WO2018098904A1

WO2018098904A1 - Unmanned aerial vehicle control method and device

Info

Publication number: WO2018098904A1
Application number: PCT/CN2017/073885
Authority: WO
Inventors: 刘均; 孙建勋; 张跃博
Original assignee: 深圳市元征科技股份有限公司
Priority date: 2016-11-29
Filing date: 2017-02-17
Publication date: 2018-06-07
Also published as: CN106682091A

Abstract

An unmanned aerial vehicle control method and device. The method comprises: acquiring target information (S101); comparing the target information against pre-stored feature information in a feature information database (S102); if the feature information database contains the pre-stored feature information matching the target information, acquiring, according to a stored pre-determined correspondence relationship between the pre-stored feature information and an unmanned aerial vehicle control instruction, a first instruction corresponding to the pre-stored feature information matching the target information (S103); and executing the first instruction to control the unmanned aerial vehicle (S104). The method of the present invention improves variety of control modes of an unmanned aerial vehicle.

Description

Unmanned aerial vehicle control method and device

[0001] This application claims the priority of the Chinese Patent Application entitled "A UAV Control Method and Apparatus" of the Chinese Patent Office, filed on Nov. 29, 2016, the entire disclosure of which is hereby incorporated by reference. In this application.

Technical Field

[0003] The present invention relates to the field of drone technology, and in particular, to a drone control method and apparatus.

BACKGROUND OF THE INVENTION

[0005] Currently, drones have been widely used in the fields of aerial photography, national emergency rescue, logistics and material transportation, traffic monitoring, and environmental monitoring. The existing drone control method is mainly controlled by a manual remote controller or a mobile control terminal. However, in practice, it is found that the control method of the above drone is complicated to operate, requires high operator, and the drone is Over-reliance on the hand-controlled remote control or mobile control terminal lacks human-computer interaction performance, which reduces the diversity of drone control.

SUMMARY OF THE INVENTION

[0007] Embodiments of the present invention provide a drone control method and apparatus, which can improve the diversity of drone control

A first aspect of the embodiments of the present invention provides a drone control method, including:

[0009] acquiring target information, where the target information includes at least one of expression information, voice information, and gesture information;

[0010] comparing the target information with pre-stored feature information in the feature information library;

[0011] when there is pre-stored feature information 匹配 matching the target information in the feature information database, according to the preset correspondence between the stored pre-stored feature information and the UAV control command, obtaining the matching with the target information a first instruction corresponding to the pre-stored feature information, wherein the UAV control instruction includes the first instruction;

[0012] executing the first instruction to control the drone.

[0013] In conjunction with the first aspect of the embodiments of the present invention, in a first possible implementation manner of the first aspect of the embodiments of the present disclosure, before the comparing the target information with the pre-stored feature information in the feature information database, Square The law also includes:

[0014] obtaining verification information, and matching with the pre-stored verification information in the verification information base;

[0015] when there is pre-stored verification information 匹配 matching the verification information in the verification information base, performing the step of comparing the target information with the pre-stored feature information in the feature information library.

[0016] In conjunction with the first aspect of the embodiments of the present invention, in a second possible implementation manner of the first aspect of the embodiment, the preset correspondence between the stored pre-stored feature information and the UAV control command is After acquiring the first instruction corresponding to the pre-stored feature information that matches the target information, the method further includes

[0017] outputting prompt information for prompting the user whether to execute the first instruction;

[0018] When a confirmation command for the prompt information is detected, the first instruction is executed.

With reference to the first aspect of the embodiments of the present invention, in a third possible implementation manner of the first aspect of the embodiments, the comparing the target information with the pre-stored feature information in the feature information database includes:

[0020] calculating a matching degree between the target information and each pre-stored feature information in the feature information database;

[0021] arranging the pre-stored feature information in the feature information library in descending order according to the matching degree to obtain a descending row list;

[0022] wherein, when there is pre-stored feature information 匹配 matching the target information in the feature information database, according to the preset correspondence between the stored pre-stored feature information and the UAV control command, the The first instruction corresponding to the pre-stored feature information matched by the target information further includes:

[0023] acquiring at least two pre-stored feature information arranged in the top row of the descending row list;

[0024] acquiring the drone control instruction corresponding to the at least two pre-stored feature information, to obtain at least two instructions

[0025] when a selection operation 第二 of the second instruction of the at least two instructions is detected, the second instruction is determined as the first instruction.

[0026] In combination with the first aspect of the embodiments of the present invention, the first possible implementation of the first aspect, the second possible implementation of the first aspect, and any of the third possible implementations of the first aspect In a possible implementation manner, in a fourth possible implementation manner of the first aspect of the embodiments of the present disclosure, when the target information is voice information, the method further includes: [0027] filtering noise in the target information to obtain target information after filtering noise;

[0028] wherein comparing the target information with the pre-stored feature information in the feature information database includes: [0029] comparing the filtered target information with the pre-stored feature information in the feature information database.

[0030] A second aspect of the present invention provides a drone control apparatus, including:

[0031] a first acquiring unit, configured to acquire target information, where the target information includes at least one of expression information, voice information, and gesture information;

[0032] a comparing unit, configured to compare the target information acquired by the first acquiring unit with the pre-stored feature information in the feature information database;

[0033] a second obtaining unit, configured to: when the comparison result of the comparing unit is that the pre-stored feature information matching the target information exists in the feature information database, according to the stored pre-stored feature information and the drone control a first instruction corresponding to the pre-stored feature information that matches the target information, where the UAV control instruction includes the first instruction;

[0034] an execution unit, configured to execute the first instruction acquired by the second acquiring unit, to control the drone.

[0035] In conjunction with the second aspect of the embodiments of the present invention, in a first possible implementation manner of the second aspect of the embodiments, the apparatus further includes:

[0036] The third obtaining unit is configured to acquire the verification information, and match the pre-stored verification information in the verification information database, where the pre-stored verification information that matches the verification information acquired by the third acquiring unit exists in the verification information database. And triggering the execution unit to perform the step of comparing the target information with the pre-stored feature information in the feature information library.

[0037] In conjunction with the second aspect of the embodiments of the present invention, in a second possible implementation manner of the second aspect of the embodiments of the present disclosure, the device further includes:

[0038] an output unit, configured to output prompt information for prompting the user whether to execute the first instruction;

[0039] The execution unit is further configured to: when the confirmation command for the prompt information is detected, execute the first instruction.

[0040] In conjunction with the second aspect of the embodiments of the present invention, in a third possible implementation manner of the second aspect of the embodiments of the present disclosure, the comparing unit includes:

[0041] a calculation unit, configured to calculate a matching degree of the target information acquired by the first acquiring unit and each pre-stored feature information in the feature information database; [0042] an arranging unit, configured to sort the pre-stored feature information in the feature information library in descending order according to the matching degree calculated by the calculating unit, to obtain a descending row list;

[0043] The second acquiring unit further includes:

[0044] a fourth obtaining unit, configured to acquire at least two pre-stored feature information arranged in the top row in the descending row list of the permuting unit arrangement;

[0045] a fifth acquiring unit, configured to acquire a drone control instruction corresponding to the at least two pre-stored feature information acquired by the fourth acquiring unit, to obtain at least two instructions;

And a determining unit, configured to determine the second instruction as the first instruction when detecting the selecting operation of the second instruction in the at least two instructions acquired by the fifth acquiring unit.

[0047] combining the second aspect of the embodiments of the present invention, the first possible implementation manner of the second aspect, the second possible implementation manner of the second aspect, and the third possible implementation manner of the second aspect A possible implementation manner, in a fourth possible implementation manner of the second aspect of the embodiment of the present invention, when the target information acquired by the first acquiring unit is the voice information, the device further includes:

[0048] a sixth obtaining unit, configured to acquire the noise information;

[0049] a noise filtering unit, configured to filter out noise information in the target information, to obtain target information after filtering the noise;

[0050] wherein the comparing unit is specifically configured to compare the target information after filtering the noise obtained by the filtering unit with the pre-stored feature information in the feature information database.

[0051] In the embodiment of the present invention, acquiring target information, the target information includes at least one of expression information, voice information, and gesture information; comparing the target information with the pre-stored feature information in the feature information database; There is pre-stored feature information matching the target information, and according to the preset correspondence between the stored pre-stored feature information and the UAV control command, acquiring a first instruction corresponding to the pre-stored feature information matching the target information, wherein, The machine control instruction includes a first instruction; the first instruction is executed to control the drone, and the drone can be controlled by the collected expression information, voice information and gesture information, overcoming the excessive dependence on the manual remote controller or The problem of moving the control terminal improves the human-computer interaction performance, thereby improving the diversity of drone control.

BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are some embodiments of the present invention. For those skilled in the art, other drawings may be obtained based on these drawings without any creative work.

1 is a schematic flow chart of a drone control method according to an embodiment of the present invention;

2 is a schematic flow chart of another drone control method according to an embodiment of the present invention;

3 is a schematic structural diagram of a drone control device according to an embodiment of the present invention;

4 is a schematic structural diagram of another drone control device according to an embodiment of the present invention;

5 is a schematic structural diagram of still another UAV control device according to an embodiment of the present invention.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. . All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without departing from the inventive work are all within the scope of the present invention.

[0061] Embodiments of the present invention provide a drone control method and apparatus, which can increase the control mode of the drone, thereby improving the diversity of the drone control. The details are described below separately.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart diagram of a drone control method according to an embodiment of the present invention. Among them, the drone control method is described from the perspective of the drone control device. As shown in Fig. 1, the man-machineless control method may include the following steps.

[0063] S101. Acquire target information.

[0064] In this embodiment, the target information includes at least one of expression information, voice information, and gesture information. The acquiring the target information may include: acquiring at least one of a face image, a voice, a gesture image, or a touch gesture, where the face image and the gesture image may be a dynamic image, that is, an image stream formed by at least two frames of images, touching The gesture may be detected by the touch screen and the operating system; detecting the facial expression information of the acquired facial image, the voice information in the voice, the gesture image, or the gesture information in the touch gesture to obtain at least at least one of the expression information, the voice information, and the gesture information. A kind of information. The expression information may be obtained through facial contour recognition analysis, and the expression information, the voice information, and the gesture information or the touch gesture correspondingly control the control instruction of the drone; the control instruction may include: controlling the drone to fly according to the specified orientation, and increasing Reduce, fly to the controller, fly around the target, load direction and pitch motion commands carried by the flight platform. [0065] S102. Compare the target information with the pre-stored feature information in the feature information database.

[0066] In this embodiment, in order to manage the pre-stored feature information, the feature information library is preset, and the face image, the voice, the gesture image, or the touch gesture may be collected in advance through a camera or a microphone, and the faces are extracted. The pre-stored feature information of the image, voice, gesture image or touch gesture is stored in the feature information library for subsequent calls.

[0067] S103. When the feature information database has pre-stored feature information that matches the target information, obtain pre-stored feature information that matches the target information according to the preset correspondence between the stored pre-stored feature information and the UAV control command. Corresponding first instruction.

[0068] In this embodiment, the pre-stored feature information in the feature information database may be in one-to-one correspondence with the drone control command. The correspondence is preset, wherein the drone control instruction includes the first instruction.

[0069] S104. Perform a first instruction to control the drone.

[0070] In this embodiment, the first instruction is an instruction of the UAV control device for controlling the UAV, for example, the flight instruction may be sent to the UAV flight platform to perform a corresponding flight action, and the flight action may include : The drone is flying in the specified direction, raising and lowering, flying to the controller, flying around the target, the load azimuth and pitching motion carried by the flight platform.

[0071] In the drone control method described in FIG. 1, the target information is acquired, and the target information includes at least one of expression information, voice information, and gesture information; and the target information and the pre-stored feature information in the feature information database are performed. Comparing; when there is pre-stored feature information matching the target information in the feature information base, according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command, obtaining the corresponding corresponding to the pre-stored feature information matching the target information An instruction, wherein the drone control instruction includes a first instruction; the first instruction is executed to control the drone, and the drone control can be realized by collecting the expression information, the voice information, and the gesture information, thereby overcoming Over-reliance on the problem of the hand-controlled remote control or the mobile control terminal improves the human-computer interaction performance, thereby improving the diversity of drone control.

[0072] Please refer to FIG. 2. FIG. 2 is a schematic flowchart diagram of another UAV control method according to an embodiment of the present invention.

Wherein, the drone control method is described from the perspective of the drone control device. As shown in FIG. 2, the drone control method may include the following steps.

[0073] S201. Acquire target information.

[0074] In this embodiment, the target information includes at least one of expression information, voice information, and gesture information. Its The obtaining the target information may include: acquiring at least one of a face image, a voice, a gesture image, or a touch gesture, where the face image and the gesture image may be a dynamic image, that is, an image stream formed by at least two frames of images, touching The gesture may be detected by the touch screen and the operating system; detecting the facial expression information of the acquired facial image, the voice information in the voice, the gesture image, or the gesture information in the touch gesture to obtain at least at least one of the expression information, the voice information, and the gesture information. A kind of information. The expression information may be obtained through facial contour recognition analysis, and the expression information, the voice information, and the gesture information or the touch gesture correspondingly control the control instruction of the drone; the control instruction may include: controlling the drone to fly according to the specified orientation, and increasing Reduce, fly to the controller, fly around the target, load direction and pitch motion commands carried by the flight platform.

[0075] S202. Acquire verification information, and match the pre-stored verification information in the verification information base.

[0076] In this embodiment, in order to ensure the privacy of the operating drone, the verification information is required to be verified. The verification information may be a facial feature of the user inputting the face image, and may be a voiceprint feature of the voice. It may be fingerprint information input by a gesture image or a touch gesture, or may be other verification information.

[0077] S203. When there is pre-stored verification information 匹配 matching the verification information in the verification information base, compare the target information with the pre-stored feature information in the feature information database.

[0078] In this embodiment, in order to manage the verification information, the verification information base is preset, and the face image, the voice, the gesture image, or the touch gesture may be collected in advance through a camera or a microphone, and the face images are extracted. The verification information of the voice, gesture image or touch gesture is stored in the verification information base for subsequent calls. When the entered verification information exists in the verification information base, the verification is passed.

[0079] Further, comparing the target information with the pre-stored feature information in the feature information database may include: calculating a matching degree between the target information and each of the pre-stored feature information in the feature information database; and pre-stored feature information in the feature information database Sort in descending order by matching degree to get a descending list.

[0080] S204, when there is pre-stored feature information matching the target information in the feature information database, acquiring pre-stored feature information matching the target information according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command Corresponding first instruction.

[0081] In this embodiment, the drone control command includes the first instruction. In order to manage the pre-stored feature information, the feature information library is preset, and the face image, the voice, the gesture may be collected in advance through a device such as a camera or a microphone. Image or touch gestures, and extract these face images, speech, gesture images or touch hands The pre-stored feature information of the potential is stored in the feature information base for subsequent calls. The pre-stored feature information in the feature information database may be in one-to-one correspondence with the UAV control command, and the corresponding relationship is preset, and the first instruction corresponding to the pre-stored feature information may be acquired by the corresponding relationship.

[0082] Further, the first instruction corresponding to the pre-stored feature information that matches the target information may further include: obtaining, in the descending row list, the first instruction in the descending row list according to the preset correspondence between the stored pre-stored feature information and the UAV control command At least two pre-stored feature information; obtaining at least two unmanned machine control instructions corresponding to the pre-stored feature information to obtain at least two instructions; when detecting a selection operation of the second one of the at least two instructions, The second instruction is determined to be the first instruction.

[0083] Since image recognition and speech recognition have a high error rate, at least two instructions having the largest matching ratio are output after recognition, and the user-confirmed instruction of at least two instructions is used as the first instruction to be executed, thereby avoiding image recognition. And the high error rate caused by speech recognition.

[0084] S205. Output prompt information for prompting the user whether to execute the first instruction.

[0085] In this embodiment, the prompt message is used to enable the user to confirm execution of the first instruction, for example, when the first instruction is used to control the drone to perform an action, such as landing, displaying on the display or by voice. Output prompt message: Do you want to perform a landing?

[0086] S206. When the confirmation command for the prompt information is detected, executing the first instruction.

In this embodiment, the confirmation command may be a click confirmation button, a voice confirmation is input, or other operations are used to confirm the execution of the first instruction. The first instruction is an instruction of the drone control device for controlling the drone. For example, the flight instruction may be sent to the drone flight platform to perform a corresponding flight action, and the flight action may include: the drone according to the specified Azimuth flight, elevation reduction, flying to the controller, flying around the target, load orientation and pitching motion carried by the flight platform.

[0088] In this embodiment, further, when the target information is voice information, the control method may further include: filtering out noise in the target information to obtain target information after filtering noise; and selecting target information and features Comparing the pre-stored feature information in the information base may include: comparing the target information after filtering the noise with the pre-stored feature information in the feature information base.

[0089] In the UAV control method described in FIG. 2, target information is acquired, and the target information includes at least one of expression information, voice information, and gesture information; and the target information and the pre-stored feature information in the feature information database are performed. Comparison; when there is pre-stored feature information matching the target information in the feature information base, according to The preset correspondence between the stored pre-stored feature information and the UAV control command acquires a first instruction corresponding to the pre-stored feature information matching the target information, and the UAV control instruction includes the first instruction; and executes the first instruction to control The drone, visible, can control the drone through the collected expression information, voice information and gesture information, overcomes the problem of over-reliance on the hand-controlled remote controller or the mobile control terminal, improves the human-computer interaction performance, and thus improves the The diversity of drone control.

Please refer to FIG. 3. FIG. 3 is a structural diagram of a drone control device according to an embodiment of the present invention. As shown in Figure 3

The drone control device can include:

[0091] The first obtaining unit 301 is configured to acquire target information, where the target information includes at least one of expression information, voice information, and gesture information;

[0092] The comparing unit 302 is configured to compare the target information acquired by the first acquiring unit 301 with the pre-stored feature information in the feature information database;

[0093] The second obtaining unit 303 is configured to: when the comparison result of the comparing unit 302 is that the pre-stored feature information matching the target information exists in the feature information base, according to the stored pre-stored feature information and the preset of the drone control instruction Corresponding relationship, obtaining a first instruction corresponding to the pre-stored feature information that matches the target information, where the drone control instruction includes the first instruction;

[0094] The executing unit 304 is configured to execute the first instruction acquired by the second obtaining unit 303, to control the drone

[0095] In the UAV control device described in FIG. 3, target information is acquired, and the target information includes at least one of expression information, voice information, and gesture information; and the target information and the pre-stored feature information in the feature information database are performed. Comparing; when there is pre-stored feature information matching the target information in the feature information base, according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command, obtaining the corresponding corresponding to the pre-stored feature information matching the target information An instruction, wherein the drone control instruction includes a first instruction; the first instruction is executed to control the drone, and the drone control can be realized by collecting the expression information, the voice information, and the gesture information, thereby overcoming Over-reliance on the problem of the hand-controlled remote control or the mobile control terminal improves the human-computer interaction performance, thereby improving the diversity of drone control.

[0096] Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of another UAV control device according to an embodiment of the present invention.

The UAV control device shown in FIG. 4 is optimized by the UAV control device shown in FIG. 3, wherein the device may further include: [0097] The third obtaining unit 305 is configured to acquire the verification information, and match the pre-stored verification information in the verification information base; and the pre-stored verification information that matches the verification information acquired by the third obtaining unit 305 exists in the verification information database. The trigger comparison unit 302 performs the step of comparing the target information acquired by the first acquisition unit 301 with the pre-stored feature information in the feature information library.

[0098] Specifically, before the comparing unit 302 compares the target information with the pre-stored feature information in the feature information database, the third obtaining unit 305 is triggered to acquire the verification information.

[0099] As a possible implementation manner, the apparatus may further include:

[0100] The output unit 306 is configured to output prompt information for prompting the user whether to execute the first instruction. The executing unit 304 is further configured to: when the confirmation command for the prompt information output by the output unit 306 is detected,

, execute the first instruction.

[0101] Specifically, the second obtaining unit 303 acquires, according to the preset correspondence between the stored pre-stored feature information and the UAV control command, the first corresponding to the pre-stored feature information that is acquired by the first acquiring unit 301 and matches the target information. After the instruction, the output unit 306 outputs prompt information for prompting the user whether to execute the first instruction acquired by the second acquisition unit 303.

[0102] As a possible implementation manner, the comparing unit 302 may include:

[0103] The calculating unit 3021 is configured to calculate a matching degree between the target information acquired by the first acquiring unit 301 and each pre-stored feature information in the feature information library;

[0104] The arranging unit 3022 is configured to perform the descending order of the pre-stored feature information in the feature information database according to the matching degree calculated by the calculating unit 3021 to obtain a descending row list;

[0105] Specifically, when the verification information acquired by the third obtaining unit 305 exists in the verification information base, the calculating unit 3

021 calculating a matching degree between the target information and each pre-stored feature information in the feature information database;

[0106] The second obtaining unit 303 may further include:

[0107] The fourth obtaining unit 3031 is configured to obtain at least two pre-stored feature information arranged in the top row in the descending row list arranged by the arranging unit 3022;

[0108] The fifth obtaining unit 3032 is configured to acquire the drone control instruction corresponding to the at least two pre-stored feature information acquired by the fourth acquiring unit 3031, to obtain at least two instructions;

[0109] The determining unit 3033 is configured to determine, as the first instruction, the selecting operation of the second instruction of the at least two instructions acquired by the fifth obtaining unit 3032. [0110] Specifically, the executing unit 304 is configured to execute the first instruction determined by the determining unit 3033 to control the drone;

[0111] Specifically, the output unit 306 is configured to output prompt information for prompting the user whether to execute the first instruction determined by the determining unit 3033.

[0112] As a possible implementation manner, when the target information acquired by the first acquiring unit 301 is voice information, the device may further include:

[0113] a noise filtering unit 307, configured to filter out noise in the target information, to obtain target information after filtering the noise;

[0114] The comparing unit 302 is specifically configured to compare the filtered target information obtained by the filtering unit 307 with the pre-stored feature information in the feature information database.

[0115] Specifically, the calculating unit 3021 in the comparing unit 302 is configured to calculate the matching degree of the filtered noise target information obtained by the filtering unit 307 and each pre-stored feature information in the feature information library.

[0116] In the drone control device described in FIG. 4, target information is acquired, and the target information includes at least one of expression information, voice information, and gesture information; and the target information and the pre-stored feature information in the feature information database are performed. Comparing; when there is pre-stored feature information matching the target information in the feature information base, according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command, obtaining the corresponding corresponding to the pre-stored feature information matching the target information An instruction, wherein the drone control instruction includes a first instruction; the first instruction is executed to control the drone, and the drone control can be realized by collecting the expression information, the voice information, and the gesture information, thereby overcoming Over-reliance on the problem of the hand-controlled remote control or the mobile control terminal improves the human-computer interaction performance, thereby improving the diversity of drone control.

[0117] Please refer to FIG. 5. FIG. 5 is a schematic structural diagram of still another communication apparatus according to an embodiment of the present invention. As shown in FIG. 5, the communication device can include: at least one processor 501, such as a CPU, a memory 502, an information acquisition device 503, and at least one communication bus 504. The information acquiring device 503 may be at least one of a camera and a microphone. Among them, the communication bus 504 is used to implement connection communication between these components. The memory 502 may be a high speed RAM memory or a non-volatile memory such as at least one disk memory. The memory 502 can optionally include at least one storage device located remotely from the aforementioned processor 501. among them:

[0118] The information acquiring device 503 is configured to acquire target information, where the target information includes at least one of expression information, voice information, and gesture information; [0119] The processor 501 is configured to call the program code stored in the memory 502 to perform the following operations:

[0120] comparing the target information with the pre-stored feature information in the feature information library;

[0121] when there is pre-stored feature information matching the target information in the feature information base, according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command, acquiring pre-stored feature information corresponding to the target information a first instruction, wherein the drone control instruction includes a first instruction;

[0122] executing a first instruction to control the drone.

[0123] As a possible implementation, before the processor 501 compares the target information with the pre-stored feature information in the feature information library, the processor 501 is further configured to invoke the program code stored in the memory 502 to perform the following operations:

[0124] obtaining verification information, and matching with the pre-stored verification information in the verification information base;

[0125] When there is pre-stored verification information 匹配 matching the verification information in the verification information base, a step of comparing the target information with the pre-stored feature information in the feature information library is performed.

[0126] As a possible implementation manner, the processor 501, after acquiring the first instruction corresponding to the pre-stored feature information that matches the target information, according to the preset correspondence between the stored pre-stored feature information and the UAV control command, processing The 501 is further configured to call the program code stored in the memory 502 to perform the following operations:

[0127] outputting prompt information for prompting the user whether to execute the first instruction;

[0128] When the confirmation command for the prompt information is detected, the execution of the first instruction is executed.

[0129] As a possible implementation manner, comparing, by the processor 501, the target information with the pre-stored feature information in the feature information database specifically includes:

[0130] calculating a matching degree of the target information and each of the pre-stored feature information in the feature information database;

[0131] arranging the pre-stored feature information in the feature information library in descending order according to the matching degree to obtain a descending row list

[0132] wherein, when there is pre-stored feature information in the feature information database that matches the target information, the processor 501 acquires the target information according to the preset correspondence between the stored pre-stored feature information and the UAV control command. The first instruction corresponding to the pre-stored feature information further includes:

[0133] acquiring at least two pre-stored feature information arranged in the top row in the descending row list;

[0134] acquiring at least two unmanned machine control instructions corresponding to the pre-stored feature information to obtain at least two instructions; [0135] when detecting a selection operation of the second one of the at least two instructions, the processor 501 Second instruction Set as the first instruction.

[0136] As a possible implementation manner, when the target information is voice information, the processor 501 is further configured to invoke the program code stored in the memory 502 to perform the following operations:

[0137] filtering out noise noise in the target information to obtain target information after filtering the noise;

[0138] The comparing, by the processor 501, the target information with the pre-stored feature information in the feature information library includes: [0139] comparing the filtered target information with the pre-stored feature information in the feature information database.

[0140] In the drone control device described in FIG. 5, target information is acquired, and the target information includes at least one of expression information, voice information, and gesture information; and the target information and the pre-stored feature information in the feature information database are performed. Comparing; when there is pre-stored feature information matching the target information in the feature information base, according to the preset correspondence relationship between the stored pre-stored feature information and the UAV control command, obtaining the corresponding corresponding to the pre-stored feature information matching the target information An instruction, wherein the drone control instruction includes a first instruction; the first instruction is executed to control the drone, and the drone control can be realized by collecting the expression information, the voice information, and the gesture information, thereby overcoming Over-reliance on the problem of the hand-controlled remote control or the mobile control terminal improves the human-computer interaction performance, thereby improving the diversity of drone control.

[0141] A person of ordinary skill in the art may understand that all or part of the various methods of the foregoing embodiments may be completed by a program instructing related hardware, and the program may be stored in a computer readable storage medium, the storage medium It can include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disc.

The method and device for controlling the drone provided by the embodiment of the present invention are described in detail. The principle and the embodiment of the present invention are described in the following. The description of the above embodiment is only used to help understanding. The method of the present invention and its core idea; at the same time, those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and the scope of application, in summary, the contents of this specification are not It should be understood that the invention is limited.

technical problem

Problem solution

Advantageous effects of the invention

Claims

Claim

[Claim 1] A method for controlling a drone, comprising:

Obtaining target information, where the target information includes at least one of expression information, voice information, and gesture information; comparing the target information with pre-stored feature information in the feature information library; and presenting in the feature information database The pre-stored feature information matching the target information, the first instruction corresponding to the pre-stored feature information matching the target information is obtained according to the preset correspondence between the stored pre-stored feature information and the UAV control command, where Said drone control instruction comprising said first instruction;

The first instruction is executed to control the drone.

[Claim 2] The method according to claim 1, wherein the method further comprises: comparing the target information with the pre-stored feature information in the feature information database, the method further comprising:

Obtaining verification information, and matching with the pre-stored verification information in the verification information base; when there is pre-stored verification information matching the verification information in the verification information base, performing the pre-stored feature information in the target information and the feature information database The steps to compare.

[Claim 3] The method according to claim 1, wherein the pre-stored feature information matching the target information is obtained according to the preset correspondence between the stored pre-stored feature information and the UAV control command After the corresponding first instruction, the method further includes:

Outputting prompt information for prompting the user whether to execute the first instruction;

The first instruction is executed when a confirmation command for the prompt information is detected.

[Claim 4] The method according to claim 1, wherein the comparing the target information with the pre-stored feature information in the feature information database comprises: calculating the target information and the feature information database Matching degree of each pre-stored feature information in

Pre-storing the feature information in the feature information database in descending order according to the matching degree, To get a descending list;

The pre-stored feature information 与 matching the target information is stored in the feature information database, and the target information is obtained according to a preset correspondence between the stored pre-stored feature information and the UAV control command. The first instruction corresponding to the matched pre-stored feature information further includes:

Acquiring at least two pre-stored feature information arranged in the top row of the descending row list; acquiring the drone control commands corresponding to the at least two pre-stored feature information, to obtain at least two instructions;

When the selection operation of the second instruction of the at least two instructions is detected, the second instruction is determined as the first instruction.

[Claim 5] The method according to any one of claims 1 to 4, wherein, when the target information is voice information, the method further includes:

Filtering the noise in the target information to obtain target information after filtering the noise; wherein comparing the target information with the pre-stored feature information in the feature information database includes:

The target information after filtering the noise is compared with the pre-stored feature information in the feature information base.

[Claim 6] A drone control device, comprising:

a first acquiring unit, configured to acquire target information, where the target information includes at least one of expression information, voice information, and gesture information;

a comparing unit, configured to compare the target information acquired by the first acquiring unit with the pre-stored feature information in the feature information database;

a second obtaining unit, configured to: when the comparison result of the comparing unit is that the pre-stored feature information matching the target information exists in the feature information database, according to the stored pre-stored feature information and the pre-control of the drone control instruction Corresponding relationship, acquiring a first instruction corresponding to the pre-stored feature information that is matched by the first acquiring unit and matching the target information, where the The human machine control instruction includes the first instruction;

And an execution unit, configured to execute the first instruction acquired by the second obtaining unit to control the drone.

[Claim 7] The device according to claim 6, wherein the device further comprises:

a third obtaining unit, configured to acquire the verification information, and match the pre-stored verification information in the verification information base, and when the verification information library has the pre-stored verification information matched by the verification information acquired by the third obtaining unit, triggering the The comparing unit performs the step of comparing the target information with the pre-stored feature information in the feature information library.

[Claim 8] The device according to claim 6, wherein the device further comprises:

And an output unit, configured to output prompt information for prompting the user whether to execute the first instruction, where the executing unit is further configured to: when the confirmation instruction for the prompt information is detected, execute the first instruction.

[Claim 9] The device according to claim 6, wherein the comparing unit comprises:

a calculating unit, configured to calculate a matching degree between the target information acquired by the first acquiring unit and each pre-stored feature information in the feature information database;

An arranging unit, configured to perform pre-sequence sorting of the pre-stored feature information in the feature information base according to the matching degree calculated by the calculating unit, to obtain a descending row list;

The second obtaining unit further includes:

a fourth obtaining unit, configured to acquire at least two pre-stored feature information arranged in the top row in the descending row list of the permuting unit arrangement;

a fifth acquiring unit, configured to acquire a drone control instruction corresponding to the at least two pre-stored feature information acquired by the fourth acquiring unit, to obtain at least two instructions;

a determining unit, configured to determine the second instruction as the first instruction when detecting a selection operation of the second one of the at least two instructions. [Claim 10] The device according to any one of claims 6 to 9, wherein, when the target information acquired by the first acquiring unit is voice information, the device further includes:

a noise filtering unit, configured to filter out noise in the target information to obtain target information after filtering noise;

The comparing unit is specifically configured to compare the target information after filtering the noise obtained by the filtering unit with the pre-stored feature information in the feature information database.