WO2017157313A1 - 一种可穿戴设备、无人机控制装置和控制实现方法 - Google Patents

一种可穿戴设备、无人机控制装置和控制实现方法 Download PDF

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Publication number
WO2017157313A1
WO2017157313A1 PCT/CN2017/076902 CN2017076902W WO2017157313A1 WO 2017157313 A1 WO2017157313 A1 WO 2017157313A1 CN 2017076902 W CN2017076902 W CN 2017076902W WO 2017157313 A1 WO2017157313 A1 WO 2017157313A1
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Prior art keywords
drone
control
gesture
wearable device
control command
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English (en)
French (fr)
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苏鹏程
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Goertek Inc
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Goertek Inc
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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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0033—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the gesture action of drawing a rectangle in a clockwise direction and the gesture action of drawing a rectangle in a counterclockwise direction respectively correspond to a right turn control command and a left turn control command of the drone;
  • the gesture configuration recognition module is configured to collect, by using a three-axis acceleration sensor or a three-axis angular velocity sensor, a wearer's three-axis acceleration data sequence or a three-axis angular velocity data sequence to be identified;
  • the UAV wireless transmission module is a Bluetooth wireless transmission module
  • a wireless communication module configured to perform wireless communication with the wearable device, receive a control message sent by the wearable device, and send the control message to the command parsing module;
  • the flight control module is configured to calculate a target value of the corresponding flight control parameter of the drone according to the received control command, and use the acquired current value of the corresponding flight control parameter of the drone to operate the proportional integral differential PID controller
  • a control signal is generated to adjust the rotational speed of the drone rotor to control the flight state of the drone.
  • a method for implementing a drape control drone is provided.
  • the wearable device is provided with a sensor, and the method includes:
  • the wearable device wirelessly transmits the generated control message to the drone so that the drone controls the flight state according to the control message.
  • the wearable device receives a control command selected by the wearer in the list of drone control commands presented by the wearable device's interactive interface, and establishes a correspondence between the control command selected by the wearer and the corresponding gesture action; or receives the wearer's The instruction is cancelled, and the corresponding relationship between the control command of the drone and the corresponding gesture action is cancelled; wherein the corresponding gesture action includes: a default gesture action and a self-selection gesture action.
  • the gesture action of drawing a triangle in a clockwise direction corresponds to the hovering control command of the drone.
  • the template feature data sequence includes an acceleration template data sequence and an angular velocity template data sequence, and the data dimension of the acceleration template data sequence and the data dimension of the angular velocity template data sequence are also one-dimensional.
  • the wearable device receives the externally input command or detects the current power of the wearable device, and obtains the wearer's to-be-identified feature data through the sensor when the externally input command indicates that the gesture control is turned on or the current power meets the condition of the open gesture control. .
  • the wearable device establishes a connection with a wireless data communication unit external to the wearable device, communicates with the wireless communication module of the drone via the wireless data communication unit, and transmits the control message to the drone.
  • FIG. 1 is a block diagram showing the structure of a wearable device according to an embodiment of the present invention.
  • FIG. 2 is a structural block diagram of a smart watch end according to an embodiment of the present invention.
  • FIG. 8 is a flow chart of a method for implementing a wearable device to control a drone according to another embodiment of the present invention.
  • wearable devices such as smart watches have been rapidly developed. They have their own computing power and resources, and are generally embedded with a variety of MEMS (Micro Electro Mechanical Systems) sensors, data operations. And sensor-based gesture recognition provides hardware and software support for controlling the drone with a smart watch. This gesture recognition control method is flexible and reliable, and is not affected by the environment and light, and the system is simple to implement.
  • the wearable device is generally worn on the user for a long time, and the ground control station of the drone is transplanted to the smart watch, and the user can monitor and control the drone on the smart watch at any time.
  • the smart watch can be used to replace and execute the functions of the remote controller in the prior art, and the drone control command can be issued only by performing a certain gesture action, thereby realizing the more convenient and intuitive realization between the user and the drone. Interact and enhance the user experience.
  • the wearable device 10 includes: a gesture configuration identification module 101, a ground control station module 102, and a wireless transmission module 103;
  • the ground control station module 102 is configured to receive the drone control command by using a data interface with the gesture configuration recognition module 101.
  • the UAV control command is encoded and converted into a control message conforming to the UAV communication protocol, and the control message is sent to the wireless transmission module 103;
  • the wireless transmission module 103 is configured to receive the control message and wirelessly send the control message to the drone to control the flight state of the drone according to the control message.
  • Gesture recognition based on wearable devices requires consideration of calculation amount and power consumption.
  • Wearable devices such as smart watches are resource-constrained devices.
  • the continuous perception of motion requires a lot of energy, so further effective measures are needed to reduce the complexity of the algorithm and reduce the amount of calculation. To ensure the reliability of gesture recognition.
  • FIG. 2 is a structural block diagram of a smart watch end according to an embodiment of the present invention.
  • a smart watch is taken as an example to schematically illustrate a functional structure of the wearable device.
  • the smart watch When using a smart watch to control the drone for the first time, the smart watch is first connected to the drone by wireless means such as BLE (Bluetooth Low Energy), and then the drone is controlled.
  • the smart watch establishes a correspondence between a self-selected gesture action or a default gesture action and a drone control command, and the self-selection gesture action can be customized by the wearer in the interactive interface of the smart watch.
  • the default gesture action is pre-stored in the smart watch, without the user having to design it himself during the application, which is convenient for the user to use directly.
  • the smart watch end 20 includes: a gesture configuration identification module 201, a ground control station module 202, and a wireless transmission module 203;
  • the wearer performs a certain gesture action
  • the gesture configuration recognition module 201 collects data from the sensor and recognizes the gesture action, and queries from the corresponding relationship between the preset gesture action and the drone control command.
  • the UAV control command corresponding to the gesture sends the control command to the ground control station module 202, and the ground control station module 202 encodes the received drone control command, and converts the drone control command into a compliance command.
  • the control message of the human-machine communication protocol is then wirelessly transmitted by the wireless transmission module 203 to the drone.
  • the gesture configuration recognition module 201 is mainly used for creating a gesture template and performing a user gesture recognition function, thereby providing a natural and intuitive gesture control manner for the user.
  • the module uses MEMS sensors to capture the wearer's gesture data and perform gesture recognition.
  • the gesture configuration recognition module 201 is provided with a default gesture action (such as a pre-created gesture action template), which can be saved after the correspondence between the default gesture action and the drone control command is established; or the gesture configuration recognition module identifies the wearer through The optional gesture action input by the interactive interface of the wearable device, and the correspondence between the optional gesture action and the drone control command is established and saved.
  • This embodiment considers the following two factors when creating a gesture action template: one is that the gesture should be as simple as possible, the user can easily grasp and use; the second is that the gesture is easily recognized and distinguished. Since the gesture action in the embodiment is mainly used to control the drone, according to the characteristics of the drone, several default gesture actions are pre-designed and the correspondence between the default gesture action and the drone control command is established, and then the table is saved. 1, Table 1 is the correspondence table between the gesture action and the different control commands of the drone.
  • the gesture action of drawing the first fold line from the top to the bottom and the gesture action of drawing the first fold line from the bottom to the top respectively correspond to the landing control command and the takeoff control command of the drone;
  • the gesture action of drawing the rectangle in the hour hand direction and the gesture action of drawing the rectangle in the counterclockwise direction respectively correspond to the right turn control command and the left turn control command of the drone;
  • the gesture action and the second draw line from the top to the bottom direction The gesture action of drawing the second fold line in the down-to-up direction corresponds to the raise control command and the decrease control command of the drone, respectively;
  • the gesture action of drawing the triangle in the clockwise direction corresponds to the hover control command of the drone.
  • the user interaction interface provided by the gesture configuration recognition module can be customized by the user to define the correspondence between the control command and the gesture action of the drone. .
  • the user interaction interface provided by the gesture configuration recognition module can be customized by the user to define the correspondence between the control command and the gesture action of the drone. .
  • the user interaction interface provided by the gesture configuration recognition module can be customized by the user to define the correspondence between the control command and the gesture action of the drone. .
  • the user interaction interface provided by the gesture configuration recognition module can be customized by the user to define the correspondence between the control command and the gesture action of the drone.
  • the user interaction interface provided by the gesture configuration recognition module can be customized by the user to define the correspondence between the control command and the gesture action of the drone.
  • each gesture action can be reused to implement different control commands.
  • the user prefers to perform a certain gesture action for a period of time, and can correspond to the manual control action as a common control command of the drone (such as take-off). If the gesture action is not used frequently, the gesture action can be deleted and the gesture can be cancelled.
  • the corresponding relationship between the action and the control command of the drone so that the same gesture action can also be reused, avoiding designing different gesture actions multiple times.
  • the smart watch can control the drone to perform corresponding operations by issuing different gesture actions.
  • the posture requirements when performing gestures on the user should be minimized.
  • the PCA Principal Component Analysis
  • the original acceleration signal is reduced to one dimension, and a part of the noise can be removed while reducing the computational complexity.
  • the recognition algorithm template matching or machine learning algorithm
  • gesture recognition based on an acceleration sensor includes preprocessing, principal component analysis processing, feature extraction, gesture matching, and the like.
  • the specific processing procedure for the gesture action template and the test sequence ie, a specific feature data to be identified is as follows:
  • Step S31 collecting data by an acceleration sensor to obtain a template sequence (or a test sequence);
  • Step S32 pre-processing, pre-processing the collected three-dimensional acceleration sensor data, and may adopt a processing method such as mean filtering and Butterworth filtering to filter out interference noise;
  • Step S330 performing PCA processing on the three-dimensional acceleration sequence for the template sequence, obtaining one-dimensional template data after dimensionality reduction, and obtaining a feature vector space of the principal component;
  • Step S331 for the test sequence, projecting the three-dimensional acceleration sequence into the principal component feature vector space of the template sequence, and obtaining the dimensionally reduced one-dimensional test data;
  • Step S34 extracting features of the obtained one-dimensional data (for example, mean, variance of adjacent data points, or directly extracting waveform variation features) to obtain a feature sequence of the template sequence or the test sequence, wherein the template feature sequence can be saved to the gesture
  • the action template database is used for gesture matching, and the test feature sequence is matched with each template feature sequence (for example, template matching or machine learning method matching recognition), and the recognition result is obtained.
  • this embodiment is mainly a process of collecting a data sequence by using a triaxial acceleration sensor, but it can be understood that the technical solution of the present invention can also adopt gesture recognition based on other sensors, such as a three-axis angular velocity sensor, and a data processing process of three-axis angular velocity. See the aforementioned data processing instructions based on acceleration sensors (or angular velocity sensors).
  • the module can display the position and flight data of the drone in real time, and can control the flight mode and parameters of the drone, customize the mission, and so on.
  • the ground control station module 202 in this embodiment provides user interaction with the screen size and operating system of the smart watch.
  • the interface displays the flight data returned by the UAV acquired from the wireless transmission module 203 through the user interaction interface; and receives the flight task, flight mode, and flight data set by the user through the user interaction interface.
  • the organization and operation interface of the ground control station in the smart watch are redesigned to facilitate user browsing and operation.
  • an interface with the gesture configuration recognition module 201 is added to the ground control station to receive the drone control command sent by the gesture configuration recognition module 201 and the flight data returned by the drone.
  • a mode control module is disposed on the smart watch to receive an externally input command or to detect the current power of the wearable device, and the externally input command indicates that the gesture control is turned on or the current power amount satisfies the open gesture control.
  • the notification gesture configuration recognition module 201 acquires the feature data of the wearer to be identified by the sensor.
  • a switch selection interface of the gesture control mode is displayed on the interactive interface of the smart watch, and when the open gesture control mode input by the wearer is received, the notification gesture configuration recognition module continuously detects and recognizes the gesture of the user.
  • the mode control module detects the amount of power of the battery in the smart watch, and if the current battery level of the smart watch is below a threshold, sends a signal not acquiring sensor data to the gesture configuration recognition module.
  • the mode control module detects the amount of power of the battery in the smart watch, and if the current battery level of the smart watch is below a threshold, sends a signal not acquiring sensor data to the gesture configuration recognition module.
  • the ground control station module 202 After receiving the control command sent by the gesture configuration identification module 201, the ground control station module 202 encodes and converts it into a control message conforming to the MAVLink (Micro Air Vehicle Link) protocol, and then sends it to the wireless transmission module 203.
  • MAVLink Micro Air Vehicle Link
  • the MAVLink protocol is a very lightweight, message-only library of header files designed for micro-aircraft. This protocol is widely used for communication between ground control stations and drones.
  • the wireless transmission module 203 is mainly used for wireless communication with the drone.
  • the wireless transmission module in the smart watch is a Bluetooth wireless transmission module; wireless communication between the smart watch and the drone has two implementation modes, one is a Bluetooth wireless transmission module of the smart watch and the drone
  • the Bluetooth communication module establishes a connection and transmits the control message to the drone through Bluetooth communication; or the Bluetooth wireless transmission module establishes a connection with the wireless data communication unit independent of the smart watch to send the control message to the drone
  • the wireless data communication unit includes a Bluetooth module and other wireless modules, the Bluetooth module communicates with the Bluetooth wireless transmission module in the smart watch, and the other wireless modules communicate with the corresponding wireless communication module of the drone.
  • the wireless transmission module 203 is configured to manage wireless data transmission and reception on the smart watch end. After receiving the control message, the control message is sent to the drone through the wireless link. Moreover, the module is also used to receive signals or other flight data fed back by the drone.
  • the first control process of the smart watch includes the following steps S41 to S46:
  • Step S41 the sensor collects data
  • the wearer's feature data to be identified is collected by a sensor, where the sensor includes an acceleration sensor and an angular velocity sensor (such as a gyroscope), and the wearer's three-axis acceleration data sequence to be identified or three is obtained by a three-axis acceleration sensor or a three-axis angular velocity sensor.
  • Step S42 determining whether it is gesture data, if yes, proceeding to step S43, otherwise performing step S41;
  • the acceleration sensor when the three-axis acceleration data signal is collected, the magnitude of the acceleration data, the variance, and the like are counted, because the amplitude and variance of the acceleration will be certain when the real gesture action occurs. If the range of variation is not within the normal range, it is considered not to be gesture data, the following processing steps are not performed, and the process returns to step S41. Since the wearer may have misoperations or other actions during the actual application process, it is necessary to judge whether the collected data is gesture data. If the gesture data is not the gesture data, the following processing steps are not performed to end the process, which reduces the calculation amount and ensures the control accuracy. Sex.
  • Step S43 gesture gesture recognition
  • the pre-saved gesture action template is used to match the current gesture action to identify the current gesture action type. Specifically, taking the acceleration sensor as an example, after determining that a possible gesture is performed in step S42, the data processing of the three-axis acceleration data signal is first reduced to one dimension, thereby reducing computational complexity and reducing noise, and then The test feature sequence is generated for the one-dimensional acceleration signal extraction feature, and matched with the gesture action sequence in the pre-saved gesture action template to determine the type of the gesture action.
  • Step S44 querying the saved correspondence relationship
  • the smart watch end queries the correspondence between the saved corresponding gesture action and the drone control command, thereby finding a drone control command matching the gesture action.
  • Step S45 it is determined whether it is a valid gesture action; if yes, step S46 is performed, otherwise step S41 is performed;
  • the step of determining whether the action is a valid gesture is further provided in the embodiment to further ensure the accuracy of the gesture control.
  • the wearer can modify the correspondence between the gesture action and the drone control command through the interactive interface of the smart watch.
  • the situation that the gesture action identified based on the gesture action template is outdated may occur, for example, Before the modification, the gesture action corresponding to the takeoff control command is to draw a circle clockwise. In subsequent use, the wearer changes the control command to draw a rectangle clockwise. If the smart watch recognizes that the current gesture action of the user is a clockwise circle, it is determined that the gesture action is an invalid gesture action (ie, the corresponding relationship between the currently saved gesture action and the drone control command does not match).
  • Step S46 generating a control message and transmitting the message
  • a control message is generated and sent wirelessly to the drone so that the drone controls the flight status based on the control message. Specifically, after obtaining the drone control command, the control message is generated according to the drone control command and the control message is output, and thus the gesture control is completed. Then, the process returns to step S41 to step S46.
  • the UAV terminal 50 mainly includes three modules, namely, a wireless communication module 501, a command parsing module 502, and a flight control module 503; Module 501 and wearable device
  • the wireless communication is performed, and the control message sent by the wearable device is received, and the control message is sent to the command parsing module 502.
  • the command parsing module 502 parses the received control message, and sends the parsed control command to the flight control module 503.
  • the flight control module 503 controls the flight state of the drone based on receiving the control command.
  • the drone After the drone monitors and receives the control message sent by the smart watch end, it parses out the corresponding control command, then controls the corresponding parameters of the drone, completes the wearer's control command, and can provide relevant feedback information. Send it wirelessly to the smart watch.
  • the wireless communication module 501 is used for receiving and transmitting communication data with a smart watch.
  • the module monitors the connection request of the smart watch end; establishes a wireless data link such as Bluetooth between the smart watch, and after establishing the connection, can further receive its control command; and receives the control message sent by the smart watch end, and delivers the control message to the flight control
  • the module processes it.
  • the module can also send relevant feedback information (such as location, parameters and other flight data) to the smart watch end.
  • the command parsing module 502 is mainly responsible for parsing and decoding the control message received by the wireless communication module, and acquiring information such as control commands in the data packet.
  • the control command can be of two types: a command to change the flight mode and a command to change the flight state. After parsing the specific control command, the module transmits the information to the flight control module 503 for further processing.
  • the flight control module 503 After receiving the control command of the smart watch end, the flight control module 503 adjusts the flight mode or flight state of the drone according to the control command. For example, according to the received control command, the target value of the corresponding flight control parameter of the drone is calculated, and the current value of the corresponding flight control parameter of the obtained drone is used, and the proportional integral differential PID controller is generated to generate a control signal to adjust the drone. The rotational speed of the rotor in turn enables control of the flight state of the drone.
  • the module can be further subdivided into two interrelated sub-modules: an azimuth reference sub-module and a flight control processing sub-module: the two sub-modules respectively perform the attitude information collection and flight control processing functions.
  • the attitude reference sub-module is mainly responsible for real-time data acquisition from sensors on the drone, running a filtering algorithm to calculate the current attitude, position, speed and other information of the drone, and transmitting the information to the flight control processing sub-module.
  • the flight control processing sub-module After the flight control processing sub-module receives the control command from the smart watch end in real time, it solves and sets the corresponding flight control parameters (such as roll angle, pitch angle, heading angle, and angular rate) of the drone to reach the value (target value), and According to the actual information (current value) fed back by the azimuth reference sub-module, a controller such as PID (Proportion Integration Differentiation) is operated to calculate a control signal output to each motor, and PWM (Pulse Width Modulation) The modulation signal is sent to the drive circuit to drive the motor to rotate to adjust the speed of the drone's rotor to control the drone.
  • PID Proportion Integration Differentiation
  • PWM Pulse Width Modulation
  • the flight control module 503 sends feedback information (eg, current flight status) back to the smart watch end through the wireless communication module 501.
  • Figure 6 is a flow chart showing the control of the drone end of an embodiment of the present invention, as shown in Figure 6.
  • the workflow of the primary control of the drone control terminal is as follows in steps S61 to S66.
  • Step S61 listening for the connection request and receiving the control message of the smart watch end
  • the drone establishes a wireless connection such as BLE between the smart watch end, and monitors the connection state, and receives the control message sent by the smart watch end after the connection is established.
  • a wireless connection such as BLE
  • Step S62 analyzing and obtaining a drone control command
  • the control message is parsed to obtain a specific drone control command.
  • Step S63 it is determined whether the control command is to change the flight mode, if yes, step S64 is performed, otherwise, step S65 is performed;
  • the drone control commands can be divided into two categories, one is to change the flight mode control command and the other is the flight control command.
  • the drone receives a control command, it first determines whether the control command is an airplane mode command, such as a takeoff flight mode and a landing flight mode. If it is not a control command to change the flight mode, it is a control command for flight control.
  • Step S64 setting a corresponding flight mode
  • the drone adjusts the corresponding flight control parameters according to the information obtained in the control command to complete the control command.
  • Step S65 performing flight control
  • the flight control is performed according to the control command. If the control command indicates the rise, the drone receives and analyzes the control command to adjust the rotation speed of the rotor in the corresponding direction of the drone, thereby controlling the drone to complete the raising operation.
  • Step S66 sending feedback information to the smart watch end.
  • the drone will perform the result (such as the height, position, and flight status of the current drone) and feed it back to the smart watch end, so that the smart watch end can display the output feedback information to monitor the drone in real time. State and make the appropriate controls.
  • the result such as the height, position, and flight status of the current drone
  • the drone realizes the corresponding control operation according to the gesture action of the smart watch, thereby avoiding the cumbersome operation of carrying and operating the remote control device, the PC and the like, and facilitating the user's control operation on the drone.
  • FIG. 7 is a flowchart of a method for implementing a wearable device to control a drone according to an embodiment of the present invention.
  • a sensor is disposed in the wearable device, and the method includes:
  • Step S71 collecting, by the sensor, the wearer's feature data to be identified, and identifying the current gesture action of the wearer;
  • the MEMS sensor After collecting the feature data to be identified, the MEMS sensor first uses the PCA (Principal Component Analysis) algorithm to reduce the data dimension of the feature data to be identified.
  • PCA Principal Component Analysis
  • the gesture action module collects data through the acceleration sensor to obtain a template sequence (or test sequence);
  • the gesture action module preprocesses the collected three-dimensional acceleration sensor data, and may adopt a mean filtering, a Butterworth filter, and the like to filter out interference noise;
  • the three-dimensional acceleration sequence is subjected to PCA processing, and the dimensionally reduced one-dimensional template data is obtained, and the feature vector space of the principal component is obtained;
  • the three-dimensional acceleration sequence is projected onto the principal component feature vector space of the template sequence to obtain one-dimensional test data after dimensionality reduction;
  • Obtaining a one-dimensional data extraction feature eg, mean, variance of adjacent data points, or directly extracting waveform variation features
  • a feature sequence of a template sequence or a test sequence wherein the template feature sequence can be saved to a gesture action template database Used for gesture matching.
  • the test feature sequence is matched with each template feature sequence (for example, template matching or machine learning method matching recognition) to obtain the recognition result.
  • the mode control module of the wearable device can receive an externally input command or detect the current power of the wearable device, and the externally input command indicates that the gesture control is turned on or the current power meets the condition of the open gesture control.
  • the notification gesture configuration recognition module acquires the wearer's feature data to be identified by the sensor.
  • Step S72 using the corresponding relationship between the corresponding gesture action pre-configured and saved and the drone control command, finding the UAV control command corresponding to the current gesture action, encoding, and generating a control message conforming to the UAV communication protocol;
  • This embodiment considers the following two factors when creating a gesture action template: one is that the gesture should be as simple as possible, the user can easily grasp and use; the second is that the gesture is easily recognized and distinguished. Since the gesture action in the embodiment is mainly used to control the drone, pre-designing several default gesture actions according to the characteristics of the drone and establishing a correspondence between the default gesture action and the drone control command is saved, see Table 1 .
  • the gesture action of drawing the first fold line from the top to the bottom and the gesture action of drawing the first fold line from the bottom to the top respectively correspond to the landing control command and the takeoff control command of the drone;
  • the gesture action of drawing the rectangle in the hour hand direction and the gesture action of drawing the rectangle in the counterclockwise direction respectively correspond to the right turn control command and the left turn control command of the drone;
  • the gesture action and the second draw line from the top to the bottom direction The gesture action of drawing the second fold line in the down-to-up direction corresponds to the raise control command and the decrease control command of the drone, respectively;
  • the gesture action of drawing the triangle in the clockwise direction corresponds to the hover control command of the drone.
  • Step S73 the generated control message is wirelessly transmitted to the drone, so that the drone controls the flight state according to the control message.
  • the ground control station module of the wearable device can display the position and flight data of the drone in real time, and can control the flight mode and parameters of the drone, customize the flight mission, and so on. Different from the ground control station set on the PC in the prior art, in order to adapt to the wearable device
  • the display interface is small and the like.
  • the wearable device can provide a user interaction interface adapted to the screen size and the operating system of the wearable device, and display the unobtained from the wireless transmission module through the user interaction interface. Flight data returned by the machine; and receiving flight tasks, flight modes, flight data set by the user through the user interaction interface.
  • steps S71 to S73 are all completed on the wearable device side, as respectively performed by respective modules set in the wearable device.
  • the wearable device there are two types of wireless connection between the wearable device and the drone: 1) the wearable device directly establishes a connection with the Bluetooth receiving module corresponding to the drone through BLE, and wirelessly generates the generated control message. Send to the drone.
  • This type of connection is simple, but the communication distance is limited;
  • the wearable device establishes a connection with the external wireless data communication unit through the BLE, and the wireless data communication unit establishes a connection with the wireless communication module of the drone end to wirelessly transmit the generated control message to the drone.
  • This type of connection can support farther communication distances.
  • the implementation method for controlling the drone by using the wearable device includes: first, establishing a wireless connection between the wearable device and the drone according to the above two manners. Then, after the wearable device turns on the gesture control mode, the MEMS sensor in the wearable device is used to acquire the three-dimensional acceleration data, the preset algorithm is used to identify the specific gesture action performed by the user, and the control command corresponding to the gesture action is issued to the drone. Finally, the flight control module of the drone changes the flight mode or adjusts the corresponding flight parameters according to the received gesture control command.
  • the present embodiment uses a algorithm such as PCA (Principal Component Analysis) to reduce the data dimension.
  • PCA Principal Component Analysis
  • the recognition algorithm template matching or machine learning algorithm
  • the corresponding relationship between the gesture action and the drone control command is established by receiving the drone that the wearer presents on the interactive interface of the wearable device. Controlling the control command selected in the command list, and establishing a correspondence between the control command selected by the wearer and the corresponding gesture action; or receiving the release command of the wearer to cancel the correspondence between the control command of the drone and the corresponding gesture action
  • the corresponding gesture actions include: a default gesture action and a self-selection gesture action.
  • a control gesture for changing the flight mode or a control command for changing the flight state receiving a custom gesture action input by the wearer, or adopting a default gesture action, and different from the drone Control commands are associated.
  • wearing different gestures through the wearable device wearing different gestures through the wearable device, the corresponding control command can be issued to the drone, and then the flight control module of the drone further controls the flight mode or position of the drone according to the control command.
  • State of posture It should be noted that other steps of the method for implementing the control of the unmanned device in the embodiment of the present invention may be referred to the related description in the working process of the foregoing wearable device of the present invention, and details are not described herein again.
  • FIG. 8 is a flowchart of a method for implementing a wearable device to control a drone according to another embodiment of the present invention.
  • the method for implementing the drone control drone includes:
  • Step S81 monitoring a connection request of the wearable device, establishing wireless communication with the wearable device, and receiving a control message sent by the wearable device;
  • Step S82 parsing the control message to obtain a drone control command
  • Step S83 controlling the flight state of the drone according to the drone control command.
  • the wearable device in the embodiment of the present invention runs the ground control station, and collects the gesture action of the wearer through the built-in sensor, so that the user can perform a certain gesture action by using the smart watch wearable device that is worn by the user.
  • the drone is convenient and intuitive to control, does not need to carry other equipment such as ground control stations or remote controls, and avoids relatively cumbersome control methods through other devices.
  • the sensor-based gesture recognition method is flexible and reliable, and is not affected by the environment and light, and the system is simple to implement.
  • the wearable device is generally worn on the user for a long time, and the user can issue different control commands at any time by performing certain gestures, thereby facilitating the interaction between the human and the drone more conveniently and intuitively, and the drone.
  • the user experience is greatly enhanced.
  • the embodiment of the present invention improves the gesture recognition algorithm, and uses the PCA to reduce the original feature data to be recognized to one dimension, and the usual method basically operates on the three-dimensional data separately, so the invention is greatly reduced.
  • the computational complexity saves the power consumption when controlling the drone through the wearable device; since the three-dimensional data becomes one-dimensional, and the posture requirement for the user to perform the gesture is greatly reduced, the gesture can be performed relatively freely, and the gesture can be improved.
  • the competitiveness of wearable devices are examples of wearable devices.

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Abstract

一种可穿戴设备（10）、无人机控制装置（50）以及控制无人机的实现方法，可穿戴设备（10）包括：手势配置识别模块（101），通过传感器采集得到佩戴者的待识别特征数据，识别出佩戴者当前的手势动作，查找预先配置并保存的手势动作与无人机控制命令间的对应关系，将该手势动作对应的无人机控制命令发送给地面控制站模块（102）；地面控制站模块（102），通过数据接口接收无人机控制命令，对控制命令进行编码并转换为控制报文后发送给无线传输模块（103）；无线传输模块（103）接收控制报文并无线发送至无人机以实现根据控制报文控制无人机的飞行状态。通过建立可穿戴设备（10）和无人机间的无线连接，当用户通过可穿戴设备（10）做出相应的手势动作即可控制无人机，实现了方便直观地智能化交互操作。

Description

一种可穿戴设备、无人机控制装置和控制实现方法 技术领域
本发明涉及人机交互领域，具体涉及一种可穿戴设备、无人机控制装置和控制实现方法。
背景技术
随着技术进步，无人机(Unmanned Aerial Vehicle，UAV)得到了快速地发展。无人机是无人驾驶飞行器的统称，以无线遥控或嵌入式程序控制来代替人工完成各种任务。其中，微小型无人机凭借着其体积小、成本低、使用方便等优点，在民用领域得到了越来越广泛的应用。
目前，无人机控制系统一般由位于机身上的飞控板，运行在个人电脑(Personal Computer，PC)等设备上的地面控制站(Ground Control System，GCS)，遥控器等组成。其中，飞控板通过内置的加速度计、陀螺仪、地磁传感器等获取无人机的姿态并控制无人机的飞行；运行在地面计算机上的地面控制站相当于有人飞行器的驾驶舱，是整个无人机系统的指挥中心，地面控制站通过无线数据传输技术与无人机建立连接，可以实时显示无人机的位置和飞行数据以对无人机飞行状态进行监控，并进行相应的调整和干预(如控制无人机的飞行模式和参数，定制飞行任务等)。另外，为了安全和方便操作，一般还包含有遥控器，以对无人机进行人工遥控。
由上可见，这种通常的无人机控制方案，至少需要准备PC和遥控器，携带和操作起来都非常不便，用户体验较差。
发明内容
本发明提供了一种可穿戴设备、无人机控制装置和控制实现方法，以解决现有的无人机控制方案存在的携带、操作不便，用户体验差的问题。
根据本发明的一个方面，提供了一种可穿戴设备，该可穿戴设备包括：手势配置识别模块、地面控制站模块和无线传输模块；
手势配置识别模块，用于通过传感器采集得到佩戴者的待识别特征数据，识别出佩戴者当前的手势动作，查找预先配置并保存的手势动作与无人机控制命令间的对应关系，将该手势动作对应的无人机控制命令发送给地面控制站模块；
地面控制站模块，用于通过与手势配置识别模块之间的数据接口接收无人机控制命令，对无人机控制命令进行编码并转换为符合无人机通信协议的控制报文，将控制报文发送给无线传输模块；
无线传输模块，用于接收控制报文并将控制报文无线发送至无人机以实现根据控制报文控制无人 机的飞行状态。
可选地，手势配置识别模块中设置有默认手势动作，手势配置识别模块，建立默认手势动作与无人机控制命令间的对应关系后保存；或者，手势配置识别模块，识别佩戴者通过可穿戴设备的交互界面输入的自选手势动作，并建立自选手势动作与无人机控制命令间的对应关系后保存。
可选地，手势配置识别模块具体通过如下方式建立默认手势动作与无人机控制命令间的对应关系：
将从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；
将顺时针方向的画矩形的手势动作和逆时针方向的画矩形的手势动作分别对应于无人机的右转控制命令和左转控制命令；
将从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于无人机的升高控制命令和降低控制命令；
将顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
可选的，手势配置识别模块，具体用于通过三轴加速度传感器或三轴角速度传感器采集得到佩戴者的待识别三轴加速度数据序列或三轴角速度数据序列；
利用主成分分析对三轴加速度数据序列或三轴角速度数据序列进行特征提取，降低三轴加速度数据序列或三轴角速度数据序列的数据维数至一维；
将降维后的一维加速度数据序列或一维角速度数据序列与对应的模板特征数据序列进行比较，以识别出佩戴者当前的手势动作；
其中，模板特征数据序列包括加速度模板数据序列和角速度模板数据序列，且加速度模板数据序列的数据维数和角速度模板数据序列的数据维数也为一维。
可选地，该可穿戴设备还包括：模式控制模块，用于接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通知手势配置识别模块通过传感器采集得到佩戴者的待识别特征数据。
可选地，地面控制站模块，提供与可穿戴设备屏幕尺寸和操作系统相适配的用户交互界面，并通过用户交互界面显示从无线传输模块获取的无人机返回的飞行数据；以及接收用户通过用户交互界面设定的飞行任务、飞行模式、飞行数据。
可选地，无线传输模块为蓝牙无线传输模块；
蓝牙无线传输模块与无人机的蓝牙通信模块建立连接，并通过蓝牙通信方式将控制报文发送至无人机；
或者，蓝牙无线传输模块与可穿戴设备外置的无线数据通信单元建立连接，经该无线数据通信单 元与无人机的无线通信模块通信，以将控制报文发送至无人机。
可选地，无人机无线传输模块为蓝牙无线传输模块；
蓝牙无线传输模块接收接受无人机反馈的信号。
根据本发明的另一个方面，一种无人机控制装置，其特征在于，该无人机控制装置包括：无线通信模块，命令解析模块和飞行控制模块：
无线通信模块，用于与可穿戴设备进行无线通信，接收可穿戴设备发送的控制报文，将控制报文发送至命令解析模块；
命令解析模块，用于对接收的控制报文进行解析，将解析得到的控制命令发送至飞行控制模块；
飞行控制模块，用于根据接收到控制命令控制无人机的飞行状态。
可选地，飞行控制模块，具体用于根据接收的控制命令计算无人机相应飞行控制参数的目标值，并利用获取的无人机相应飞行控制参数的当前值，运行比例积分微分PID控制器生成控制信号，以调整无人机旋翼的转速进而实现对无人机飞行状态的控制。
根据本发明的又一个方面，提供了一种可穿戴设备控制无人机的实现方法，可穿戴设备中设置有传感器，该方法包括：
可穿戴设备通过传感器采集佩戴者的待识别特征数据，识别出佩戴者当前的手势动作；
可穿戴设备利用预先配置并保存的相应手势动作与无人机控制命令间的对应关系，找到当前手势动作对应的无人机控制命令后进行编码并生成符合无人机通信协议的控制报文；
可穿戴设备将生成的控制报文无线发送至无人机，以使得无人机根据控制报文控制飞行状态。
可选地，该方法还包括：通过如下方式建立相应手势动作与无人机控制命令间的对应关系：
可穿戴设备接收佩戴者在可穿戴设备的交互界面呈现的无人机控制命令列表中选择的控制命令，并建立佩戴者选中的控制命令与相应手势动作间的对应关系；或者，接收佩戴者的解除指令，解除无人机的控制命令与相应手势动作间的对应关系；其中，相应手势动作包括：默认手势动作和自选手势动作。
可选地，该方法还包括：可穿戴设备通过如下方式建立默认手势动作与无人机控制命令间的对应关系：
将从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；
将顺时针方向的画矩形的手势动作和逆时针方向的画矩形的手势动作分别对应于无人机的右转控制命令和左转控制命令；
将从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于 无人机的升高控制命令和降低控制命令；
将顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
可选地，所述可穿戴设备通过传感器采集佩戴者的待识别特征数据，识别出佩戴者当前的手势动作包括：
通过三轴加速度传感器或三轴角速度传感器采集得到佩戴者的待识别三轴加速度数据序列或三轴角速度数据序列；
利用主成分分析对所述三轴加速度数据序列或三轴角速度数据序列进行特征提取，降低所述三轴加速度数据序列或三轴角速度数据序列的数据维数至一维；
将降维后的一维加速度数据序列或一维角速度数据序列与对应的模板特征数据序列进行比较，以识别出佩戴者当前的手势动作；
其中，所述模板特征数据序列包括加速度模板数据序列和角速度模板数据序列，且加速度模板数据序列的数据维数和角速度模板数据序列的数据维数也为一维。
可选地，所述可穿戴设备控制无人机的实现方法还包括：
可穿戴设备接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通过传感器采集得到佩戴者的待识别特征数据。
可选地，所述可穿戴设备控制无人机的实现方法还包括：
可穿戴设备提供与所述可穿戴设备屏幕尺寸和操作系统相适配的用户交互界面，并通过所述用户交互界面显示无人机返回的飞行数据；以及接收用户通过所述用户交互界面设定的飞行任务、飞行模式、飞行数据。
可选地，所述可穿戴设备将生成的控制报文无线发送至无人机包括：该方法还包括：
可穿戴设备与无人机的蓝牙通信模块建立连接，并通过蓝牙通信方式将所述控制报文发送至无人机；
或者，可穿戴设备与该可穿戴设备外置的无线数据通信单元建立连接，经该无线数据通信单元与无人机的无线通信模块通信，并将所述控制报文发送至无人机。
根据本发明的再一个方面，提供了一种可穿戴设备控制无人机的实现方法，该方法包括：
监听可穿戴设备的连接请求，与可穿戴设备建立无线通信，接收可穿戴设备发送的控制报文；
对控制报文进行解析得到无人机控制命令；
根据无人机控制命令控制无人机的飞行状态。
本发明的有益效果是：本发明的这种可穿戴设备中运行有无人机的地面控制站，并内置传感器， 用户通过随身佩戴的可穿戴设备，执行一定的手势动作就可以对无人机进行方便直观的控制，不需要携带地面站或遥控器等其它设备，而且避免了通过其它设备相对繁琐的控制方式。这种基于可穿戴设备中传感器的手势识别方式灵活可靠，不受环境、光线的影响，系统实现简单。另外，可穿戴设备一般都会长期戴在用户身上，用户随时可以通过执行一定的手势动作就可发出不同的无人机控制命令，可以更便捷、直观地实现佩戴者与无人机之间的交互，与传统无人机控制方式相比，大大增强了用户体验。
附图简要说明
图1是本发明一个实施例的一种可穿戴设备的结构框图；
图2是本发明一个实施例的智能手表端的结构框图；
图3是本发明一个实施例的手势识别的流程示意图；
图4是本发明一个实施例的智能手表端的工作流程示意图；
图5是本发明一个实施例的无人机端的结构框图；
图6是本发明一个实施例无人机端的控制流程图；
图7是本发明一个实施例的可穿戴设备控制无人机的实现方法的流程图；
图8是本发明另一个实施例的可穿戴设备控制无人机的实现方法的流程图。
具体实施方式
本发明的核心思想是：智能手表等可穿戴设备目前得到了迅猛的发展，它们有自己的计算能力和资源，而且一般都会嵌入多种MEMS(Micro electro Mechanical Systems，微机电系统)传感器，数据运算和基于传感器的手势识别为利用智能手表控制无人机提供了软硬件支持，这种手势识别控制方式灵活可靠，不受环境、光线的影响，系统实现简单。另外，可穿戴设备一般都会长期佩戴在用户身上，将无人机的地面控制站移植到智能手表上，用户就可以随时在智能手表上进行无人机的监控和控制操作。同时，还可以利用智能手表代替和执行现有技术中遥控器的功能，只需执行一定的手势动作就可发出无人机控制命令，从而更加便捷、直观地实现用户与无人机之间的交互，增强用户体验。
实施例一
图1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1，该可穿戴设备10包括：手势配置识别模块101、地面控制站模块102和无线传输模块103；
手势配置识别模块101，用于通过传感器采集得到佩戴者的待识别特征数据，识别出佩戴者当前的手势动作，查找预先配置并保存的手势动作与无人机控制命令间的对应关系，将该手势动作对应的无人机控制命令发送给地面控制站模块102；
地面控制站模块102，用于通过与手势配置识别模块101之间的数据接口接收无人机控制命令， 对无人机控制命令进行编码并转换为符合无人机通信协议的控制报文，将控制报文发送给无线传输模块103；
无线传输模块103，用于接收控制报文并将控制报文无线发送至无人机以实现根据控制报文控制无人机的飞行状态。
通过图1所述的集成地面控制站模块的可穿戴设备，并基于内置的传感器采集用户执行的手势动作，由地面控制站模块处理转换为相应的无人机控制命令后发送给无人机，以使得无人机根据收到的控制命令，改变相应的飞行模式或飞行状态。如此用户只需要执行手势动作，即可实现对无人机的方便、直观控制。避免了携带和操作遥控器等其他控制设备的繁琐，提升了用户体验。
另外，通过智能手表等可穿戴设备实现对无人机的控制，还必须克服以下技术困难：
(1)基于可穿戴设备的手势识别需要考虑计算量和功耗的问题。智能手表等可穿戴设备是资源受限的设备，在手势识别过程中，对动作的持续感知需要消耗不少的能量，因而需要进一步采取有效手段，在降低算法的复杂性、减少计算量的同时，保证手势动作识别的可靠性。
(2)如何通过不同的手势动作实现相应的无人机控制命令，并对无人机进行控制。
(3)地面控制站对于智能手表等可穿戴设备的适配。
以下结合本发明其他实施例，对本发明技术方案中为克服上述技术困难而采取的技术手段进行具体说明。
实施例二
图2是本发明一个实施例的智能手表端的结构框图，本实施例中主要是以智能手表为例对可穿戴设备的功能结构进行示意性说明，其他内容参见本发明的其他实施例。
首次使用智能手表对无人机进行控制时，先将智能手表通过BLE(Bluetooth Low Energy，蓝牙低功耗)等无线方式与无人机建立连接，然后对无人机进行控制。智能手表建立自选手势动作或默认手势动作与无人机控制命令间的对应关系，自选手势动作可以由佩戴者在智能手表的交互界面中自定义。默认的手势动作预先保存在智能手表中，而不需要用户在应用时自己设计，方便用户直接使用。
本实施例中，智能手表端20包括：手势配置识别模块201、地面控制站模块202以及无线传输模块203；
在具体应用过程中，佩戴者执行一定的手势动作，手势配置识别模块201从传感器中采集数据并识别出该手势动作后，从预先保存的相应手势动作与无人机控制命令的对应关系中查询该手势对应的无人机控制命令，将该控制命令发送给地面控制站模块202，地面控制站模块202，对接收到的无人机控制命令进行编码，将无人机控制命令转换成符合无人机通信协议的控制报文，然后由无线传输模块203将控制报文无线发送到无人机。
以下结合图2对智能手表端中上述模块的功能说明如下：
手势配置识别模块201
手势配置识别模块201主要用于创建手势模板、执行用户手势识别功能，从而为用户提供一种自然直观的手势控制方式。该模块使用MEMS传感器采集佩戴者的手势数据并进行手势识别。手势配置识别模块201中设置有默认手势动作(如预先创建的手势动作模板)，能够建立默认手势动作与无人机控制命令间的对应关系后保存；或者，手势配置识别模块，识别佩戴者通过可穿戴设备的交互界面输入的自选手势动作，并建立自选手势动作与无人机控制命令间的对应关系后保存。
功能一，手势动作模板的创建
本实施例在创建手势动作模板时考虑如下两个因素：一是手势应尽量简单，用户可以很轻松地掌握和使用；二是手势易被识别和区分。由于本实施例中手势动作主要用于控制无人机，根据无人机的特点预先设计几种默认的手势动作并建立默认手势动作与无人机控制命令间的对应关系后保存，参见下表1，表1是手势动作与无人机不同控制命令间的对应关系表。
Figure PCTCN2017076902-appb-000001
Figure PCTCN2017076902-appb-000002
在表1中，定义了从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；顺时针方向的画矩形的手势动作和逆时针方向的画矩形的手势动作分别对应于无人机的右转控制命令和左转控制命令；从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于无人机的升高控制命令和降低控制命令；顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
需要说明的是，表1只是示意性的示出了几种手势动作，实际应用时还可以在手势配置识别模块提供的用户交互界面由用户自定义无人机的控制命令与手势动作的对应关系。例如，通过在本实施例的智能手表的交互界面上，呈现无人机控制命令列表，接收佩戴者在交互界面呈现的无人机控制命令列表中的选择，并建立佩戴者选中的控制命令与相应手势动作间的对应关系；或者，接收佩戴者的解除指令，解除无人机的控制命令与相应手势动作间的对应关系；这里的相应手势动作既可以是智能手表中的默认手势动作亦可以是佩戴者自己输入的自选手势动作。
这样，一方面更加个性化增强用户的参与感，优化用户使用体验。另一方面，每个手势动作可以重复使用以实现不同控制命令。例如，用户一段时间内比较喜欢做某一手势动作，可将该手动动作对应为无人机的常用控制命令(如起飞)，如果后续不再经常使用该手势动作可以删除该手势动作并解除手势动作与无人机的控制命令的对应关系，这样，同一个手势动作也可以被重复使用，避免了多次设计不同的手势动作。
通过将无人机的不同控制命令与相应的手势进行关联然后保存到智能手表的数据库中以方便后续进行手势动作查找、匹配。配置成功后，智能手表即可通过发出不同手势动作控制无人机执行相对应操作。
功能二，手势识别；
为了增强用户体验，应该尽量降低对用户执行手势动作时的姿态要求。并且为了降低功耗，也需要尽量降低算法的复杂性，在减少计算量的同时，保证动作识别的可靠性。因此，在本实施例中在MEMS传感器采集到待识别特征数据后，先利用PCA(Principal Component Analysis，主成分分析)算法降低待识别特征数据的数据维数。
通过采用PCA根据计算过程中的特征值大小来决定各独立成分的重要性，并选择最重要的成分，将原始加速度信号降至一维，在降低计算复杂度的同时，可以去除一部分噪声，并降低对用户执行手势时的姿态要求。然后再对降维后的数据进一步执行识别算法(模板匹配或机器学习等算法)，在降低计算复杂度的同时实现准确的手势识别。
图3是本发明一个实施例的手势识别的流程示意图；参见图3，采用基于加速度传感器(或角速度传感器)的手势识别包括预处理、主成分分析处理、特征提取、手势匹配等过程。对于手势动作模板和测试序列(即某一具体待识别特征数据)的具体处理过程如下：
步骤S31，通过加速度传感器采集数据，得到模板序列(或测试序列)；
步骤S32，预处理，对采集到的三维加速度传感器数据进行预处理，可以采用均值滤波、Butterworth滤波等处理方法，以滤除干扰噪声；
步骤S330，对于模板序列，将三维加速度序列进行PCA处理，得到降维后的一维模板数据，并得到主成分的特征向量空间；
步骤S331，对于测试序列，将三维加速度序列投影到模板序列的主成分特征向量空间，得到降维后的一维测试数据；
步骤S34，对获得的一维数据提取特征(如，相邻数据点的均值、方差，或直接提取波形变化特征)，得到模板序列或测试序列的特征序列，其中，模板特征序列可以保存到手势动作模板数据库中用于手势匹配，将测试特征序列与各模板特征序列进行匹配(如，模板匹配或机器学习方法匹配识别)，得到识别结果。
手势动作识别更详细的计算过程可以参见现有技术中的主成分分析的相关内容，本实施例中不再赘述。
需要说明的是，本实施例中采用主成分分析对采集的原始加速度信号进行特征提取和数据降维，但不限于此，在其他实施例中也可以采取其他的降维手段。另外，本实施例主要是通过三轴加速度传感器采集数据序列的处理过程，但是可以理解，本发明技术方案也可以采用基于其他传感器的手势识别，如三轴角速度传感器，三轴角速度的数据处理过程可以参见前述基于加速度传感器(或角速度传感器)的数据处理说明。
地面控制站模块202
该模块可以实时显示无人机的位置和飞行数据，并可以控制无人机的飞行模式和参数，定制飞行任务等。与现有技术中设置在PC上的地面控制站不同，为了适应智能手表显示界面较小等特点，本实施例中地面控制站模块202提供与智能手表屏幕尺寸和操作系统相适配的用户交互界面，并通过用户交互界面显示从无线传输模块203获取的无人机返回的飞行数据；以及接收用户通过用户交互界面设定的飞行任务、飞行模式、飞行数据。
实际应用中，智能手表中地面控制站的组织方式和操作界面进行重新设计，以方便用户的浏览和操作。同时，在地面控制站中增加了与手势配置识别模块201的接口，以接收手势配置识别模块201发送的无人机控制命令以及无人机返回的飞行数据。
此外，考虑到智能手表是资源受限的设备，在手势识别过程中，对动作的持续感知需要消耗不少的能量。因此，本实施例中在智能手表上设置了模式控制模块，以接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通知手势配置识别模块201通过传感器采集得到佩戴者的待识别特征数据。
例如，在智能手表的交互界面上显示手势控制模式的开关选择界面，当接收到佩戴者输入的打开手势控制模式时，通知手势配置识别模块持续检测和识别用户的手势。或者，模式控制模块检测智能手表中电池的电量，如果智能手表当前的电池电量低于一个阈值，则向手势配置识别模块发送不获取传感器数据的信号。这样通过对智能手表控制无人机的功能设置一个选择开启的选项，方便用户在智能手表电池电量不足时，切换到常规的无人机控制方式，既满足了无人机的控制需求也能够节省智能手表的功耗。
在收到手势配置识别模块201发送过来的控制命令后，地面控制站模块202将其进行编码并转换为符合MAVLink(Micro Air Vehicle Link)协议的控制报文，然后通过无线传输模块203发送给无人机。MAVLink协议是一个为微型飞行器设计的非常轻巧的、只由头文件构成的信息编组库。该协议广泛应用于地面控制站与无人机之间的通信。
无线传输模块203
无线传输模块203主要用于与无人机进行无线通信。本实施例中智能手表中的无线传输模块为蓝牙无线传输模块；智能手表与无人机之间的无线通信有两种实现方式，一种方式是智能手表的蓝牙无线传输模块与无人机的蓝牙通信模块建立连接，并通过蓝牙通信方式将控制报文发送至无人机；或者，蓝牙无线传输模块与独立于智能手表的无线数据通信单元建立连接，以将控制报文发送至无人机，这种情况下，无线数据通信单元中包括了蓝牙模块以及其他无线模块，蓝牙模块与智能手表中的蓝牙无线传输模块通信，其他无线模块与无人机的对应无线通信模块通信。
无线传输模块203用于对智能手表端的无线数据收发进行管理，在收到控制报文后，将该控制报文通过无线链路发送给无人机。并且，该模块还用于接收无人机反馈的信号或其它飞行数据。
实施例三
图4是本发明一个实施例的智能手表端的工作流程示意图，参见图4，智能手表的一次控制过程包括如下步骤S41至步骤S46：
步骤S41，传感器采集数据；
通过传感器采集佩戴者的待识别特征数据，这里的传感器包括加速度传感器和角速度传感器(如陀螺仪)，通过三轴加速度传感器或三轴角速度传感器采集得到佩戴者的待识别三轴加速度数据序列或三轴角速度数据序列。
步骤S42，判断是否为手势数据，是则执行步骤S43，否则执行步骤S41；
具体的，以加速度传感器为例，当采集到三轴加速度数据信号后，统计加速度数据的幅值变化、方差等数据，因为真正的手势动作发生时，加速度的幅值和方差等都会有一定的变化范围，如果不在正常的范围内，则认为不是手势数据，不进行下面的处理步骤，并返回步骤S41。由于实际应用过程中佩戴者可能发生误操作或其它动作，所以需要判断采集的数据是否为手势数据，如果不是手势数据即可不进行下面的处理步骤结束流程，降低了计算量并保证了控制的准确性。
步骤S43，手势动作识别；
利用预先保存的手势动作模板，对当前的手势动作进行匹配，识别出当前的手势动作类型。具体的，以加速度传感器为例，通过步骤S42判断出是可能的手势动作后，对该三轴加速度数据信号先降低数据维数处理，降至一维，从而降低计算复杂度，减少噪声，然后再对一维的加速度信号提取特征生成测试特征序列，并和预先保存的手势动作模板中的手势动作序列进行匹配，确定出手势动作的类型。
步骤S44，查询保存的对应关系；
这里智能手表端在收到步骤S43确定的手势动作类型后，查询保存的相应手势动作与无人机控制命令间对应关系，从而找到与该手势动作匹配的无人机控制命令。
步骤S45，判断是否为有效手势动作；是则，执行步骤S46，否则执行步骤S41；
可选地，本实施例中还提供了判断是否为有效手势动作的步骤(即步骤S45)，以进一步保证手势动作控制的准确性。由于实际应用时，佩戴者可通过智能手表的交互界面上对手势动作与无人机控制命令的对应关系进行修改，这时可能出现基于手势动作模板识别出的手势动作中已经过时的情况，例如，在修改前，起飞这一控制命令对应的手势动作为顺时针画圆，在后续使用时，佩戴者将这一控制命令修改为顺时针画矩形。如果此时智能手表识别出用户当前的手势动作为顺时针画圆，则判断该手势动作为无效手势动作(即与当前保存的手势动作与无人机控制命令的对应关系不符合)。
步骤S46，生成控制报文并发送；
生成控制报文并无线发送至无人机，以使得无人机根据控制报文控制飞行状态。具体的，在得到无人机控制命令后，根据该无人机控制命令制作生成控制报文并将控制报文输出，至此完成了一次手势动作控制。然后返回重复步骤S41至步骤S46。
经过上述说明，本领域普通技术人员对智能手表端的的工作流程已经清楚了解，接下来对无人机端的功能结构进行描述。
实施例四
图5是本发明一个实施例的无人机端的结构框图，参见图5，无人机端50主要包括三个模块，分别是无线通信模块501、命令解析模块502、飞行控制模块503；无线通信模块501与可穿戴设备 进行无线通信，接收可穿戴设备发送的控制报文，将控制报文发送至命令解析模块502；命令解析模块502对接收的控制报文进行解析，将解析得到的控制命令发送至飞行控制模块503；飞行控制模块503根据接收到控制命令控制无人机的飞行状态。
无人机端监听并收到智能手表端发送过来的控制报文后，解析出相应的控制命令，然后再控制无人机的相应参数，完成佩戴者的控制命令，并可以将相关的反馈信息无线发送给智能手表端。
无线通信模块501
无线通信模块501用于与智能手表间通信数据的接收和发送。该模块监听智能手表端的连接请求；建立与智能手表之间的蓝牙等无线数据链路，建立连接后，可以进一步接收其控制命令；以及接收智能手表端发送的控制报文，并交给飞行控制模块进行处理。此外，该模块还可以向智能手表端发送相关的反馈信息(如位置、参数等飞行数据)。
命令解析模块502
命令解析模块502主要负责对无线通信模块收到的控制报文进行解析和解码，获取数据包中的控制命令等信息。其中，控制命令可以有两种类型：改变飞行模式的命令和改变飞行状态的命令。该模块在解析出具体的控制命令后，将这些信息传输给飞行控制模块503做进一步处理。
飞行控制模块503
飞行控制模块503在收到智能手表端的控制命令后，根据控制命令对无人机的飞行模式或飞行状态进行调整。例如，根据接收的控制命令计算无人机相应飞行控制参数的目标值，并利用获取的无人机相应飞行控制参数的当前值，运行比例积分微分PID控制器生成控制信号，以调整无人机旋翼的转速进而实现对无人机飞行状态的控制。
本实施例中，该模块又可以细分为两个相互联系的子模块：航姿参考子模块和飞行控制处理子模块：两个子模块分别完成航姿信息采集和飞行控制处理功能。航姿参考子模块主要负责实时从无人机上的传感器采集数据，运行滤波算法解算出无人机当前的姿态、位置、速率等信息，并将这些信息传递给飞行控制处理子模块。
飞行控制处理子模块实时接收来自智能手表端的控制命令后，解算并设定无人机相应飞行控制参数(如滚转角、俯仰角、航向角、角速率)需要达到值(目标值)，并根据航姿参考子模块反馈的实际信息(当前值)，运行PID(Proportion Integration Differentiation，比例积分微分)等控制器，计算出输出给各电机的控制信号，并以PWM(Pulse Width Modulation，脉冲宽度调制)信号的形式发送给驱动电路来驱动电机转动，以调整无人机旋翼的转速进而实现对无人机的控制。
并且，飞行控制模块503通过无线通信模块501将反馈信息(如，当前的飞行状态)发送回智能手表端。
实施例五
图6是本发明一个实施例无人机端的控制流程图，如图6所示。无人机控制端的的一次控制的工作流程如下步骤S61至步骤S66。
步骤S61，监听连接请求并接收智能手表端的控制报文；
具体的，无人机建立与智能手表端之间的BLE等无线连接，并监听连接状态，连接建立后接收智能手表端发送来的控制报文。
步骤S62，解析获得无人机控制命令；
对控制报文进行解析，得到具体的无人机控制命令。
步骤S63，判断控制命令是否为改变飞行模式，是则，执行步骤S64，否则，执行步骤S65；
实际应用过程中，可将无人机控制命令分为两类，一是改变飞行模式的控制命令另一类是飞行控制命令。当无人机端接收到一个控制命令后，先判断该控制命令是否为飞行模式命令，这里的飞行模式，如起飞飞行模式、降落飞行模式。如果不是改变飞行模式的控制命令则为进行飞行控制的控制命令。
步骤S64，设置相应飞行模式；
无人机根据控制命令中解析得到的信息，调整相应的飞行控制参数以完成控制命令。
步骤S65，进行飞行控制；
根据控制命令进行飞行控制，如控制命令指示升高，则无人机接收并解析得到这一控制命令后，调整无人机相应方向的旋翼的旋转速度，进而控制无人机完成升高操作。
步骤S66，向智能手表端发送反馈信息。
在执行完成后，无人机将执行结果(如当前无人机升高的高度、位置、飞行状态)，反馈给智能手表端，使得智能手表端可以显示输出反馈信息，以实时监测无人机的状态，并做出相应的控制。
经过上述过程，无人机实现了根据智能手表的手势动作执行相应控制操作，从而避免了携带和操作遥控器、PC等控制设备的繁琐，方便了用户对无人机的控制操作。
实施例六
图7是本发明一个实施例的可穿戴设备控制无人机的实现方法的流程图；可穿戴设备中设置有传感器，该方法包括：
步骤S71，通过传感器采集佩戴者的待识别特征数据，识别出佩戴者当前的手势动作；
为了增强用户体验，应该尽量降低对用户执行手势动作时的姿态要求。并且为了降低功耗，也需要尽量降低算法的复杂性，在减少计算量的同时，保证动作识别的可靠性。因此，在本实施例中在 MEMS传感器采集到待识别特征数据后，先利用PCA(Principal Component Analysis，主成分分析)算法降低待识别特征数据的数据维数。对于手势动作模板和测试序列(即某一具体待识别特征数据)的具体处理过程如下：
手势动作模块通过加速度传感器采集数据，得到模板序列(或测试序列)；
手势动作模块，对采集到的三维加速度传感器数据进行预处理，可以采用均值滤波、Butterworth滤波等处理方法，以滤除干扰噪声；
对于模板序列，将三维加速度序列进行PCA处理，得到降维后的一维模板数据，并得到主成分的特征向量空间；
对于测试序列，将三维加速度序列投影到模板序列的主成分特征向量空间，得到降维后的一维测试数据；
对获得的一维数据提取特征(如，相邻数据点的均值、方差，或直接提取波形变化特征)，得到模板序列或测试序列的特征序列，其中，模板特征序列可以保存到手势动作模板数据库中用于手势匹配。将测试特征序列与各模板特征序列进行匹配(如，模板匹配或机器学习方法匹配识别)，得到识别结果。
考虑到可穿戴设备是资源受限的设备，在手势识别过程中，对动作的持续感知需要消耗不少的能量。因此，本实施例中，可穿戴设备的模式控制模块，可以接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通知手势配置识别模块通过传感器采集得到佩戴者的待识别特征数据。
步骤S72，利用预先配置并保存的相应手势动作与无人机控制命令间的对应关系，找到当前手势动作对应的无人机控制命令后进行编码并生成符合无人机通信协议的控制报文；
本实施例在创建手势动作模板时考虑如下两个因素：一是手势应尽量简单，用户可以很轻松地掌握和使用；二是手势易被识别和区分。由于本实施例中手势动作主要用于控制无人机，根据无人机的特点预先设计几种默认的手势动作并建立默认手势动作与无人机控制命令间的对应关系后保存，参见表1。在表1中，定义了从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；顺时针方向的画矩形的手势动作和逆时针方向的画矩形的手势动作分别对应于无人机的右转控制命令和左转控制命令；从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于无人机的升高控制命令和降低控制命令；顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
步骤S73，将生成的控制报文无线发送至无人机，以使得无人机根据控制报文控制飞行状态。
可穿戴设备的地面控制站模块可以实时显示无人机的位置和飞行数据，并可以控制无人机的飞行模式和参数，定制飞行任务等。与现有技术中设置在PC上的地面控制站不同，为了适应可穿戴设备 显示界面较小等特点，本实施例中，可穿戴设备可以提供与所述可穿戴设备屏幕尺寸和操作系统相适配的用户交互界面，并通过用户交互界面显示从无线传输模块获取的无人机返回的飞行数据；以及接收用户通过用户交互界面设定的飞行任务、飞行模式、飞行数据。
上述步骤S71至S73全部在可穿戴设备侧完成，如分别由可穿戴设备中设置的相应模块完成。
在本实施例中，可穿戴设备与无人机之间可以有两种无线连接方式：1)可穿戴设备通过BLE直接与无人机对应的蓝牙接收模块建立连接，将生成的控制报文无线发送至无人机。该种连接方式简单，但通信距离有限；
2)可穿戴设备通过BLE与外置的无线数据通信单元建立连接，同时该无线数据通信单元与无人机端的无线通信模块建立连接将生成的控制报文无线发送至无人机。该种连接方式可以支持较远的通信距离。
本实施例中，利用可穿戴设备控制无人机的实现方法包括：首先，按照上述两种方式，可穿戴设备与无人机之间建立无线连接。然后，在可穿戴设备开启手势控制模式后，利用可穿戴设备中MEMS传感器获取三维加速度数据，采用预设算法识别用户执行的具体手势动作，并发出手势动作对应的控制命令给无人机。最后，无人机的飞行控制模块根据所接收的手势控制命令，改变飞行模式或者调整相应的飞行参数。
为了满足可穿戴设备对资源和功耗的要求，本实施例采用PCA(主成分分析)等算法降低数据维数。通过采用主成分分析法，可以根据计算过程中的特征值大小来决定各独立成分的重要性。并选择最重要的成分，将原始加速度信号降至一维，在降低计算复杂度的同时，可以去除一部分噪声，并降低对用户执行手势时的姿态要求。然后再对降维后的数据进一步执行识别算法(模板匹配或机器学习等算法)，在降低计算复杂度的同时实现准确的手势识别。
要实现可穿戴设备对无人机进行控制，在初次使用之前，通过如下方式建立相应手势动作与无人机控制命令间的对应关系：接收佩戴者在可穿戴设备的交互界面呈现的无人机控制命令列表中选择的控制命令，并建立佩戴者选中的控制命令与相应手势动作间的对应关系；或者，接收佩戴者的解除指令，解除无人机的控制命令与相应手势动作间的对应关系；其中，相应手势动作包括：默认手势动作和自选手势动作。
例如，在地面控制站的配置界面中，对于改变飞行模式的控制命令或者改变飞行状态的控制命令，接收佩戴者输入的自定义手势动作，或采用默认的手势动作，并与无人机的不同控制命令相关联。在实际控制时，佩戴通过可穿戴设备执行不同的手势动作，即可发出相应的控制命令给无人机，再由无人机的飞行控制模块根据控制命令进一步控制无人机的飞行模式或位姿状态。需要说明的是，本发明实施例中的可穿戴设备控制无人机的实现方法的其他步骤可以参见本发明前述可穿戴设备的工作过程中的相关描述，这里不再赘述。
实施例七
图8是本发明另一个实施例的可穿戴设备控制无人机的实现方法的流程图，该可穿戴设备控制无人机的实现方法包括：
步骤S81，监听可穿戴设备的连接请求，与可穿戴设备建立无线通信，接收可穿戴设备发送的控制报文；
步骤S82，对控制报文进行解析得到无人机控制命令；
步骤S83，根据无人机控制命令控制无人机的飞行状态。
需要说明的是，本发明实施例中的可穿戴设备控制无人机的实现方法的其他步骤可以参见本发明前述无人机控制装置的工作过程中的相关说明，这里不再赘述。
综上可知，本发明实施例的可穿戴设备中运行地面控制站，并通过内置的传感器采集佩戴者的手势动作，这样用户通过随身佩戴的智能手表可穿戴设备，执行一定的手势动作就可对无人机进行方便直观的控制，不需要携带地面控制站或遥控器等其它设备，而且避免了通过其它设备相对繁琐的控制方式。这种基于传感器的手势识别方式灵活可靠，不受环境、光线的影响，系统实现简单。
另外，可穿戴设备一般都会长期戴在用户身上，用户随时可以通过执行一定的手势动作就可发出不同的控制命令，可以更便捷直观地实现人与无人机之间的交互，与无人机传统控制方式相比，大大增强了用户体验。
而且，本发明实施例对手势动作识别算法进行了改进，通过采用PCA将原始待识别特征数据降至一维，而通常的方法基本都是在三维数据上分别进行操作，因此本发明大大降低了计算复杂度，节省了通过可穿戴设备控制无人机时的功耗；由于三维数据变成了一维，也大大降低对用户执行手势时的姿态要求，可以相对随意地执行手势，提高了可穿戴设备的竞争力。
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 (17)

  1. 一种可穿戴设备，其中，该可穿戴设备包括：手势配置识别模块、地面控制站模块和无线传输模块；
    所述手势配置识别模块，用于通过传感器采集得到佩戴者的待识别特征数据，识别出佩戴者当前的手势动作，查找预先配置并保存的手势动作与无人机控制命令间的对应关系，将该手势动作对应的无人机控制命令发送给所述地面控制站模块；
    所述地面控制站模块，用于通过与所述手势配置识别模块之间的数据接口接收所述无人机控制命令，对无人机控制命令进行编码并转换为符合无人机通信协议的控制报文，将所述控制报文发送给所述无线传输模块；
    所述无线传输模块，用于接收所述控制报文并将所述控制报文无线发送至无人机以实现根据所述控制报文控制无人机的飞行状态。
  2. 根据权利要求1所述的可穿戴设备，其中，所述手势配置识别模块中设置有默认手势动作，所述手势配置识别模块，建立默认手势动作与无人机控制命令间的对应关系后保存；
    或者，所述手势配置识别模块，识别佩戴者通过可穿戴设备的交互界面输入的自选手势动作，并建立自选手势动作与无人机控制命令间的对应关系后保存。
  3. 根据权利要求2所述的可穿戴设备，其中，所述手势配置识别模块具体通过如下方式建立默认手势动作与无人机控制命令间的对应关系：
    将从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；
    将顺时针方向的画矩形的手势动作和逆时针方向的画矩形的手势动作分别对应于无人机的右转控制命令和左转控制命令；
    将从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于无人机的升高控制命令和降低控制命令；
    将顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
  4. 根据权利要求1所述的可穿戴设备，其中，所述手势配置识别模块，具体用于通过三轴加速度传感器或三轴角速度传感器采集得到佩戴者的待识别三轴加速度数据序列或三轴角速度数据序列；
    利用主成分分析对所述三轴加速度数据序列或三轴角速度数据序列进行特征提取，降低所述三轴加速度数据序列或三轴角速度数据序列的数据维数至一维；
    将降维后的一维加速度数据序列或一维角速度数据序列与对应的模板特征数据序列进行比较，以 识别出佩戴者当前的手势动作；
    其中，所述模板特征数据序列包括加速度模板数据序列和角速度模板数据序列，且加速度模板数据序列的数据维数和角速度模板数据序列的数据维数也为一维。
  5. 根据权利要求1所述的可穿戴设备，其中，该可穿戴设备还包括：模式控制模块，用于接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通知所述手势配置识别模块通过传感器采集得到佩戴者的待识别特征数据。
  6. 根据权利要求1所述的可穿戴设备，其中，所述地面控制站模块，提供与所述可穿戴设备屏幕尺寸和操作系统相适配的用户交互界面，并通过所述用户交互界面显示从所述无线传输模块获取的无人机返回的飞行数据；以及接收用户通过所述用户交互界面设定的飞行任务、飞行模式、飞行数据。
  7. 根据权利要求1所述的可穿戴设备，其中，所述无线传输模块为蓝牙无线传输模块；
    所述蓝牙无线传输模块与无人机的蓝牙通信模块建立连接，并通过蓝牙通信方式将所述控制报文发送至无人机；
    或者，所述蓝牙无线传输模块与可穿戴设备外置的无线数据通信单元建立连接，经该无线数据通信单元与无人机的无线通信模块通信，以将所述控制报文发送至无人机。
  8. 根据权利要求1所述的可穿戴设备，其中，所述无线传输模块为蓝牙无线传输模块；
    所述蓝牙无线传输模块接收无人机反馈的信号。
  9. 一种无人机控制装置，其中，该无人机控制装置包括：无线通信模块，命令解析模块和飞行控制模块：
    所述无线通信模块，用于与可穿戴设备进行无线通信，接收可穿戴设备发送的控制报文，将所述控制报文发送至所述命令解析模块；
    所述命令解析模块，用于对接收的控制报文进行解析，将解析得到的控制命令发送至所述飞行控制模块；
    所述飞行控制模块，用于根据接收到控制命令控制无人机的飞行状态。
  10. 根据权利要求9所述的无人机控制装置，其中，
    所述飞行控制模块，具体用于根据接收的控制命令计算无人机相应飞行控制参数的目标值，并利用获取的无人机相应飞行控制参数的当前值，运行比例积分微分PID控制器生成控制信号，以调整无人机旋翼的转速进而实现对无人机飞行状态的控制。
  11. 一种可穿戴设备控制无人机的实现方法，其中，所述可穿戴设备中设置有传感器，该方法包括：
    可穿戴设备通过传感器采集佩戴者的待识别特征数据，识别出佩戴者当前的手势动作；
    可穿戴设备利用预先配置并保存的相应手势动作与无人机控制命令间的对应关系，找到当前手势动作对应的无人机控制命令后进行编码并生成符合无人机通信协议的控制报文；
    可穿戴设备将生成的控制报文无线发送至无人机，以使得无人机根据所述控制报文控制飞行状态。
  12. [根据细则26改正20.04.2017]
    根据权利要求11所述的方法，其中，该方法还包括：通过如下方式建立相应手势动作与无人机控制命令间的对应关系：
    可穿戴设备接收佩戴者在可穿戴设备的交互界面呈现的无人机控制命令列表中选择的控制命令，并建立佩戴者选中的控制命令与相应手势动作间的对应关系；或者，接收佩戴者的解除指令，解除无人机的控制命令与相应手势动作间的对应关系；
    其中，所述相应手势动作包括：默认手势动作和自选手势动作。
  13. 根据权利要求11所述的方法，其中，所述可穿戴设备通过传感器采集佩戴者的待识别特征数据，识别出佩戴者当前的手势动作包括：
    通过三轴加速度传感器或三轴角速度传感器采集得到佩戴者的待识别三轴加速度数据序列或三轴角速度数据序列；
    利用主成分分析对所述三轴加速度数据序列或三轴角速度数据序列进行特征提取，降低所述三轴加速度数据序列或三轴角速度数据序列的数据维数至一维；
    将降维后的一维加速度数据序列或一维角速度数据序列与对应的模板特征数据序列进行比较，以识别出佩戴者当前的手势动作；
    其中，所述模板特征数据序列包括加速度模板数据序列和角速度模板数据序列，且加速度模板数据序列的数据维数和角速度模板数据序列的数据维数也为一维。
  14. 根据权利要求11所述的方法，其中，该方法还包括：
    可穿戴设备接收外部输入的指令或者检测可穿戴设备当前的电量，并在外部输入的指令指示开启手势控制或当前的电量满足开启手势控制的条件时，通过传感器采集得到佩戴者的待识别特征数据。
  15. 根据权利要求11所述的方法，其中，该方法还包括：
    可穿戴设备提供与所述可穿戴设备屏幕尺寸和操作系统相适配的用户交互界面，并通过所述用户交互界面显示无人机返回的飞行数据；以及接收用户通过所述用户交互界面设定的飞行任务、飞行模式、飞行数据。
  16. 根据权利要求11所述的方法，其中，
    所述可穿戴设备将生成的控制报文无线发送至无人机包括：
    可穿戴设备与无人机的蓝牙通信模块建立连接，并通过蓝牙通信方式将所述控制报文发送至无人机；
    或者，可穿戴设备与该可穿戴设备外置的无线数据通信单元建立连接，经该无线数据通信单元与无人机的无线通信模块通信，并将所述控制报文发送至无人机。
  17. [根据细则26改正20.04.2017]　
    根据权利要求12所述的方法，其中，该方法还包括：可穿戴设备通过如下方式建立默认手势动作与无人机控制命令间的对应关系：将从上到下方向的画第一折线的手势动作和从下到上方向的画第一折线的手势动作分别对应于无人机的降落控制命令和起飞控制命令；控制命令和左转控制命令；将从上到下方向的画第二折线的手势动作和从下到上方向的画第二折线的手势动作分别对应于无人机的升高控制命令和降低控制命令；将顺时针方向的画三角形的手势动作对应于无人机的悬停控制命令。
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