up which greatly enhances the user experience.
  • FIG. 1 is a schematic flow chart of a follow-up method of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 2 is a schematic view showing the relative orientation of an unmanned aerial vehicle and a user according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a spatial rectangular coordinate system constructed based on an azimuth relationship between an unmanned aerial vehicle and a user according to an embodiment of the present invention
  • FIG. 4 is a block diagram showing the structure of a follow-up device for an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 5 is a structural block diagram of a wearable device according to an embodiment of the present invention.
  • the design concept of the present invention is: for the problem that the existing unmanned aerial vehicle cannot autonomously follow, the present invention determines the relative positional relationship between the drone and the user through a set of multi-receiving sensor modules, according to the relative position The positional relationship fine-tunes the position of the drone, maintaining a relatively static relationship between the drone and the user, thereby realizing the autonomous follow-up function of the unmanned aerial vehicle.
  • FIG. 1 is a schematic flow chart of a follow-up method of an unmanned aerial vehicle according to an embodiment of the present invention.
  • the following method of the unmanned aerial vehicle includes the following steps:
  • Step S11 installing a plurality of receiving sensors on the unmanned aerial vehicle, and the plurality of receiving sensors are matched with one of the user-side intelligent control devices;
  • the matching includes at least: the receiving sensor matches the type of the transmitting sensor.
  • the receiving sensor is an ultrasonic sensor
  • the transmitting sensor also uses an ultrasonic sensor, that is, the same type of transmitting sensor and receiving sensor are ensured.
  • the identity match between the receiving sensor and the transmitting sensor For example, during the initialization process, the receiving sensor receives the pairing connection request of the transmitting sensor to complete the identity authentication, thereby preventing interference of other devices.
  • Step S12 the UAV receives the distance signal transmitted by the user in real time by using the receiving sensor, and calculates the orientation of the UAV relative to the user according to the distance signal; the orientation of the user includes the direction information and the position information of the user in the space.
  • step S13 the unmanned aerial vehicle adjusts the horizontal orientation of the unmanned aerial vehicle according to the orientation, so that the orientation of the unmanned aerial vehicle and the user satisfies the preset orientation, thereby realizing the autonomous following of the unmanned aerial vehicle.
  • the horizontal orientation of the drone refers to the position of the drone in the horizontal direction, and the horizontal direction is relative to the vertical direction of the drone.
  • the horizontal orientation is the position at which the drone is predetermined above the user and on the circumference of the circle centered on the user and having a predetermined radius.
  • the flying height of the unmanned aerial vehicle must be set first.
  • the unmanned aerial vehicle should maintain its own flying altitude, so that it is received by the receiving sensor at different positions on the unmanned aerial vehicle.
  • Time of the signal The difference between the UAV and the user can be inferred, and then the position of the UAV in the horizontal direction is adjusted to the preset orientation according to the relative orientation, so that the UAV can follow the user's autonomous pursuit.
  • the user-side intelligent control device may be a wearable device such as a smart watch or a smart bracelet.
  • the unmanned aerial vehicle receives the distance signal transmitted by the user side by using a plurality of receiving sensors installed, calculates the orientation of the unmanned aerial vehicle relative to the user, and controls the horizontal orientation of the unmanned aerial vehicle according to the calculated orientation.
  • the orientation of the UAV with respect to the user is made to satisfy the preset orientation, so that when the user moves (such as running), the UAV can autonomously follow the user's position change, maintain the relative orientation with the user, and enhance the user experience.
  • Ultrasonic signals have advantages in near-field signal transmission, are less affected by environmental and illumination factors, and have stable transmission and strong anti-interference ability. They are ideal vectors for autonomous tracking of unmanned aerial vehicles. Therefore, in the embodiment, the receiving sensor is an ultrasonic receiving sensor, and the transmitting sensor is an ultrasonic transmitting sensor as an example, and the positioning of the user by the unmanned aerial vehicle in the follow-up method of the unmanned aerial vehicle is mainly described. For other contents, refer to other implementations of the present invention. Description of the example.
  • At least three ultrasonic sensors are installed on the unmanned aerial vehicle, and the orientation between the user and the unmanned aerial vehicle is calculated according to the ultrasonic signal emitted by the ultrasonic transmitting sensor installed in the intelligent control device on the user side.
  • the principle of the positioning algorithm used in this embodiment is similar to that of the GPS (Global Positioning System). The difference is that the signal transmitting end of the GPS positioning is a satellite, and the signal receiving end is located on the object to be positioned.
  • the positioning algorithm of this embodiment is just the opposite. The signal receiving end is located on the unmanned aerial vehicle, and the signal transmitting end is located on the located device.
  • the time difference between the ultrasonic wave signal transmitted from the user end and the different ultrasonic receiving sensor can be obtained by the distance between the user and the different ultrasonic receiving sensor on the unmanned aerial vehicle.
  • the center point of the unmanned aerial vehicle is calculated according to the position of the unmanned aerial vehicle center point, the distance between the unmanned aerial vehicle center point and each ultrasonic receiving sensor.
  • the orientation of the user is obtained, and the orientation of the UAV relative to the user is obtained, and the orientation is compared with the preset orientation. If the orientation of the UAV relative to the user does not satisfy the preset orientation, the PID (Proportion Integration Differentiation) may be used.
  • the controller calculates the control signals of the motors output to the rotors of the UAV, adjusts the flight speed of the UAV, and adjusts the position of the UAV in the horizontal direction by adjusting the flight speed of the UAV (due to the unmanned
  • the height of the aircraft is usually fixed in the vertical direction, so the position in the vertical direction does not need to be adjusted) to ensure that the position of the unmanned aerial vehicle is always around the target to achieve autonomous pursuit.
  • the exemplary application scenario of the following method for the UAV in this embodiment is: preset a relative orientation between the UAV and the user, such as setting the UAV to the left front relative to the user,
  • the height of the human aircraft is fixed, so when the user is in motion (such as running, cycling), the horizontal orientation of the UAV relative to the user may change, for example, the UAV flies in the left rear of the user, and the present embodiment is utilized.
  • the follow-up method of the unmanned aerial vehicle calculates the orientation of the unmanned aerial vehicle relative to the user, and finds that the orientation (left rear) does not satisfy the preset orientation (left front), at which time the unmanned aircraft adjusts its own flight speed (such as speeding up the rotation of the corresponding rotor) Speed), so that the unmanned aerial vehicle is adjusted to a preset orientation with respect to the user's orientation, thereby achieving self-following to the user.
  • FIG. 2 is a schematic diagram of a relative orientation of an unmanned aerial vehicle and a user according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a spatial rectangular coordinate system constructed based on an azimuth relationship between an unmanned aerial vehicle and a user according to an embodiment of the present invention
  • FIG. 2 and FIG. 3 This embodiment exemplifies the azimuth calculation process of the UAV relative to the user.
  • the unmanned aerial vehicle in this embodiment is a quadrotor unmanned aerial vehicle
  • the quadrotor aircraft changes the rotational speed of the rotor by adjusting the rotational speed of the four motors to realize the change of the flight speed and the lift, thereby controlling the posture of the unmanned aerial vehicle.
  • the quadrotor is equipped with four ultrasonic signal receiving sensors, and the ultrasonic signal receiving sensors are respectively located below the rotor shaft, and the ultrasonic signal transmitting sensors matched with the four ultrasonic receiving sensors are located on the intelligent control device on the user side.
  • the four ultrasonic receiving sensors shown in FIG. 2 are: an ultrasonic receiving sensor 1, an ultrasonic receiving sensor 2, an ultrasonic receiving sensor 3, and an ultrasonic receiving sensor 4. 2, the connection between the ultrasonic receiving sensor 1 and the position of the ultrasonic receiving sensor 4, and the line connecting the ultrasonic receiving sensor 2 and the position of the ultrasonic receiving sensor 3 are crossed, and the intersection point O is the center point of the unmanned aerial vehicle. The distance from the center point of the unmanned aerial vehicle to each ultrasonic receiving sensor is equal.
  • the ultrasonic signal needs to be matched and identified to prevent interference of other devices that may be generated. That is, a paired connection between the ultrasonic receiving sensor and the ultrasonic transmitting sensor is established.
  • the center point of the unmanned aerial vehicle is taken as the origin
  • the horizontal coordinate axis is established by the connection of the ultrasonic sensor position on the relative position cantilever
  • the spatial rectangular coordinate system is constructed with the vertical coordinate axis perpendicular to the horizontal coordinate axis ( Oxyz).
  • the origin O of the Cartesian coordinate system is located at the cantilever intersection of the four rotors of the UAV.
  • the cantilever arm where the first and fourth ultrasonic receiving sensors are located is the x-axis, and the second and third ultrasonic receiving sensors are located.
  • the cantilever is a y-axis, and the x-axis and the y-axis are horizontal coordinate axes, and the second and fourth ultrasonic receiving sensors are respectively located in the positive direction of the x and y axes.
  • the flying height of the unmanned aerial vehicle is known.
  • the distance between the user and the different ultrasonic receiving sensors on the unmanned aerial vehicle can be obtained by the time when the ultrasonic signal transmitted from the user side reaches the different ultrasonic receiving sensors, and the origin O is obtained by these known parameters.
  • the P point is defined as the current position of the user, the coordinates are (x, y, z), and the four points on the coordinate axes x and y respectively represent the position of the ultrasonic receiving sensor. It is known that the propagation speed of ultrasonic waves in air is about 340 m/s, so the distance between the signal transmission point and the reception point can be reversed by the propagation time of the ultrasonic signal.
  • the distance between the ultrasonic wave emitted by the user-side intelligent control device and the four ultrasonic receiving sensors is n 1 , n 2 , n 3 , n 4 , respectively, and the distance between the P point and the center point can be calculated by the following equations:
  • n 1 is the distance from the user to the first ultrasonic receiving sensor
  • n 2 is the distance from the user to the second ultrasonic receiving sensor
  • n 3 is the user To the distance of the third ultrasonic receiving sensor
  • n 4 is the distance from the user to the fourth ultrasonic receiving sensor
  • the above formula is a transcendental equation. In theory, only three of the equations are needed to obtain a definite solution. Therefore, at least three receiving sensors are required on the UAV to determine the coordinates of the target (ie, the user) and increase the receiving sensor. The quantity can improve the accuracy of positioning to a certain extent and thus improve the accuracy of autonomous pursuit.
  • the coordinate value of the P point can be determined, that is, the center point of the current UAV and the orientation of the user are determined.
  • the horizontal position of the unmanned aerial vehicle can be controlled by the PID controller to ensure that the unmanned aerial vehicle is always located around the target and achieve self-following.
  • the terms such as the first ultrasonic receiving sensor and the second ultrasonic receiving sensor in this embodiment do not limit the order or number of ultrasonic receiving sensors, and are only used to distinguish different devices having the same or similar functions.
  • FIG. 4 is a structural block diagram of a follow-up device of an unmanned aerial vehicle according to an embodiment of the present invention.
  • a plurality of receiving sensors 401, a plurality of receiving sensors 401 and one of the user-side intelligent control devices are mounted on the unmanned aerial vehicle.
  • the following device 40 of the UAV includes:
  • the positioning module 402 is configured to receive, by the receiving sensor, a distance signal transmitted by the user in real time, and calculate an orientation of the unmanned aerial vehicle relative to the user according to the distance signal;
  • the following module 403 is configured to adjust the horizontal orientation of the UAV according to the orientation of the UAV calculated by the positioning module 402 relative to the user, so that the orientation of the UAV and the user satisfies the preset orientation, and the autonomous tracking of the UAV is realized.
  • At least three ultrasonic receiving sensors are installed at different positions of the unmanned aerial vehicle, and the ultrasonic receiving sensor is matched with one ultrasonic transmitting sensor of the user-side intelligent control device;
  • the positioning module 402 is specifically configured to calculate the distance from the user to each ultrasonic receiving sensor on the unmanned aerial vehicle according to the time when the ultrasonic signal transmitted by the user reaches each ultrasonic receiving sensor on the unmanned aerial vehicle; and according to the user to the unmanned aerial vehicle The distance of each ultrasonic receiving sensor and the position of the unmanned aircraft center point, the unmanned aircraft center point and each ultrasonic receiving sensor The distance between the center point of the UAV and the user's position.
  • the receiving sensor 401, the positioning module 402, and the tracking sensor 403 of the tracking device 40 of the UAV are all disposed in the drone. In other embodiments of the present invention, the receiving sensor 401, the positioning module 402, and the tracking sensor 403 of the tracking device 40 of the UAV may be partially or fully disposed externally of the UAV.
  • unmanned aerial vehicles are installed on the unmanned aerial vehicle, and the unmanned aerial vehicle is a four-rotor unmanned aerial vehicle.
  • the connection of the ultrasonic receiving sensor is in a crisscross shape, and the intersection point is the center point of the unmanned aerial vehicle;
  • the positioning module 402 is specifically configured to take the center point of the unmanned aerial vehicle as an origin, and the two ultrasonic receiving sensors that are connected through the origin are in a horizontal coordinate axis, and the vertical axis is a vertical coordinate axis in a direction perpendicular to the horizontal coordinate axis.
  • the coordinate system defines the current position coordinates of the user as (x, y, z), and calculates the current position coordinate value of the user by the following formula:
  • n 1 is the distance from the user to the first ultrasonic receiving sensor
  • n 2 is the distance from the user to the second ultrasonic receiving sensor
  • n 3 is the user To the distance of the third ultrasonic receiving sensor
  • n 4 is the distance from the user to the fourth ultrasonic receiving sensor
  • the center point of the UAV and the orientation of the user are obtained.
  • FIG. 5 is a block diagram of a wearable device according to an embodiment of the present invention.
  • the present embodiment provides a wearable device 50, the wearable device 50 is provided with a launch sensor 501;
  • the transmitting sensor 501 is matched with a plurality of receiving sensors on the UAV for transmitting a distance signal to the UAV in real time, so that the UAV calculates the orientation of the UAV relative to the user according to the received distance signal and adjusts according to the orientation.
  • the horizontal orientation of the unmanned aerial vehicle enables the position of the UAV and the user to meet the preset orientation.
  • the wearable device 50 is a smart watch or a smart bracelet, or other smart wearable products with corresponding functions, such as smart glasses, smart headphones, smart clothes or shoes.
  • the emission sensor 501 is an infrared emission sensor, and the reception sensor is an infrared reception sensor. In other embodiments of the present invention, the emission sensor 501 may also be an ultrasonic emission sensor, which is not limited thereto.
  • the autonomous tracking device and method of the UAV of the present invention employs a matched one-shot multi-receiving sensor (ie, a signal transmitting sensor disposed on the user side and multiple signal receiving devices disposed in the unmanned aerial vehicle)
  • the sensor is used to locate the current position of the user, thereby determining the orientation of the UAV relative to the user (ie, direction and position information), and obtaining the orientation of the UAV relative to the user, and adjusting the horizontal orientation of the UAV relative to the user to satisfy
  • the preset orientation can maintain the relative static relationship between the UAV and the user, and realize the autonomous tracking of the UAV. Especially when the user is exercising, achieving the autonomous follow-up effect of the UAV can greatly enhance the user experience.
  • the present invention also provides a wearable device in which a transmitting sensor is provided to transmit signals to a plurality of receiving sensors matched on an unmanned aerial vehicle, so as to implement an unmanned aerial vehicle to a user wearing the wearable device. Self-sufficiency.

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  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人飞行器的追随方法、追随装置以及可穿戴设备，其中，该无人飞行器的追随方法包括：在无人飞行器上安装多个接收传感器，该多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配（S11）；利用接收传感器接收用户实时发射的距离信号，并根据该距离信号计算无人飞行器相对用户的方位（S12）；根据该方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现无人飞行器的自主跟随（S13）。该方法通过采用多个接收传感器配合一个发射传感器的方式来确定无人飞行器相对用户的方位，并基于该方位对无人飞行器的水平方位进行调整，保持无人飞行器与用户间的相对静止关系，实现对用户的自主跟随。

Description

一种无人飞行器的追随方法、装置以及可穿戴设备 技术领域
本发明涉及人机交互领域，具体涉及一种无人飞行器的追随方法、装置以及可穿戴设备。
背景技术
随着科技的进步，人工智能逐渐开始向消费级电子产品延伸，智能手机几乎成了人手必备。而伴随着生活品质的提升，无人飞行器(又称无人机，英文Unmanned Aerial Vehicle)开始走入人们的日常生活。微型的多旋翼无人飞行器现已成为多数人都能购买得起的消费产品。
目前无人飞行器一般搭载有加速度传感器、陀螺仪等运动状态检测传感器，并且应用了蓝牙、Wi-Fi数据传输技术，以满足无人飞行器的飞行控制和状态检测需求。但是蓝牙、Wi-Fi等常用数据传输技术只能完成无人飞行器与信号传输设备之间的无线数据通信，而无法实现自主跟随，用户体验较差。
发明内容
本发明提供了一种无人飞行器的追随方法、装置以及可穿戴设备，用以解决现有技术无法实现无人飞行器的自主追随，用户体验较差的问题。
根据本发明的一个方面，提供了一种无人飞行器的追随方法，该方法包括：
在无人飞行器上安装多个接收传感器，多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配；
利用接收传感器接收用户实时发射的距离信号，并根据距离信号计算无人飞行器相对用户的方位；
根据方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现无人飞行器的自主跟随。
可选地，在无人飞行器上安装多个接收传感器包括：
在无人飞行器的不同位置上安装至少三个超声波接收传感器，该超声波接收传感器与用户侧智能控制设备中的一个超声波发射传感器相匹配。
可选地，根据接收的距离信号计算无人飞行器相对用户的方位包括：
根据用户发射的超声波信号分别到达无人飞行器上每个超声波接收传感器的时间，计算用户到无人飞行器上每个超声波接收传感器的距离；
根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行 器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位。
可选地，根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位包括：
在无人飞行器上安装有四个超声波接收传感器，无人飞行器为四旋翼无人飞行器，超声波接收传感器位置的连线呈十字交叉形，交点为无人飞行器的中心点。
可选地，每个超声波接收传感器分别位于四旋翼无人飞行器一个旋翼的下方。
可选地，根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位包括：
以无人飞行器的中心点为原点，以连线经过原点的两个超声波接收传感器所在方向为水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系，定义用户当前的位置坐标为(x,y,z)，通过如下公式计算用户当前的位置坐标值：
Figure PCTCN2017076218-appb-000001
其中，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
根据用户当前的位置坐标值得到无人飞行器的中心点与用户的方位。
可选地，根据方位调整无人飞行器与用户的水平方位使得无人飞行器相对用户的方位满足预设的方位信息包括：
根据无人飞行器相对用户的方位，利用比例积分微分PID控制器通过调整无人飞行器的飞行速度来调整无人飞行器相对于用户的水平方位，使得无人飞行器与用户的方位满足预设方位，实现自主追随。
与上述方法相对应的，本发明还提供了一种无人飞行器的追随装置，无人飞行器上安装多个接收传感器，多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配，该无人飞行器的追随装置包括：
定位模块，用于通过接收传感器接收用户实时发射的距离信号，并根据距离信号计算无人飞行器相对用户的方位；
跟随模块，用于根据定位模块计算的无人飞行器相对用户的方位，调整无人飞行器的水平方位使 无人飞行器与用户的方位满足预设方位，实现无人飞行器的自主跟随。
可选地，无人飞行器的不同位置上安装至少三个超声波接收传感器，超声波接收传感器与用户侧智能控制设备中的一个超声波发射传感器相匹配；
定位模块，具体用于根据用户发射的超声波信号分别到达无人飞行器上每个超声波接收传感器的时间，计算用户到无人飞行器上每个超声波接收传感器的距离；并根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位。
可选地，无人飞行器上安装有四个超声波接收传感器，无人飞行器为四旋翼无人飞行器，超声波接收传感器的位置的连线呈十字交叉形，交点为无人飞行器的中心点；
定位模块，具体用于以无人飞行器的中心点为原点，以连线经过原点的两个超声波接收传感器所在方向为水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系，定义用户当前的位置坐标为(x,y,z)，通过如下公式计算用户当前的位置坐标值：
Figure PCTCN2017076218-appb-000002
其中，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
根据用户当前的位置坐标值得到无人飞行器的中心点与用户的方位。
根据本发明的又一个方面，提供了一种可穿戴设备，该可穿戴设备中设置有一个发射传感器；
发射传感器与无人飞行器上的多个接收传感器相匹配，用于实时向无人飞行器发射距离信号，以使得无人飞行器根据接收的距离信号计算无人飞行器相对于用户的方位，并根据该方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位。
可选地，可穿戴设备为智能手表、智能手环、智能眼镜或智能耳机，发射传感器为红外线发射传感器，接收传感器为红外线接收传感器。
本发明实施例的这种无人飞行器的追随方法和装置，采用根据用户侧智能控制设备实时发射的距离信号计算当前无人飞行器相对用户的方位，得到无人机与用户之间的相对位置，并基于该方位将无人飞行器相对于用户的方位调整到预设方位的技术手段，能够保持无人飞行器与用户在预设方位下的相对静止关系，提供了一套对无人机自主追随的实现方案，丰富了无人机产品的功能，提高了无人飞 行器产品的竞争力。另外，本发明实施例还提供了一种可穿戴设备，该可穿戴设备中设置发射传感器可以向无人飞行器上匹配的多个接收传感器发射信号，以便于实现无人飞行器对佩戴该可穿戴设备的用户的自主追随，从而大大提升了用户使用体验。
附图简要说明
图1是本发明一个实施例一种无人飞行器的追随方法的流程示意图；
图2是本发明一个实施例无人飞行器与用户的相对方位示意图；
图3是本发明一个实施例基于无人飞行器与用户的方位关系构建的空间直角坐标系示意图；
图4是发明一个实施例一种无人飞行器的追随装置的结构框图；
图5是本发明一个实施例的一种可穿戴设备的结构框图。
具体实施方式
本发明的设计构思是：针对现有的无人飞行器不能自主追随的问题，本发明通过一套一发多收的传感器模块，来确定无人机与使用者之间的相对位置关系，根据相对位置关系对无人机的位置进行微调，保持无人机与用户之间相对静止的关系，进而实现无人飞行器的自主追随功能。
实施例一
图1是本发明一个实施例的一种无人飞行器的追随方法的流程示意图，参见图1，该无人飞行器的追随方法包括如下步骤：
步骤S11，在无人飞行器上安装多个接收传感器，多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配；
这里的相匹配至少包括：接收传感器与发射传感器的类型相匹配。如，当接收传感器为超声波传感器时，发射传感器也采用超声波传感器，即保证发射传感器和接收传感器的类型相同。以及，接收传感器与发射传感器之间的身份匹配。如，初始化过程中接收传感器接收发射传感器的配对连接请求以完成身份认证，从而防止其他设备的干扰。
步骤S12，无人飞行器利用接收传感器接收用户实时发射的距离信号，并根据距离信号计算无人飞行器相对用户的方位；用户的方位包括用户在空间中的方向信息和位置信息。
步骤S13，无人飞行器根据方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现无人飞行器的自主跟随。
这里，无人机的水平方位，是指无人机水平方向的位置，水平方向相对于无人机的垂直方向。水平方位即无人机在用户上方预定高度，并在以用户为中心，以预定值为半径的圆的圆周上的位置。
开启无人飞行器的自主追随模式需首先设定无人飞行器的飞行高度，在没有特殊情况时无人飞行器应保持自己的飞行高度不变，这样通过在无人飞行器上不同位置的接收传感器收到的距离信号的时 间差即可推断出无人飞行器与用户的准确的相对方位，然后根据这一相对方位调整无人飞行器在水平方向上的位置到预设方位，实现无人飞行器对用户的自主追随。
本实施例中，用户侧智能控制设备可以为智能手表或智能手环等可穿戴设备。
通过图1所示的方法，无人飞行器利用安装的多个接收传感器接收用户侧发送的距离信号并计算无人飞行器相对用户的方位，根据计算出的方位对无人飞行器的水平方位进行控制，使无人飞行器相对于用户的方位满足预设方位，从而在用户运动(如跑步)时，无人飞行器能够自主跟随用户的位置变化，保持与用户的相对方位，提升用户体验。
实施例二
超声波信号在近场信号传输中具有优势，受环境和光照的因素的影响较小，传输稳定，抗干扰能力强，是实现无人飞行器自主追随的理想媒介。因而本实施例中，以接收传感器为超声波接收传感器，发射传感器为超声波发射传感器为例，对无人飞行器的追随方法中的无人飞行器对用户的定位进行重点说明，其他内容参见本发明其他实施例的说明。
本实施例中，无人飞行器上安装至少三个超声波传感器，根据用户侧的智能控制设备中安装的超声波发射传感器发射的超声波信号计算用户与无人飞行器之间的方位。
本实施例采用的定位算法的原理与GPS(全球定位系统，Global Positioning System)定位原理相似，不同的是GPS定位的信号发射端是卫星，信号接收端位于被定位的物体上。本实施例的定位算法正好相反，信号接收端位于无人飞行器上，而信号发射端位于被定位的设备上。
由于超声波接收传感器安装在无人飞行器上的位置是确定的，这样，通过用户端发射的超声波信号到达不同超声波接收传感器的时间差可得到用户与无人飞行器上不同超声波接收传感器的距离。这里，超声波发射传感器在发射超声波信号的同时会在信号中携带发射时间信息，当该超声波信号到达无人机上每个超声波接收传感器时，每个超声波接收传感器会得到不同的到达时间，这时每个超声波传感器都可以计算一个到达时间与发射时间的时间差t，再根据超声波在空气中的传播速度340m/s，就可以计算出超声波发射传感器到每个超声波接收传感器的距离(s)，即：s＝340t。
在计算出用户到无人飞行器上每个超声波接收传感器的距离后，根据无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算得到无人飞行器的中心点与用户的方位，从而得到无人飞行器相对用户的方位，将该方位与预设方位进行比较，如果无人飞行器相对用户的方位不满足预设方位，则可以通过PID(Proportion Integration Differentiation，比例积分微分)等控制器计算输出给无人飞行器各旋翼的电机的控制信号，调整无人飞行器的飞行速度，通过调整无人飞行器的飞行速度来对无人飞行器在水平方向的位置进行调整(由于无人飞行器在垂直方向即高度通常是保持固定，所以垂直方向的位置不需要调整)，以保证无人飞行器的位置一直位于目标周围，实现自主追随。
需要强调的是，本实施例中的无人飞行器的追随方法示例性应用场景为：无人飞行器与用户之间预设一个相对方位，如将无人飞行器设置在相对于用户的左前方，无人飞行器高度固定，那么当用户处于运动状态时(如跑步、骑自行车)，无人飞行器相对用户的水平方位可能发生变化，如，无人飞行器飞行在用户的左后方，此时利用本实施例的无人飞行器的追随方法计算无人飞行器相对用户的方位，发现该方位(左后方)不满足预设方位(左前方)，这时无人飞行器调整自身的飞行速度(如加快相应旋翼的旋转速度)，以使得无人飞行器相对用户的方位调整到预设方位，实现对用户的自主追随。
实施例三
图2是本发明一个实施例无人飞行器与用户的相对方位示意图，图3是本发明一个实施例基于无人飞行器与用户的方位关系构建的空间直角坐标系示意图，结合图2和图3，本实施例对无人飞行器相对用户的方位计算过程进行示例性说明。
由图2可见，本实施例中的无人飞行器为四旋翼无人飞行器，四旋翼飞行器通过调节四个电机转速来改变旋翼的转速，实现飞行速度和升力的变化，从而控制无人飞行器的姿态和位置。四旋翼飞行器搭载四个超声波信号接收传感器，超声波信号接收传感器分别位于旋翼轴的下方，与这四个超声波接收传感器相匹配的超声波信号发射传感器位于用户侧的智能控制设备上。
图2示出的四个超声波接收传感器为：超声波接收传感器一、超声波接收传感器二、超声波接收传感器三、超声波接收传感器四。由图2可见，超声波接收传感器一与超声波接收传感器四的位置的连线，和超声波接收传感器二与超声波接收传感器三的位置的连线呈十字交叉形，且交点O为无人飞行器的中心点，无人飞行器的中心点到各超声波接收传感器的距离都相等。
需要说明的是，实际应用过程中在超声信号传输之前，需要对超声波信号进行匹配识别以防止可能产生的其他设备的干扰。即建立超声波接收传感器与超声波发射传感器之间的配对连接。
本实施例中，以无人飞行器的中心点为原点，以相对位置悬臂上的超声波传感器位置的连线建立水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系(Oxyz)。
参见图3，直角坐标系的原点O位于无人飞行器四个旋翼的悬臂交点，以第一个、第四个超声波接收传感器所在的悬臂为x轴，第二个、第三个超声波接收传感器所在悬臂为y轴，且x轴和y轴为水平坐标轴，且第二个、第四个超声波接收传感器分别位于x、y轴的正方向。无人飞行器的飞行高度为已知，通过用户侧发射的超声波信号到达不同超声波接收传感器的时间即可得到用户与无人飞行器上不同超声波接收传感器之间的距离，通过这些已知参数得到原点O与用户之间的相对方位。定义P点为用户当前所在位置，坐标为(x,y,z)，坐标轴x和y上的共四个点分别代表超声波接收传感器所在位置。已知超声波在空气中的传播速度约为340m/s，因此通过超声波信号的传播时间即可反推出信号发射点与接收点之间的距离。
由用户侧智能控制设备所发射的超声波与四个超声波接收传感器的距离分别为n1,n2,n3,n4,可通过如下方程组计算P点与中心点之间的距离：
Figure PCTCN2017076218-appb-000003
其中，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
上式为一个超越方程组，理论上只需要其中的3个方程即可得出确定解，因此无人飞行器上最少需要三个接收传感器即可确定目标(即用户)的坐标，增加接收传感器的数量可在一定程度上提高定位的准确性进而提高自主追随的精度。
通过求解上式方程组，可确定P点的坐标值，即确定当前无人飞行器的中心点和用户的方位。
得到无人飞行器相对和用户当前位置的方位后，可以通过PID控制器对无人飞行器的水平位置进行控制，以保证无人飞行器一直位于目标周围，实现自主追随。
需要说明的是本实施例中第一个超声波接收传感器、第二个超声波接收传感器这样的用语不对超声波接收传感器的顺序或数量进行限定，仅用于对具有相同或相似功能的不同器件进行区分。
实施例四
图4是发明一个实施例一种无人飞行器的追随装置的结构框图，参见图4，无人飞行器上安装多个接收传感器401，多个接收传感器401与用户侧智能控制设备中的一个发射传感器相匹配，该无人飞行器的追随装置40包括：
定位模块402，用于通过接收传感器接收用户实时发射的距离信号，并根据距离信号计算无人飞行器相对用户的方位；
跟随模块403，用于根据定位模块402计算的无人飞行器相对用户的方位，调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现无人飞行器的自主跟随。
本实施例中，无人飞行器的不同位置上安装至少三个超声波接收传感器，超声波接收传感器与用户侧智能控制设备中的一个超声波发射传感器相匹配；
定位模块402，具体用于根据用户发射的超声波信号分别到达无人飞行器上每个超声波接收传感器的时间，计算用户到无人飞行器上每个超声波接收传感器的距离；并根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器 的距离，计算无人飞行器的中心点与用户的方位。
本实施例中，无人飞行器的追踪装置40的接收传感器401、定位模块402和跟踪传感器的403全部设置在无人机中。在本发明的其他实施例中，无人飞行器的追踪装置40的接收传感器401、定位模块402和跟踪传感器的403可以部分或者全部独立地设置在无人飞行器的外部。
本实施例中，无人飞行器上安装有四个超声波接收传感器，无人飞行器为四旋翼无人飞行器，超声波接收传感器的位置的连线呈十字交叉形，交点为无人飞行器的中心点；
定位模块402，具体用于以无人飞行器的中心点为原点，以连线经过原点的两个超声波接收传感器所在方向为水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系，定义用户当前的位置坐标为(x,y,z)，通过如下公式计算用户当前的位置坐标值：
Figure PCTCN2017076218-appb-000004
其中，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
根据用户当前的位置坐标值得到无人飞行器的中心点与用户的方位。
需要说明的是，本实施例中的这种无人飞行器的追随装置的工作过程是和前面实施例中无人飞行器的追随方法的实现步骤相对应的，无人飞行器的追随装置的具体工作流程可以参见前述无人飞行器的追随方法部分的相关内容说明，在此不再赘述。
实施例五
图5是本发明一个实施例的一种可穿戴设备的结构框图，参见图5，本实施例提供了一种可穿戴设备50，该可穿戴设备50中设置有一个发射传感器501；
发射传感器501与无人飞行器上的多个接收传感器相匹配，用于实时向无人飞行器发射距离信号，使得无人飞行器根据接收的距离信号计算无人飞行器相对于用户的方位并根据该方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位。
本实施例中，可穿戴设备50为智能手表或智能手环，或其他具有相应功能的智能可穿戴产品，如智能眼镜，智能耳机，智能服装或鞋子等。发射传感器501为红外线发射传感器，接收传感器为红外线接收传感器。在本发明的其他实施例中，发射传感器501也可以是超声波发射传感器，对此不作限制。
综上所述，本发明的这种无人飞行器的自主追随装置和方法采用相匹配的一发多收传感器(即设置在用户侧的一个信号发射传感器以及设置在无人飞行器的多个信号接收传感器)，来定位用户当前的位置，进而确定无人飞行器相对用户的方位(即方向和位置信息)，得到了无人飞行器相对用户的方位后调整无人机相对用户的水平方位，使其满足预设方位，这样可以保持无人飞行器与用户之间相对静止关系，实现无人飞行器的自主追随，尤其在用户运动时，实现无人飞行器自主追随效果能够极大提升用户体验。另外，本发明还提供了一种可穿戴设备，该可穿戴设备中设置发射传感器可以向无人飞行器上匹配的多个接收传感器发射信号，以便于实现无人飞行器对佩戴该可穿戴设备的用户的自主追随。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。

Claims (15)

  1. 一种无人飞行器的追随方法，其中，所述方法包括：
    在所述无人飞行器上安装多个接收传感器，所述多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配；
    利用所述接收传感器接收用户实时发射的距离信号，并根据所述距离信号计算所述无人飞行器相对用户的方位；
    根据所述方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现所述无人飞行器的自主跟随。
  2. 根据权利要求1所述的方法，其中，在所述无人飞行器上安装多个接收传感器包括：
    在无人飞行器的不同位置上安装至少三个超声波接收传感器，该超声波接收传感器与用户侧智能控制设备中的一个超声波发射传感器相匹配。
  3. 根据权利要求2所述的方法，其中，所述根据接收的所述距离信号计算所述无人飞行器相对用户的方位包括：
    根据用户发射的超声波信号分别到达所述无人飞行器上每个超声波接收传感器的时间，计算用户到无人飞行器上每个超声波接收传感器的距离；
    根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位。
  4. 根据权利要求3所述的方法，其中，在所述无人飞行器上安装多个接收传感器包括：
    在所述无人飞行器上安装四个超声波接收传感器，所述无人飞行器为四旋翼无人飞行器，以及，设置超声波接收传感器位置的连线呈十字交叉形，且交点为所述无人飞行器的中心点。
  5. 根据权利要求4所述的方法，其中，将每个所述超声波接收传感器分别安装于四旋翼无人飞行器一个旋翼的下方。
  6. 根据权利要求4所述的方法，其中，所述根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位包括：
    以所述无人飞行器的中心点为原点，以连线经过原点的两个超声波接收传感器所在方向为水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系，通过如下公式计算用户当前的位置坐标值：
    Figure PCTCN2017076218-appb-100001
    其中，(x,y,z)为用户当前的位置坐标，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
    根据用户当前的位置坐标值得到无人飞行器的中心点与用户的方位。
  7. 根据权利要求6所述的方法，其中，所述根据所述方位调整无人飞行器与用户的水平方位使得无人飞行器相对用户的方位满足预设的方位信息包括：
    根据无人飞行器相对用户的方位，利用比例积分微分PID控制器通过调整无人飞行器的飞行速度来调整无人飞行器相对于用户的水平方位，使得无人飞行器与用户的方位满足预设方位，实现自主追随。
  8. 根据权利要求1所述的方法，其中，在所述无人飞行器上安装多个接收传感器包括：
    在无人飞行器的不同位置上安装至少三个红外线接收传感器，该红外线接收传感器与用户侧智能控制设备中的一个红外线发射传感器相匹配。
  9. 一种无人飞行器的追随装置，其中，所述无人飞行器上安装多个接收传感器，多个接收传感器与用户侧智能控制设备中的一个发射传感器相匹配，该无人飞行器的追随装置包括：
    定位模块，用于通过所述接收传感器接收用户实时发射的距离信号，并根据所述距离信号计算无人飞行器相对用户的方位；
    跟随模块，用于根据定位模块计算的无人飞行器相对用户的方位，调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位，实现所述无人飞行器的自主跟随。
  10. 根据权利要求9所述的装置，其中，所述无人飞行器的不同位置上安装至少三个超声波接收传感器，所述超声波接收传感器与用户侧智能控制设备中的一个超声波发射传感器相匹配；
    所述定位模块，具体用于根据用户发射的超声波信号分别到达所述无人飞行器上每个超声波接收传感器的时间，计算用户到无人飞行器上每个超声波接收传感器的距离；并根据用户到无人飞行器上每个超声波接收传感器的距离以及无人飞行器中心点的位置、无人飞行器中心点与每个超声波接收传感器的距离，计算无人飞行器的中心点与用户的方位。
  11. 根据权利要求10所述的装置，其中，所述无人飞行器上安装四个超声波接收传感器，所述无人飞行器为四旋翼无人飞行器，超声波接收传感器的位置的连线呈十字交叉形，交点为所述无人飞 行器的中心点；
    所述定位模块，具体用于以所述无人飞行器的中心点为原点，以连线经过原点的两个超声波接收传感器所在方向为水平坐标轴，以垂直于水平坐标轴的方向为垂直坐标轴构建空间直角坐标系，通过如下公式计算用户当前的位置坐标值：
    Figure PCTCN2017076218-appb-100002
    其中，(x,y,z)为用户当前的位置坐标，l为无人飞行器的中心点到各超声波接收传感器的距离，n1为用户到第一个超声波接收传感器的距离，n2为用户到第二个超声波接收传感器的距离，n3为用户到第三个超声波接收传感器的距离，n4为用户到第四个超声波接收传感器的距离；
    根据用户当前的位置坐标值得到无人飞行器的中心点与用户的方位。
  12. 根据权利要求9所述的装置，其中，所述无人飞行器的不同位置上安装至少三个红外线接收传感器，所述红外线接收传感器与用户侧智能控制设备中的一个红外线发射传感器向匹配。
  13. 一种可穿戴设备，其中，该可穿戴设备中设置有一个发射传感器；
    所述发射传感器与无人飞行器上的多个接收传感器相匹配，用于实时向无人飞行器发射距离信号，以使得所述无人飞行器根据接收的距离信号计算无人飞行器相对于用户的方位，并根据该方位调整无人飞行器的水平方位使无人飞行器与用户的方位满足预设方位。
  14. 根据权利要求13所述的可穿戴设备，其中，所述可穿戴设备为智能手表、智能手环、智能眼镜或智能耳机。
  15. 根据权利要求13所述的可穿戴设备，其中，所述发射传感器为红外线发射传感器，所述接收传感器为红外线接收传感器；或者，
    所述发射传感器为超声波发射传感器，所述接收传感器为超声波接收传感器。
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