WO2018137608A1

WO2018137608A1 - Method of controlling flight device, device, flight device, and system

Info

Publication number: WO2018137608A1
Application number: PCT/CN2018/073783
Authority: WO
Inventors: 王洁梅; 黄盈; 周大军; 朱传聪; 孙涛; 康跃腾; 张晓明; 张力
Original assignee: 腾讯科技（深圳）有限公司
Priority date: 2017-01-24
Filing date: 2018-01-23
Publication date: 2018-08-02

Abstract

A method of controlling a flight device, a device, a flight device, and a system. The method comprises: acquiring a user image (S100); identifying a user gesture in the user image (S110); determining, according to correspondences between respective predetermined user gestures and flight commands, a flight command corresponding to the user gesture (S120); and controlling according to the flight command a flight device to fly (S130). The solution can be utilized to control flight of a flight device using a user gesture, providing simple and easy flight control operations for the flight device.

Description

Aircraft flight control method, device, aircraft and system

This application is required to be submitted to the China Patent Office on January 24, 2017, the application number is 2017100603801, and the application name is “A Flight Path Control Method and Aircraft for an Aircraft” and the application is submitted to the Chinese Patent Office on January 24, 2017. No. 201710060176X, the entire disclosure of which is hereby incorporated by reference in its entirety in its entirety in its entirety in the the the the the the the the the

Technical field

This application relates to the field of aircraft technology.

Background technique

Aircraft such as drones are widely used in surveillance, security, aerial photography, etc. The flight control of aircraft is generally operated by users; currently, a mainstream flight control method is that the user conducts flight of the aircraft through a remote controller paired with the aircraft. control.

However, using the remote control for flight control of the aircraft requires the user to be familiar with the use of the remote control in order to perform more sophisticated and precise control of the flight of the aircraft, such as controlling the direction of the flight direction of the aircraft through the remote control or operating the joystick control. The flight direction of the aircraft. In this case, the user needs to be skilled in using the direction buttons or operating the joystick to perform more sophisticated and precise flight control of the aircraft. This results in flight control of the aircraft that is not convenient for most people.

Summary of the invention

Embodiments of the present application provide an aircraft flight control method, apparatus, aircraft, and system, which can more conveniently implement flight control of an aircraft.

In one aspect, the embodiment of the present application provides the following technical solutions:

An aircraft flight control method is applied to an aircraft, the method comprising:

Obtaining a user image;

Identifying a user gesture in the user image;

Determining, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture;

The aircraft is controlled to fly according to the flight instructions.

On the other hand, an embodiment of the present application further provides an aircraft flight control device, which is applied to an aircraft, where the aircraft flight control device includes:

An image acquisition module, configured to acquire a user image;

a gesture recognition module, configured to identify a user gesture in the user image;

a flight instruction determining module, configured to determine a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction;

A flight control module is configured to control aircraft flight according to the flight instruction.

In another aspect, an embodiment of the present application further provides an aircraft, including: an image acquisition device and a processing chip; and the processing chip includes the aircraft flight control device.

On the other hand, an embodiment of the present application further provides an aircraft flight control system, including: a ground image acquisition device and an aircraft;

The ground image acquisition device is configured to collect a user image and transmit it to the aircraft;

The aircraft includes a processing chip; the processing chip is configured to acquire a user image transmitted by the ground image capturing device; identify a user gesture in the user image; and determine a location according to a predefined correspondence between each user gesture and a flight instruction. Determining a flight instruction corresponding to the user gesture; controlling flight of the aircraft according to the flight instruction.

On the other hand, an embodiment of the present application further provides an aircraft flight control system, including: a ground image acquisition device, a ground processing chip, and an aircraft;

The ground image acquisition device is configured to collect a user image and transmit the image to a ground processing chip;

The ground processing chip is configured to acquire a user image transmitted by the ground image capturing device; identify a user gesture in the user image; and determine a flight corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction. Commanding; transmitting the flight instruction to the aircraft;

The aircraft includes a processing chip; the processing chip is configured to acquire the flight instruction, and control aircraft flight according to the flight instruction.

In another aspect, embodiments of the present application provide a computer readable storage medium comprising instructions that, when executed on a computer, perform the method described above.

In another aspect, embodiments of the present application provide a computer program product comprising instructions that, when executed on a computer, perform the method described above.

Based on the above technical solution, in the aircraft flight control method provided by the embodiment of the present application, the aircraft may acquire a user image, identify a user gesture in the user image, and determine the location according to a predefined correspondence between each user gesture and a flight instruction. The identified flight instruction corresponding to the user gesture controls the flight of the aircraft according to the flight instruction to implement flight control of the aircraft. The aircraft flight control method provided by the embodiment of the present application can control the flight of the aircraft by the user gesture, and the flight control operation of the aircraft is extremely convenient, and the flight control of the aircraft can be conveniently achieved.

DRAWINGS

1 is a schematic diagram of flight control of an aircraft provided by an embodiment of the present application;

2 is a schematic diagram of a user gesture control aircraft flight according to an embodiment of the present application;

3 is a schematic diagram of another flight control of an aircraft provided by an embodiment of the present application;

4 is a schematic diagram of still another flight control of the aircraft provided by the embodiment of the present application;

FIG. 5 is a flowchart of an aircraft flight control method according to an embodiment of the present application;

6 is another flowchart of an aircraft flight control method according to an embodiment of the present application;

FIG. 7 is still another flowchart of an aircraft flight control method according to an embodiment of the present application;

FIG. 8 is still another flowchart of an aircraft flight control method according to an embodiment of the present application;

FIG. 9 is a schematic diagram of a flight scenario of an aircraft according to an embodiment of the present application; FIG.

FIG. 10 is a schematic diagram of another flight scenario of an aircraft provided by an embodiment of the present application; FIG.

FIG. 11 is still another flowchart of an aircraft flight control method according to an embodiment of the present application;

FIG. 12 is still another schematic diagram of flight control of an aircraft provided by an embodiment of the present application; FIG.

FIG. 13 is another flowchart of a flight control method of an aircraft according to an embodiment of the present application;

14 is a flow chart of a method for determining a horizontal movement distance adjusted by an aircraft;

Figure 15 is a schematic diagram for determining the horizontal movement distance of the aircraft adjustment;

16 is a flow chart of a method for determining an adjusted vertical movement distance of an aircraft;

Figure 17 is a schematic diagram for determining the vertical movement distance adjusted by the aircraft;

FIG. 18 is another flowchart of a flight control method of an aircraft according to an embodiment of the present application;

Figure 19 is a diagram showing an example of flight path control of an aircraft;

FIG. 20 is another flowchart of a flight control method of an aircraft according to an embodiment of the present application;

FIG. 21 is a structural block diagram of an aircraft flight control apparatus according to an embodiment of the present application;

FIG. 22 is another structural block diagram of an aircraft flight control apparatus according to an embodiment of the present application;

23 is another structural block diagram of an aircraft flight control apparatus according to an embodiment of the present application;

FIG. 24 is another structural block diagram of an aircraft flight control apparatus according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

Different from the existing method for controlling the flight control of the aircraft by using the remote controller, the embodiment of the present application can control the flight of the aircraft by the user gesture, the aircraft can acquire the user image, and recognize the user gesture in the user image, thereby using the corresponding flight instruction of the user gesture. Flight control is carried out to achieve the purpose of facilitating flight control of the aircraft.

As shown in the flight control diagram of the aircraft shown in FIG. 1, the aircraft 1 may be provided with an image acquisition device 11 and a processing chip 12; the user may operate gestures around the aircraft, and the image acquisition device of the aircraft may collect user images in real time or at regular intervals, and transmit to the processing. a chip; the user image may include a user portrait and a background image;

The processing chip of the aircraft can identify a user gesture in the image of the user, and determine a flight instruction corresponding to the identified user gesture according to a predetermined correspondence between each user gesture and a flight instruction, thereby performing flight control with the determined flight instruction;

Table 1 below shows a correspondence between an optional user gesture and a flight instruction, and FIG. 2 shows a schematic diagram of a corresponding user gesture control aircraft flight, which can be referred to; it can be understood that Table 1 and Figure 2 show For the optional example only, the correspondence between the user gesture and the flight instruction can be defined according to actual needs;

手势gesture	飞行指令Flight instruction
掌心向外、五指直立向左Palms outward, five fingers upright to the left	向左飞行1秒Fly left for 1 second
掌心向外、五指直立向右Palms outward, five fingers upright to the right	向右飞行1秒Fly to the right for 1 second
掌心向外、五指直立向前Palms outward, five fingers upright	向上飞行1秒Fly up for 1 second
掌心向外、五指直立向后Palms outward, five fingers upright	向下飞行1秒Fly down for 1 second
拇指朝上手型Thumb up hand	连续左右连续2次2 consecutive times in a row
掌心向外的V字手型V-shaped hand with palm	顺时针自转1圈Rotate clockwise one turn
掌心向外的OK手型OK hand with palm out	悬停Hover

Table 1

The flight control diagram shown in FIG. 1 requires the aircraft to be able to capture the user image, so that the processing chip of the aircraft can recognize the user gesture in the user image, and perform flight control according to the corresponding flight instruction of the user gesture; this method requires the aircraft to fly in the user. Around the camera image can be captured, which limits the flight of the aircraft away from the user to perform aerial missions such as aerial photography.

Based on this, FIG. 3 shows another flight control schematic diagram under the flight control idea of the aircraft based on the user gesture. Referring to FIG. 3, the ground image acquisition device 2 disposed near the user can collect the user image and transmit it to the aircraft 1, the aircraft. The processing chip 12 acquires a user image collected by the ground image capturing device, and can identify a user gesture in the user image, and determines a flight instruction corresponding to the recognized user gesture according to a predetermined correspondence between each user gesture and a flight instruction, thereby determining according to the determination Flight instructions for flight control;

It can be seen that the embodiment of the present application can also collect user images through a terrestrial image acquisition device, and the terrestrial image acquisition device can adopt a General Packet Radio Service (GPRS), a micro air vehicle link protocol (Micro Air Vehicle Link, A wireless communication technology such as MAV Link) transmits the collected user image to the processing chip of the aircraft; thus, the processing chip of the aircraft can recognize the user gesture in the acquired user image, and perform flight control according to the corresponding flight instruction;

In this way, by using wireless communication technology, the user image is transmitted between the ground image acquisition device and the aircraft, the aircraft can fly away from the user, perform aerial missions and the like; further, as shown in FIG. 4, the image acquisition device 11 provided by the aircraft itself can collect. Performing a mission image for a flight mission such as aerial photography, and transmitting it to the user equipment 3 such as a user's mobile phone to display the task image collected by the aircraft to the user; meanwhile, the user can operate different gestures based on the displayed mission image to perform flight on the aircraft. The flight during the mission is controlled.

The aircraft flight control method provided by the embodiment of the present application is introduced below from the perspective of the aircraft, and the aircraft flight control method described below can refer to the above description.

FIG. 5 is a flowchart of a method for controlling flight of an aircraft according to an embodiment of the present disclosure. The method may be applied to an aircraft, and may be specifically applied to a processing chip of an aircraft. Referring to FIG. 5, the method may include:

Step S100: Acquire a user image.

Optionally, the user image may be acquired by an image acquisition device provided by the aircraft, that is, the processing chip of the aircraft may acquire a user image collected by the image acquisition device of the aircraft to obtain the image of the user;

Optionally, the user image may also be acquired by the ground image acquisition device, and the ground image acquisition device may transmit the collected user image to the processing chip of the aircraft through wireless communication technology to obtain the image of the user.

Step S110: Identify a user gesture in the user image.

In a possible implementation manner, the embodiment of the present application may identify a user gesture from the user image according to the skin color detection algorithm. Specifically, the embodiment of the present application may identify a human skin region in the user image according to the skin color detection algorithm. Extracting a user gesture area from the human skin area, matching the contour feature of the user gesture area with the preset contour features of each standard user gesture, and determining a standard user gesture with the highest matching degree with the contour feature of the user gesture area, The determined standard user gesture is thus used as a user gesture identified from the user image to enable recognition of the user gesture in the user image.

In another possible implementation manner, for each standard user gesture, the embodiment of the present application may also collect a large number of user images including standard user gestures, as image samples corresponding to each standard user gesture; thus, according to a support vector machine (Support Vector Machine, a machine training method such as SVM), which uses a sample of images corresponding to each standard user gesture to train a detector of each standard user gesture;

And the detector of each standard user gesture is used to detect the user image acquired in step S100, and the detection result of the user image by the detector of each standard user gesture is obtained, and the image from the user is determined according to the detection result of the user image. The user gesture identified in the middle implements recognition of a user gesture in the user image.

It is shown that the manner of recognizing the user's gesture from the user image is only optional. The embodiment of the present application may also adopt other schemes for recognizing the user's gesture from the user image.

Step S120: Determine, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture.

An optional example of the correspondence between each user gesture and the flight instruction may be as shown in Table 1. After the user gesture in the user image is recognized, according to a predefined correspondence between each user gesture and the flight instruction, A flight instruction corresponding to the identified user gesture is determined, thereby controlling the aircraft to fly with the determined flight instruction.

Optionally, if the identified user gesture, in the corresponding relationship between the predefined user gestures and the flight instruction, corresponding to the flight instruction, the flight instruction corresponding to the user gesture may be determined, and the subsequent The flight instruction controls the flight of the aircraft; if the identified user gesture, the correspondence between the predefined user gestures and the flight instruction does not correspond to a flight instruction, that is, the identified user gesture does not correspond to a flight instruction, The process can be ended without flight control of the aircraft.

Step S130, controlling the flight of the aircraft according to the flight instruction.

In the aircraft flight control method provided by the embodiment of the present application, the aircraft may acquire a user image, identify a user gesture in the user image, and determine, according to a predefined correspondence between each user gesture and a flight instruction, the identified user gesture correspondingly. The flight instruction controls the flight of the aircraft according to the flight instruction to achieve flight control of the aircraft. The aircraft flight control method provided by the embodiment of the present application can control the flight of the aircraft by the user gesture, and the flight control operation of the aircraft is extremely convenient, and the flight control of the aircraft can be conveniently achieved.

Optionally, the embodiment of the present application may identify a user gesture from the user image according to the skin color detection algorithm, and FIG. 6 is another flowchart of the aircraft flight control method provided by the embodiment of the present application, where the method may be applied. In the aircraft, specifically applicable to the processing chip of the aircraft, referring to FIG. 6, the method may include:

Step S200: Acquire a user image.

Optionally, the image capturing device such as the camera of the aircraft can collect the video frame in real time, obtain the collected user image, and transmit the user image collected in real time to the processing chip of the aircraft;

Optionally, the map image acquisition device can also collect video frames in real time, obtain the collected user images, and transmit the real-time collected user images to the processing chip of the aircraft through wireless communication technology.

Step S210: Identify a human skin area in the user image according to the skin color detection algorithm.

Optionally, the human skin area can be identified from the user image according to the Gaussian Mixture Model (GMM) model of the skin.

Step S220: Removing a face region in the human skin region to obtain a user gesture region.

Optionally, the embodiment of the present application may identify and remove the face region in the human skin region according to the face detection algorithm.

Optionally, after the face area is removed from the human skin area in the user image, the obtained user gesture area may only include the user's hand (eg, the user wears a tighter face, only the face and the hand are exposed), and may also include The user's arm (such as when the user wears a vest or short sleeve), the leg (such as when the user wears shorts), etc.; but after removing the face area from the human skin area in the user image, the remaining human skin area can be considered It is mainly a skin area of a human hand. Therefore, the human skin area of the user image in which the face area is removed from the user image can be directly used as the user gesture area.

Optionally, step S210 and step S220 illustrate an alternative manner of extracting a user gesture area from the user image by the skin color detection algorithm.

Step S230: Extract contour features of the user gesture area.

Step S240: Matching the contour feature of the user gesture area with the preset contour feature of each standard user gesture, and determining a standard user gesture with the highest degree of matching with the contour feature of the user gesture area, and obtaining the user from the user User gestures identified in the image.

After obtaining the user gesture area, the embodiment of the present application may extract the contour feature of the user gesture area, and match the contour feature of the user gesture area with the preset contour features of each standard user gesture to determine the highest matching degree. A standard user gesture that takes the determined standard user gesture with the highest degree of matching as the user gesture identified from the user image.

Optionally, step S230 to step S240 are performed, after extracting the user gesture area from the user image, identifying a user gesture corresponding to the extracted user gesture area based on the comparison with the contour feature of the standard user gesture, and obtaining the An optional way of user gestures in the user image.

Steps S210 to S240 can be considered as an alternative implementation of step S110 shown in FIG. 5.

Step S250: Determine, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture.

Step S260, controlling the flight of the aircraft according to the flight instruction.

Optionally, FIG. 6 illustrates that a user gesture area is identified from the user image according to a skin color detection algorithm, and then a standard user gesture corresponding to the user gesture area is matched with the contour feature to obtain a user gesture in the user image. The method needs to be established in the case where the user's hand is bare. Once the user wears the glove, the user's gesture area in the user image cannot be identified by the skin color detection algorithm;

Based on this, the embodiment of the present application can identify the connected area from the user image, match the contour feature of each connected area with the preset contour features of each standard user gesture, and identify the user gesture in the user image;

Optionally, FIG. 7 is still another flowchart of the aircraft flight control method provided by the embodiment of the present application. The method may be applied to an aircraft, and may be specifically applied to a processing chip of an aircraft. Referring to FIG. 7, the method may include:

Step S300: Acquire a user image.

Optionally, the implementation of step S300 may be referred to corresponding to step S200 shown in FIG. 6.

Step S310, extracting a connected area in the user image.

Optionally, the embodiment of the present application may extract all connected areas in the user image; or may remove the connected area in the user image after removing the face area after removing the face area from the user image.

Step S320: Extract contour features of each connected area.

Step S330: matching the contour features of each connected area with the preset contour features of each standard user gesture, determining a standard user gesture with the highest matching degree, and using the standard user gesture with the highest matching degree as the image from the user. The recognized user gesture.

In this embodiment, the contour features of each connected area are respectively matched with the contour features of each standard user gesture, and the contour features of each connected area are obtained, and the matching degree of the contour features of each standard user gesture is selected, and the matching degree is selected from the highest. A corresponding standard user gesture is taken as a user gesture identified from the user image.

Optionally, step S310 to step S330 show another optional implementation method for identifying a user gesture in the user image in step S110 shown in FIG. 5, and step S310 to step S330, the user may be performed without using the skin color detection algorithm. The recognition of the user's gesture in the image is performed by extracting the connected region in the user image, matching the contour features of the standard user gestures through the contour features of the connected region in the user image, and selecting the standard user gesture with the highest matching degree as the User gestures identified from the user image.

Step S340: Determine, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture.

Step S350, controlling the flight of the aircraft according to the flight instruction.

Optionally, the embodiment of the present application may also pre-train the detectors of each standard user gesture, and detect the user image by using a detector of each standard user gesture, and identify the detection result based on the detector of each standard user gesture. User gestures in the user image;

Optionally, for each standard user gesture, the embodiment of the present application may pre-collect a plurality of user images including standard user gestures as image samples corresponding to each standard user gesture; thus, for each standard user gesture corresponding image sample, according to the machine Training methods (SVM, etc.) to train detectors for standard user gestures;

After the detectors of the standard user gestures are obtained, the flight control of the aircraft can be implemented by the method shown in FIG. 8. FIG. 8 is still another flowchart of the aircraft flight control method provided by the embodiment of the present application, and the method can be applied to The aircraft, specifically applicable to the processing chip of the aircraft, referring to FIG. 8, the method may include:

Step S400: Acquire a user image.

Optionally, the implementation of step S400 may be referred to corresponding to step S200 shown in FIG. 6.

Step S410: Using the detectors of the standard user gestures, respectively detecting the user image, and obtaining a detection result of the user image by the detector of each standard user gesture.

Step S420: Determine a user gesture recognized from the user image according to the detection result of the user image.

The detection result of the user image by the detector of the standard user gesture may be that the user image is a standard user gesture corresponding to the detector, or the user image is not a standard user gesture corresponding to the detector; and the detection of each standard user gesture is analyzed. In the detection result of the user image, the embodiment of the present application may determine the detected user gesture in the user image, and implement the recognition of the user gesture in the user image.

Optionally, step S410 and step S420 show another optional implementation method for identifying a user gesture in the user image in step S110 shown in FIG. 5, and step S410 and step S420 may pass the pre-trained standard user gestures. The detector detects the user gesture identified in the user image.

Step S430: Determine a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction.

Step S440, controlling the flight of the aircraft according to the flight instruction.

Optionally, if the image of the user is acquired by the image capturing device of the aircraft, after the aircraft flies based on the corresponding flight instruction of the identified user gesture, the image capturing device of the aircraft may not be able to collect the user image; As shown in Figure 9, after the aircraft flies forward according to the identified user gesture, if the user moves forward without synchronization, the user will no longer be in the image acquisition range of the aircraft camera. At this time, the aircraft camera will not be able to collect. The user image, after which the flight control can no longer be performed by the user gesture in the user image; therefore, in the case that the user does not follow the synchronous movement of the aircraft, the image capturing device can still make the aircraft fly after the corresponding flight instruction according to the user gesture. The user image is collected, and the aircraft can control the image acquisition angle of the image acquisition device to adjust, so that the image acquisition device can still collect the user image;

Specifically, after the processing chip of the aircraft is controlled to fly by the flight instruction corresponding to the identified user gesture, the processing chip can control the image acquisition angle of the image capturing device to be adjusted, so that the user is within the image capturing range of the image capturing device; Optionally, the embodiment of the present application can adjust the image acquisition angle of the image acquisition device according to the flight direction and the flight distance of the aircraft; the adjustment ratio of the specific image acquisition angle and the flight direction and the flight distance may be according to the actual setting of the image acquisition device. set up;

Optionally, the image capturing device of the aircraft may have an angle adjusting mechanism, and the processing chip may control an angle of the adjusting angle adjusting mechanism to implement an adjustment of an image capturing angle of the image capturing device;

Optionally, if the user follows the aircraft synchronously moving, the image capturing angle of the image capturing device of the aircraft may not be adjusted, and the user may be moved by the user to keep the image capturing angle of the image capturing device unchanged. Within the image acquisition range of the device, the image acquisition device can still acquire the user image, and perform flight control based on the user gesture in the user image.

Obviously, if the image acquisition of the user is realized by the ground image acquisition device, the image acquisition device of the aircraft can perform the acquisition of the task image such as the aerial image, and the aircraft can not adjust the image collection of the image acquisition device after the flight according to the flight instruction. angle.

Optionally, there may be multiple users on the ground. After acquiring the user image, the aircraft may also have multiple user portraits in the user image. As shown in FIG. 10, multiple users making gestures exist on the ground at this time. The aircraft needs to determine the user's gesture based on the flight control; based on this, the embodiment of the present application can set a legitimate user to control the flight of the aircraft, and the flight control of the user's gesture based on the legal user of the aircraft can be preset. The user's face feature, after acquiring the user image (which may be collected by the image acquisition device of the aircraft or collected by the ground image acquisition device), may identify the user portrait region of the user image that matches the facial feature of the legitimate user. The user gesture is identified based on the user portrait area matching the facial features of the legitimate user, thereby ensuring that the aircraft can perform corresponding flight control by the user gesture of the legitimate user in the user image;

Optionally, FIG. 11 is still another flowchart of the aircraft flight control method provided by the embodiment of the present application. The method may be applied to an aircraft, and may be specifically applied to a processing chip of an aircraft. Referring to FIG. 11, the method may include :

Step S500: Acquire a user image.

Optionally, the implementation of step S500 may be referred to corresponding to step S200 shown in FIG. 6.

Step S510: Determine whether there is a face area matching the facial features of the legal user in the user image. If no, step S520 is performed, and if yes, step S530 is performed.

Optionally, the embodiment of the present application may identify a face region in the user image according to a face detection algorithm, obtain at least one face region, and respectively obtain the face features of each face region. The face features of the legal users are matched, and it is determined whether there is a face region in the user image that matches the face feature of the legitimate user.

Step S520, ending the process.

If there is no face area in the user image that matches the face feature of the legitimate user, it means that there is no portrait of the legitimate user in the user image, and the flight control of the aircraft cannot be performed based on the user gesture in the user image, and the current process can be ended. And waiting for the user image acquired in the next frame to arrive, and performing the processing of step S510 on the user image acquired in the next frame.

Step S530: Extract a user portrait corresponding to a face region of the user image that matches a facial feature of the legal user.

The extracted user portrait may be a portrait of a legitimate user in the user image (ie, a user corresponding to a face region in the user image that matches the facial feature of the legitimate user), and includes a body image of the legitimate user.

Step S540: Identify a user gesture in the user portrait.

Optionally, an implementation manner of identifying a user gesture in the user portrait may be referred to the corresponding part above.

Optionally, the embodiment of the present application may identify a user gesture in the user portrait according to the skin color detection algorithm, as shown in FIG. 6 . Specifically, the human skin region in the user portrait may be identified according to a skin color detection algorithm. Extracting a user gesture area from a human skin area, matching a contour feature of the user gesture area with a preset contour feature of each standard user gesture, and determining a standard user having the highest matching degree with the contour feature of the user gesture area Gesture, obtaining a user gesture recognized from the user portrait;

Optionally, the embodiment of the present application may also match the contour features of each standard user gesture according to the contour feature of the connected area in the user portrait, and identify the user gesture in the user portrait; And extracting the connected area in the user portrait, matching the contour feature of each connected area with the preset contour features of each standard user gesture, determining a standard user gesture with the highest matching degree, and matching the standard user with the highest matching degree Gesture as a user gesture recognized from the user portrait;

Optionally, the embodiment of the present application may also identify a user gesture in the user portrait by using a detector of each standard user gesture according to FIG. 8; specifically, a detector of each standard user gesture may be used, respectively The user portrait is detected, and the detection result of the user portrait by the detector of each standard user gesture is obtained, and the user gesture recognized from the user portrait is determined according to the detection result of the user portrait.

Step S550: Determine, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture.

Step S560, controlling the flight of the aircraft according to the flight instruction.

Obviously, the method shown in FIG. 11 uses a face detection algorithm to identify a user portrait of a legitimate user in a user image, thereby identifying a user gesture of the user portrait of the legitimate user, to control the aircraft to fly according to the corresponding flight instruction, only this A preferred embodiment of the flight control of an aircraft by applying an embodiment;

Optionally, if the image acquisition of the user image is implemented by using the ground image acquisition device, the embodiment of the present application can also be opened only by the legal user by limiting the ground image acquisition device (such as setting the password of the ground image acquisition device). The ground image acquisition device collects the user image of the legitimate user to control the flight of the aircraft; at this time, the aircraft can eliminate the step of judging the legitimate user based on the face detection algorithm.

Optionally, the embodiment of the present application can also be used to disperse the personnel and select a place with fewer personnel to maintain only the legal user on the flight scene of the aircraft, so that the aircraft can directly recognize the user gesture through the collected user image, and eliminate the user gesture. The step of judging a legitimate user based on a face detection algorithm.

Optionally, if the user image is collected by the ground image acquisition device, the present application may further set a ground processing chip that communicates with the ground image acquisition device, and the ground processing chip identifies the user gesture in the user image, and determines the user. a flight instruction corresponding to the gesture; the ground processing chip transmits the flight instruction to the processing chip of the aircraft through a wireless communication technology, and the processing chip of the aircraft controls the flight of the aircraft according to the flight instruction;

As shown in FIG. 12, after the ground image capturing device 2 collects the user image, it can be transmitted to the ground processing chip 4; the ground processing chip 4 can identify the user gesture in the user image, and the specific recognition manner can be as shown in FIG. 6 and FIG. The method shown in FIG. 8 and FIG. 11 is implemented. The ground processing chip 4 determines a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction, and transmits the flight instruction through a wireless communication technology. A processing chip for the aircraft 1; the processing chip of the aircraft 1 controls the flight of the aircraft in accordance with the flight instruction.

The aircraft flight control method provided by the embodiment of the present application can control the flight of the aircraft by the user gesture, and the flight control operation of the aircraft is extremely convenient, and the flight control of the aircraft can be conveniently achieved.

In the embodiment of the present application, the user may also wave the human hand through the agreed first gesture (the first gesture of the appointment is one of the predefined user gestures described above), and generate the motion with the first gesture. Gesture track

FIG. 13 is a flowchart of a flight control method for an aircraft provided by an embodiment of the present application. The method is applicable to an aircraft, and is specifically applicable to a processing chip of an aircraft. Referring to FIG. 13, the method may include:

Step S600: Acquire a user image.

In this embodiment, the user image can be collected by an image acquisition device provided by the aircraft for description.

Step S610: Identify a user gesture in the user image.

Step S620: Determine the position of the first gesture in the user image if the identified user gesture is a predetermined first gesture.

Optionally, the embodiment of the present application may detect the user image by using a pre-trained first gesture detector, and determine whether a first gesture exists in the user image to identify whether the user gesture in the user image is a first gesture; when it is recognized by the detector of the first gesture that the first gesture exists in the user image (ie, the user gesture in the user image is the first gesture), the first gesture may be determined in the user image a position in the user image; optionally, determining an area of the first gesture recognized by the detector of the first gesture in the image of the user, the position of the center point of the area in the user image, as the first gesture in the user image s position.

Optionally, the embodiment of the present application may also identify a human skin area in the user image according to the skin detection algorithm; remove the human face area from the human skin area, and obtain a user gesture area (because the naked skin of the human body is generally a face and a human hand) Therefore, the human skin area of the face area can be removed as the user gesture area; the contour feature of the user gesture area is matched with the contour feature of the predetermined first gesture, and the matching degree is used to determine whether the user image is There is a first gesture to identify whether the user gesture in the user image is the first gesture;

Optionally, if the contour feature of the user gesture area is matched with the contour feature of the predetermined first gesture by a predetermined first matching degree, determining that the user gesture in the user gesture area is the first gesture, that is, the A first gesture is present in the user image. Optionally, the embodiment of the present application may position the user gesture area in the image (optionally, the position of the center point of the user gesture area in the image), as the first gesture is in the The location in the user's image.

Optionally, the embodiment of the present application may also extract a connected area in the user image (preferably, extract each connected area of the user image after removing the face area), and set the contour feature of each connected area with the predetermined first gesture. The contour feature is matched, and the first gesture is determined in the user image by the matching degree to identify whether the user gesture in the user image is the first gesture;

If there is a connected area that matches the contour feature of the first gesture by a predetermined second matching degree, it may be determined that the first gesture exists in the user image, thereby the position of the connected area in the image (optionally, The position of the center point of the connected area in the image is the position of the first gesture in the user image; optionally, the first matching degree and the second matching degree may be the same or different, and may be different depending on the actual situation. set up.

It can be seen that the embodiment of the present application may first determine whether a user gesture exists in the user image, and whether the user gesture is a first gesture (may be determined by a detector of the first gesture, or may be a user gesture area, or a connected area and a The matching degree judgment of the contour feature of a gesture determines that the user gesture is present in the user image, and after the user gesture is the first gesture, the position of the first gesture in the user image may be determined.

Step S630: Adjust a flight attitude of the aircraft according to a position of the first gesture in the user image, so that the aircraft follows the gesture trajectory of the first gesture to fly.

After obtaining the position of the first gesture in the user image, the embodiment of the present application may determine, according to the location, an adjusted horizontal movement distance of the aircraft in the same horizontal motion direction as the gesture trajectory of the first gesture; Determining the vertical movement distance of the aircraft in the same vertical movement direction as the gesture trajectory of the first gesture; thereby adjusting the flight attitude of the aircraft with the determined horizontal movement distance and vertical movement distance, so that the first gesture is always The image capturing device is located in the image capturing field of view of the image capturing device. Optionally, by adjusting the flying posture of the aircraft, the first gesture is always located within the image capturing field of view of the image capturing device, so that the aircraft follows the first gesture. Gesture trajectory flight.

It can be seen that, for the user image of the first gesture collected by the image acquisition device, if the flight posture of the aircraft is adjusted by the position of the first gesture in the user image, the aircraft can perform the real-time according to the gesture trajectory of the first gesture of the user. The adjustment of the flight attitude enables the aircraft to fly following the gesture trajectory of the user's first gesture, enabling control of the flight path of the aircraft.

In the flight path control method of the aircraft provided by the embodiment of the present application, the processing chip of the aircraft may acquire a user image collected by the image capturing device of the aircraft, and identify a user gesture in the user image, if the identified user gesture is a predetermined a gesture of determining a position of the first gesture in the user image, and adjusting a flight attitude of the aircraft according to a position of the first gesture in the user image, so that the aircraft follows the first The gesture gesture trajectory flight realizes the control of the flight path of the aircraft. It can be seen that, in the embodiment of the present application, the user can operate the first gesture, so that the aircraft can adjust the flight attitude according to the position of the first gesture in the collected user image, so that the aircraft can follow the gesture trajectory of the user's first gesture. . The embodiment of the present application can control the flight path of the aircraft by the gesture track of the first gesture of the user, and conveniently realize the flight path control of the aircraft.

Optionally, FIG. 14 is a flowchart of a method for determining a horizontal movement distance adjusted by an aircraft according to a position of the first gesture in the user image, and the method is applicable to an aircraft, and specifically, to a processing chip of the aircraft. Referring to Figure 14, the method can include:

Step S700: Construct a horizontal axis coordinate with a line of sight range of the image capturing device of the aircraft in the horizontal axis direction, where the origin of the horizontal axis coordinate is the midpoint of the line of sight of the image capturing device in the horizontal axis direction.

As shown in FIG. 15 , taking the image acquisition device as a camera as an example, assume that point A is the position of the camera, AB and AC are the limits of the line of sight of the camera's horizontal axis (ie, the line of sight of the camera in the horizontal axis direction), and BMC is the ground. Then, BC is the horizontal axis coordinate constructed by the line of sight of the camera in the horizontal axis direction, and each point on the BC uniformly falls on the horizontal axis coordinate of the image captured by the camera; AM is the camera center line, and M is the camera in the horizontal direction. The midpoint of the line of sight in the axial direction is the origin of the horizontal axis coordinate, that is, the center of the BC line segment.

Step S710, determining a projection point of the position of the first gesture in the user image on the horizontal axis coordinate, and determining coordinates of the projection point on the horizontal axis coordinate.

After determining the position of the first gesture in the image, the embodiment of the present application may determine the position of the first gesture in the image, the projection point in the horizontal direction; as shown in FIG. 15 , the position of the first gesture in the image The projection point in the horizontal direction is the P point; the coordinate of the P point on the horizontal axis BC is the coordinate of the projection point on the horizontal axis.

Step S720, according to the length of the horizontal axis coordinate, the vertical height of the aircraft and the ground, the angle between the center line and the vertical direction of the image capturing device of the aircraft, the half angle of the viewing angle of the horizontal direction of the image capturing device, and the projection point The coordinates on the horizontal axis coordinate determine the horizontal moving distance of the aircraft.

As shown in Fig. 15, OA is the vertical height of the aircraft such as the drone from the ground; then OAM is the angle between the center line of the camera and the vertical direction, and BAM is the half angle of the angle of view of the horizontal axis of the camera, so that the first gesture is in the horizontal direction. The projection point P falls on the center point M of the image acquired by the camera, and the aircraft needs to adjust the horizontal movement distance of the MP; that is, the embodiment of the present application can adjust the flight posture of the aircraft so that the first gesture is located in the image collection field of the image acquisition device. center of;

Correspondingly, OAM can be set to β, BAM is α, the vertical height of the aircraft from the ground is H, the position of the first gesture in the user image, and the horizontal axis coordinate of the projection point on the horizontal axis coordinate is x, the horizontal axis coordinate The length (the length of the line of sight of the camera in the horizontal axis direction) is Lx, and the horizontal moving distance MP to be adjusted is Sx, and the horizontal moving distance that the aircraft needs to adjust can be determined according to the following formula:

Sx = (2 * x * H * tan α) / (Lx * cos β).

Optionally, the height data of the aircraft can be obtained by ultrasonic or barometer; the angle data can be set at a fixed angle as needed.

Optionally, the processing chip of the aircraft can acquire a user image of each frame collected in real time, determine the horizontal moving distance of the aircraft in real time based on the position of the first gesture in each frame of the user image, and then output a flight control instruction to the flight mechanism of the aircraft. The aircraft is enabled to adjust the determined horizontal movement distance in the same horizontal motion direction as the gesture trajectory of the first gesture, so that the aircraft can follow the gesture trajectory of the first gesture to fly in the same horizontal motion direction.

Optionally, FIG. 16 is a flowchart of a method for determining an adjusted vertical movement distance of an aircraft according to a position of the first gesture in the user image, and the method is applicable to an aircraft, and specifically applicable to an processing chip of the aircraft. Referring to Figure 16, the method can include:

Step S800, constructing a vertical axis coordinate with a line of sight range of the image capturing device of the aircraft in the longitudinal axis direction, and an origin of the vertical axis coordinate is a midpoint of the line of sight of the image capturing device in the longitudinal axis direction.

As shown in Fig. 17, taking the image acquisition device as a camera, let A point be the position of the camera, AB and AC are the limits of the vertical axis of the camera (that is, the line of sight of the camera in the vertical axis direction), then BC is The vertical axis coordinate constructed by the line of sight of the camera in the longitudinal direction; the dotted line AD is the center line of the camera, and D is the midpoint of the line of sight of the camera in the longitudinal direction, which is the origin of the vertical axis coordinate.

Step S810, determining a projection point of the position of the first gesture in the user image on the vertical axis coordinate, and determining coordinates of the projection point on the vertical axis coordinate.

After determining the position of the first gesture in the user image, the embodiment of the present application may determine a projection point of the position of the first gesture in the user image in the vertical direction, that is, a position of the first gesture in the user image, The projection point on the coordinate of the axis, as shown in Fig. 17, the position of the first gesture in the user image, the projection point in the vertical direction is P point; the coordinate of the P point on the vertical axis BC is the projection point on the vertical axis The coordinates on the top.

Step S820, according to the height of the vertical axis coordinate, the vertical height of the aircraft and the ground, the half angle of view of the vertical axis direction of the image capturing device, the angle difference between the inclination angle of the image capturing device and the half angle of view, and the projection point is The coordinates on the vertical axis coordinates determine the vertical movement distance of the aircraft.

As shown in Fig. 17, AO is the vertical height of the aircraft from the ground, OAD is the inclination of the camera, CAD is the half angle of the longitudinal direction of the camera, and the half angle of view of the longitudinal axis of the camera can be the half angle of the longitudinal direction of the camera; OAC is The angle difference between the OAD and the CAD angle; the height of the vertical axis coordinate can be determined according to the height of the image interface. For example, if the image is collected by 640*360 resolution, the height of the vertical axis coordinate can be 360, that is, according to the vertical axis of the interface. Height determines the height of the vertical axis coordinates;

In order for the projection point P to fall on the center point D of the image captured by the camera, the aircraft needs to adjust the vertical movement distance of the PD;

Correspondingly, AO can be set to H, CAD is θ, OAC is δ, vertical coordinate height is Ly, the position of the first gesture in the user image, and the vertical axis coordinate of the projection point on the vertical coordinate is y, The vertical movement distance that the aircraft needs to adjust is Sy, then the vertical movement distance that the aircraft needs to adjust can be determined according to the following formula:

Sy=H*(tan(δ+θ)-tan(δ+θ-arctan(2*y*tanθ/Ly)))).

Optionally, the processing chip of the aircraft can acquire a user image of each frame collected in real time, determine the vertical moving distance of the aircraft in real time based on the position of the first gesture in each frame of the user image, and then output a flight control instruction to the flight mechanism of the aircraft. The aircraft is allowed to adjust the determined vertical movement distance in the same vertical movement direction as the gesture trajectory of the first gesture.

Optionally, the horizontal moving distance and the vertical moving distance determined by the processing chip based on each frame image may be output through a flight control command, so that the aircraft adjusts the flying posture to achieve the same horizontal motion direction as the gesture trajectory of the first gesture. Adjusting the determined horizontal moving distance, and adjusting the determined vertical moving distance in the same vertical moving direction as the gesture trajectory of the first gesture, so that the aircraft can follow the gesture trajectory of the user's first gesture in real time to achieve the aircraft Control of the flight route.

Optionally, the embodiment of the present application may notify the aircraft to start and cancel the first gesture of following the user by the second gesture of the user, that is, when the aircraft flies without following the first gesture of the user, if the user is detected by the user image The second gesture, the aircraft can start to follow the first gesture of the user to fly; correspondingly, after the second gesture is operated, the user can switch the gesture trajectory operation by using the first gesture, so that the aircraft is based on the image of each frame of the user. a gesture position, adjusting the flight attitude, following the gesture trajectory of the first gesture; and when the user wants the aircraft to cancel the first gesture of following the user, the user can switch from the gesture trajectory of the first gesture to the second hand Potential, after the aircraft detects the second gesture of the user through the user image, the first gesture flight following the user may be cancelled;

Optionally, FIG. 18 is another flowchart of a method for controlling a flight path of an aircraft provided by an embodiment of the present application. The method is applicable to an aircraft, and specifically, to a processing chip of an aircraft. Referring to FIG. 18, the method may be include:

Step S900: Acquire a user image collected by the image collection device in real time.

Step S910: Identify a user gesture in the user image.

Optionally, for each captured user image, the embodiment of the present application may identify whether the user gesture in the user image is a predetermined first gesture or a predetermined second gesture, and perform different processing processes according to different recognition results. The instructions for performing different processing flows according to different user gestures identified in the user image may be referred to the following steps S920 to S940.

Optionally, for each captured user image, the embodiment of the present application may detect the user image by using a pre-trained first gesture detector and a second gesture detector, respectively, to determine that the user image exists. The first gesture is also the second gesture, or both the first gesture and the second gesture are absent.

Optionally, for each captured user image, the embodiment of the present application may also identify a human skin area in the user image by using a skin detection algorithm, and remove the human skin area of the face area as a user gesture area, respectively. A contour feature of the gesture and a contour feature of the second gesture are matched with the contour feature of the user gesture area to determine whether the first gesture or the second gesture exists in the user image, or neither the first gesture nor the second hand exists Optionally, if the contour feature of the user gesture area is matched with the contour feature of the first gesture by a predetermined first matching degree, it may be determined that the first gesture exists in the user image, otherwise, determining that the user image is not There is a first gesture; if the contour feature of the user gesture area is matched with the contour feature of the second gesture by a predetermined first matching degree, it may be determined that the second gesture exists in the user image, otherwise, the user image is determined There is no second gesture in it.

Optionally, for each captured user image, the embodiment of the present application may further extract a connected area in the user image, respectively, the contour feature of the first gesture and the contour feature of the second gesture, and the contour feature of each connected area. Performing a match to determine whether the first gesture or the second gesture exists in the user image, or neither the first gesture nor the second gesture exists; optionally, if there is a matching degree with the contour feature of the first gesture is higher than a predetermined one The connected area of the second matching degree may determine that the user gesture represented by the connected area is the first gesture, determining that the first gesture exists in the user image, otherwise determining that the first gesture does not exist in the user image; if the second hand exists If the matching degree of the contour feature is higher than the connected region of the predetermined second matching degree, determining that the user gesture represented by the connected region is the second gesture, determining that the second gesture exists in the user image, otherwise determining the user image There is no second gesture.

Optionally, the embodiment of the present application may first detect whether a first gesture exists in the user image, and if there is no first gesture in the user image, whether the second gesture is detected in the user image, or the user image may be detected first. Whether there is a second gesture, whether there is a first gesture in detecting the user image when there is no second gesture in the user image, and whether the first gesture or the second gesture is detected in the user image at the same time. .

Step S920: If the identified user gesture is a predetermined second gesture, and the aircraft does not currently enter the first mode, triggering the aircraft to enter a first mode, the first mode is used to indicate that the aircraft follows the user's first gesture. Gesture trajectory flight.

Step S930, if the identified user gesture is a predetermined first gesture, and the aircraft has entered the first mode, determining a position of the first gesture in the user image, according to the first gesture in the user The position in the image adjusts the flight attitude of the aircraft to cause the aircraft to follow the gesture trajectory of the first gesture.

Optionally, the execution of step S620 and step S630 shown in FIG. 13 may establish that the user gesture identified in the user image is the first gesture, and the aircraft has entered the first mode.

Step S940, if the identified user gesture is a predetermined second gesture, and the aircraft has entered the first mode, triggering the aircraft to exit the first mode, instructing the aircraft to cancel the gesture trajectory following the first gesture of the user. .

The embodiment of the present application may define a flight mode in which the aircraft follows the gesture trajectory of the first gesture of the user as the first mode. After the aircraft enters the first mode, the flight attitude may be adjusted based on the position of the first gesture in the user image to implement the following manner. The purpose of the first gesture of the gesture trajectory flight; and in the state where the aircraft does not enter the first mode, even if the first gesture exists in the captured user image, the aircraft does not adjust the flight based on the position of the first gesture in the user image. Gesture; therefore whether the aircraft enters the first mode is a precondition for whether the aircraft follows the gesture trajectory of the first gesture.

In the embodiment of the present application, the aircraft enters and exits the first mode, which is controlled by the second gesture of the user; if the aircraft does not currently enter the first mode, the second gesture of the user may trigger the aircraft to enter the first mode, so that The aircraft may adjust the flight attitude based on the position of the first gesture in the subsequently acquired user image; if the aircraft is currently entering the first mode, the second gesture of the user may trigger the aircraft to exit the first mode, such that the aircraft cancels the first following the user Gesture gesture track flying.

Based on FIG. 18, the manner in which the user controls the flight path of the aircraft may be:

In the initial state, the user makes a second gesture; after the aircraft recognizes the second gesture by the collected user image, the aircraft enters the first mode;

After the user makes the second gesture, the gesture is the first gesture, and the arm is swung by the first gesture; after the aircraft enters the first mode, the first gesture is recognized by the collected user image, and the first gesture is collected according to the first gesture. Position in each user image, adjusting the flight attitude, and achieving the purpose of the aircraft following the gesture trajectory of the first gesture;

When the user wants the aircraft to cancel following the first gesture flight, the gesture may be switched to the second gesture; after the aircraft recognizes the second gesture by the collected user image, the aircraft exits from the first mode, and no longer follows the gesture of the user's first gesture. Trajectory flight.

Taking the second gesture as a five-finger open gesture, the first gesture is an example of a fist-finger gesture, and FIG. 19 shows an example of a flight path control of the corresponding aircraft, as shown in FIG.

In an initial state in which the aircraft does not enter the first mode, if the aircraft detects that there is a five-finger open gesture in the captured user image, the aircraft enters the first mode;

After the aircraft enters the first mode, if the aircraft detects that there is a fist gesture in the captured user image, the position of the fist gesture in the user image may be adjusted, the flight attitude is adjusted, and the aircraft follows the gesture trajectory of the user's fist gesture;

After the aircraft enters the first mode, if the aircraft detects that there is a five-finger open gesture in the user image, the aircraft exits the first mode; optionally, the aircraft can hover at the current position.

It should be noted that, by the second gesture of the user described above, the aircraft is triggered to enter and exit the first mode, so that the aircraft performs or cancels the position according to the first gesture of the user in the user image, and the manner of adjusting the flight attitude. , only optional;

In the embodiment of the present application, when the first gesture is detected in the user image, the position of the first gesture in the user image is adjusted, and the flight attitude is adjusted to achieve the purpose of the aircraft following the gesture of the first gesture. Introducing the second gesture of the user to control the aircraft to perform or cancel the gesture trajectory following the first gesture; that is, the user can swing the arm directly through the first gesture when the aircraft is desired to fly according to the gesture trajectory of the first gesture, so that the aircraft follows the first Gesture flight without first making a second gesture; when the user wants the aircraft to cancel following the first gesture flight, the user can do so by not operating the first gesture.

Optionally, the embodiment of the present application may adopt a detector of the first gesture that is pre-trained, and the detector of the second gesture performs identification of the user gesture in the user image;

Optionally, for the first gesture such as a fist, the embodiment of the present application may collect a large number of gesture images of the first gesture and a background image of the first gesture, and extract features such as haar of the gesture image of each first gesture, and each first a haar feature of the background image of the gesture; a haar feature of the gesture image of the first gesture and a haar feature of the background image of the first gesture, using a machine training method such as cascade to generate a detector of the first gesture; the first gesture The detector may identify whether there is a first gesture in the collected user image, and determine a position of the first gesture in the user image when the first gesture exists in the user image;

Optionally, for the second gesture such as the five-finger opening, the embodiment of the present application may collect a plurality of gesture images of the second gesture and a background image of the second gesture, and extract a direction gradient of the gesture image of each second gesture. Features such as Histogram of Oriented Gradient (HOG), and HOG characteristics of the background image of each second gesture; HOG features of the gesture image according to the second gesture, and HOG features of the background image of the second gesture a training method using a support vector machine (SVM) to generate a second gesture detector; the second gesture detector can identify whether there is a second gesture in the collected user image, and When there is a second gesture in the user image, the location of the second gesture in the user image is determined.

Optionally, after the first gesture is recognized from the collected user image, and the area of the first gesture in the user image is determined, the position of the center point of the area in the user image may be used as the first gesture in the user image. Or the position in the user image; or a rectangular frame corresponding to the area in the user image, the position of the center point of the rectangular frame in the user image as the position of the first gesture in the user image; The determination of the position of the gesture in the user image may be the same; optionally, the manner of determining the position of the gesture in the user image described in this paragraph may be limited to the case of using the detector to recognize the user's gesture, and may also be applied to The situation of the user's gesture is recognized by the skin area in the user image, or the connected area.

Optionally, since there may be multiple users at the same time on the ground, after the aircraft acquires the user image, there may be multiple users in the user image that simultaneously make the first gesture or the second gesture. At this time, the aircraft needs to determine which user is based on the user. The gestures are used for flight control; based on this, the embodiment of the present application can set a legal user to control the flight of the aircraft, and the flight control of the user gesture based on the legal user is implemented in the embodiment of the present application. After acquiring the user image, the aircraft may determine whether there is a user face matching the facial feature of the legal user in the user image, so that when there is a user face matching the facial feature of the legal user in the user image, the user is based on the user a first gesture or a second gesture of a legitimate user in the image (a user whose face area matches a face feature of a legitimate user in the user image) performs flight control;

Correspondingly, before identifying the user gesture in the user image, the embodiment of the present application may first extract a face region in the user image, and determine whether there is a face matching the facial feature of the legal user in the extracted face region. a region, thereby identifying a user gesture of a legal user corresponding to a face region of the user image that matches a facial feature of the legal user;

Optionally, FIG. 20 is still another flowchart of a method for controlling a flight path of an aircraft provided by an embodiment of the present application. The method may be applied to an aircraft, and may be specifically applied to a processing chip of an aircraft. Referring to FIG. 20, the method may be include:

Step S1000: Acquire a user image collected by the image collection device.

In step S1010, it is determined whether there is a face area matching the facial features of the legal user in the user image. If not, step S1020 is performed, and if yes, step S1030 is performed.

Optionally, for each acquired user image, the embodiment of the present application may determine whether the user image has a face area of a legitimate user.

Step S1020, ending the process.

If there is no face area matching the facial features of the legitimate user in the current user image, it can be confirmed that there is no portrait of the legitimate user in the current user image, and the flight path control of the aircraft cannot be performed based on the current user image, and the end can be ended. The current process waits for the user image acquired in the next frame to arrive, and performs the processing of step S1010 on the user image acquired in the next frame.

Step S1030: Identify a user gesture corresponding to a face feature of a legitimate user in a user gesture in the user image.

Optionally, after determining that the face area of the user image matches the face feature of the legal user, the embodiment of the present application may extract the user figure corresponding to the face area in the user image, and identify the user of the user figure. Gestures enable recognition of user gestures by legitimate users in the user's image.

Step S1040: Determine the position of the first gesture in the user image if the identified user gesture is a predetermined first gesture.

Step S1050: Adjust a flight attitude of the aircraft according to a position of the first gesture in the user image, so that the aircraft follows the gesture trajectory of the first gesture to fly.

Obviously, the method for verifying whether a user has a legitimate user in the user image by using the face detection technology shown in FIG. 20 can also be applied to the method shown in FIG. 18; for each acquired user image shown in FIG. There is a face region matching the facial features of the legal user, and when the determination result is yes, the user face corresponding to the face feature of the legitimate user is identified in the user image corresponding to the user face, And follow-up processing.

The flight path control method of the aircraft provided by the embodiment of the present application can control the flight path of the aircraft through the gesture track of the first gesture of the user, and conveniently realize the flight path control of the aircraft.

The aircraft provided by the embodiments of the present application will be described below, and the aircraft contents described below may be referred to each other in correspondence with the above description.

The aircraft flight control device provided by the embodiment of the present application is introduced below by the angle of the user's gesture in the image of the user. The aircraft flight control device described below can be considered as the processing chip of the aircraft to implement the aircraft flight control method provided by the embodiment of the present application, and the functional module architecture required to be set; the aircraft flight control device described below can be described above. Corresponding reference.

FIG. 21 is a structural block diagram of an aircraft flight control device according to an embodiment of the present disclosure. The aircraft flight control device is applicable to an aircraft, and is specifically applicable to a processing chip of an aircraft. Referring to FIG. 21, the aircraft flight control device may include:

The image obtaining module 100 is configured to acquire a user image.

a gesture recognition module 200, configured to identify a user gesture in the user image;

The flight instruction determining module 300 is configured to determine a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction;

The flight control module 400 is configured to control the flight of the aircraft according to the flight instruction.

Optionally, the gesture recognition module 200 is configured to identify a user gesture in the user image, and specifically includes:

Identifying a human skin region in the user image according to a skin color detection algorithm;

Extracting a user gesture area from a human skin area;

Matching a contour feature of the user gesture area with a preset contour feature of each standard user gesture to determine a standard user gesture with the highest degree of matching with the contour feature of the user gesture area;

The determined standard user gesture is taken as the user gesture identified from the user image.

Optionally, the gesture recognition module 200 is configured to extract a user gesture area from the human skin area, and specifically includes:

The face area in the human skin area is removed to obtain a user gesture area.

Extracting a connected area in the user image;

Extracting contour features of each connected area;

Matching the contour features of each connected area with the preset contour features of each standard user gesture to determine the standard user gesture with the highest matching degree, and the standard user gesture with the highest matching degree as the user identified from the user image gesture.

Optionally, the gesture recognition module 200 is configured to extract the connected area in the user image, and specifically includes:

All connected areas in the user image are extracted, or connected areas in the user image after the face area is removed are extracted.

Optionally, FIG. 22 is another structural block diagram of the aircraft flight control device provided by the embodiment of the present application. As shown in FIG. 21 and FIG. 22, the aircraft flight control device may further include:

The training module 500 is configured to pre-collect a plurality of user images including standard user gestures as image samples corresponding to standard user gestures for each standard user gesture; and image samples corresponding to each standard user gesture, according to a machine training method, A detector for each standard user gesture.

Correspondingly, the gesture recognition module 200 is configured to identify a user gesture in the user image, and specifically includes:

Using the detectors of the standard user gestures, respectively detecting the user images, and obtaining detection results of the user images by the detectors of the standard user gestures;

A user gesture recognized from the user image is determined based on a detection result of the user image.

Optionally, the image obtaining module 100 is configured to acquire a user image, and specifically includes:

Obtaining a user image collected by the image acquisition device of the aircraft;

Alternatively, the user image collected by the ground image acquisition device is acquired.

Optionally, if the image acquisition module 100 acquires the user image collected by the image acquisition device of the aircraft, as shown in FIG. 23, another structural block diagram of the aircraft flight control device, as shown in FIG. 21 and FIG. 23, the aircraft flies. The control device may further include:

The angle adjustment module 600 is configured to adjust an image acquisition angle of the image capturing device of the aircraft after the aircraft is controlled to fly according to the flight instruction, so that the user is within the image collection range of the image capturing device.

Optionally, if the obtained user image includes multiple user portraits, the embodiment of the present application needs to identify a user portrait of a legitimate user, thereby implementing flight control of the aircraft based on a user gesture of the user portrait of the legitimate user;

Correspondingly, the gesture recognition module 200 is configured to extract a user gesture area from the human skin area, and specifically includes:

Determining whether there is a face area in the user image that matches a facial feature of the legal user;

And if there is a face region in the user image that matches a face feature of the legal user, extracting a user portrait corresponding to the face region of the user image that matches the face feature of the legal user;

A user gesture in the user portrait is identified.

Optionally, the manner in which the gesture recognition module 200 identifies the user gesture in the user portrait may be referred to the above description. Specifically, the gesture recognition module 200 is configured to identify the user gesture in the user portrait, and specifically includes:

Identifying a human skin area in the user portrait, extracting a user gesture area from the human skin area, matching a contour feature of the user gesture area with a preset contour feature of each standard user gesture, and determining the user a standard user gesture with the highest degree of contour feature matching of the gesture area, obtaining a user gesture recognized from the user portrait;

Or, extracting the connected area in the user portrait, matching the contour feature of each connected area with the preset contour features of each standard user gesture, determining a standard user gesture with the highest matching degree, and selecting the standard user with the highest matching degree. Gesture as a user gesture recognized from the user portrait;

Or, using the detector of each standard user gesture, respectively detecting the user portrait, obtaining a detection result of the user portrait by a detector of each standard user gesture, and determining, according to the detection result of the user portrait, from the User gestures identified in the user's portrait.

Optionally, FIG. 24 is another structural block diagram of the aircraft flight control device provided by the embodiment of the present application. As shown in FIG. 21 and FIG. 24, the aircraft flight control device may further include:

a gesture location determining module 700, configured to determine a location of the first gesture in the user image if the identified user gesture is a predetermined first gesture;

The flight control module 400 is further configured to adjust a flight attitude of the aircraft according to a position of the first gesture in the user image, so that the aircraft follows the gesture trajectory of the first gesture to fly.

Optionally, if the image acquisition module 100 acquires the user image collected by the image capturing device of the aircraft, the flight control module 400 is configured to adjust the aircraft according to the position of the first gesture in the user image. The flight posture specifically includes:

Determining, according to the position, an adjusted horizontal movement distance in the same horizontal motion direction as the gesture trajectory of the first gesture; and determining, according to the position, the same vertical motion direction of the aircraft as the gesture trajectory of the first gesture, Adjusted vertical movement distance;

The flight attitude of the aircraft is adjusted with the determined horizontal movement distance and vertical movement distance such that the first gesture is always within the image acquisition field of view of the image acquisition device.

The flight control module 400 is further configured to: if the recognized user gesture is a predetermined second gesture, and the aircraft does not currently enter the first mode, triggering the aircraft to enter the first mode, where the first mode is used to indicate The aircraft follows the gesture trajectory of the user's first gesture;

If the identified user gesture is a predetermined second gesture, and the aircraft has entered the first mode, triggering the aircraft to exit the first mode, instructing the aircraft to cancel the gesture trajectory following the first gesture of the user;

The flight control module 400 is configured to: if the identified user gesture is a predetermined first gesture, determine a location of the first gesture in the user image, specifically:

If the identified user gesture is a predetermined first gesture and the aircraft has currently entered the first mode, determining the location of the first gesture in the user image.

The gesture recognition module 200 is further configured to: before identifying the user gesture in the user image, determining whether there is a face region in the user image that matches a facial feature of the legal user;

The gesture recognition module 200 is configured to identify a user gesture in the user image, and specifically includes:

If there is a face region in the user image that matches the face feature of the legitimate user, the face region that matches the face feature of the legitimate user is identified in the user gesture corresponding to the user image.

The embodiment of the present application further provides an aircraft, the aircraft may include: an image capturing device and a processing chip; wherein the processing chip may include: the aircraft flight control device described above.

Optionally, the image capturing device of the aircraft can collect the image of the user, and correspondingly, the image acquiring module of the processing chip can acquire the image of the user collected by the image capturing device of the aircraft;

Optionally, the image acquisition module of the processing chip may also acquire the user image collected by the ground image acquisition device.

Optionally, the embodiment of the present application further provides an aircraft flight control system. As shown in FIG. 3, the aircraft flight control system may include: a ground image acquisition device and an aircraft;

Wherein, the ground image acquisition device is configured to collect a user image and transmit it to the aircraft;

The specific functional implementation of the processing chip of the aircraft can be described with reference to the corresponding section above.

Optionally, the embodiment of the present application further provides another aircraft flight control system. As shown in FIG. 12, the aircraft flight control system may include: a ground image acquisition device, a ground processing chip, and an aircraft;

Wherein, the ground image acquisition device is configured to collect user images and transmit to the ground processing chip;

a ground processing chip, configured to acquire a user image transmitted by the ground image capturing device; identify a user gesture in the user image; and determine a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction; Transmitting the flight instruction to the aircraft;

Optionally, the ground processing chip implements user gesture recognition, and a specific implementation manner of the flight instruction corresponding to the user gesture, and may refer to the processing chip of the aircraft described above to identify the user gesture, and determine the specific content of the flight instruction corresponding to the user gesture. .

The embodiment of the present application can control the flight of the aircraft by the user gesture, and the flight control operation of the aircraft is extremely convenient, and the purpose of the flight control of the aircraft can be conveniently achieved.

The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on differences from other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

A person skilled in the art will further appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software or a combination of both, in order to clearly illustrate the hardware and software. Interchangeability, the composition and steps of the various examples have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods to implement the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present application.

The steps of a method or algorithm described in connection with the embodiments disclosed herein can be implemented directly in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.

The above description of the disclosed embodiments enables those skilled in the art to make or use the application. Various modifications to these embodiments are obvious to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application is not limited to the embodiments shown herein, but is to be accorded the broadest scope of the principles and novel features disclosed herein.

Claims

An aircraft flight control method includes:

Obtaining a user image;

Identifying a user gesture in the user image;

Determining, according to a predefined correspondence between each user gesture and a flight instruction, a flight instruction corresponding to the user gesture;

The aircraft is controlled to fly according to the flight instructions.
The method of claim 1, the identifying a user gesture in the user image comprising:

Identifying a human skin region in the user image according to a skin color detection algorithm;

Extracting a user gesture area from a human skin area;

Matching a contour feature of the user gesture area with a preset contour feature of each standard user gesture to determine a standard user gesture with the highest degree of matching with the contour feature of the user gesture area;

The determined standard user gesture is taken as the user gesture identified from the user image.
The method of claim 2, the extracting the user gesture area from the human skin area comprises:

The face area in the human skin area is removed to obtain a user gesture area.
The method of claim 1, the identifying a user gesture in the user image comprising:

Extracting a connected area in the user image;

Extracting contour features of each connected area;

Matching the contour features of each connected area with the preset contour features of each standard user gesture to determine the standard user gesture with the highest matching degree, and the standard user gesture with the highest matching degree as the user identified from the user image gesture.
The method of claim 4, the extracting the connected area in the user image comprises:

Extract all connected areas in the user image, or extract connected areas in the user image after removing the face area.
The method of claim 1 further comprising:

For each standard user gesture, multiple user images containing standard user gestures are pre-acquired as image samples corresponding to each standard user gesture;

For each image sample corresponding to the standard user gesture, according to the machine training method, the detector of each standard user gesture is trained;

The identifying a user gesture in the user image includes:

Using the detectors of the standard user gestures, respectively detecting the user images, and obtaining detection results of the user images by the detectors of the standard user gestures;

A user gesture recognized from the user image is determined based on a detection result of the user image.
The method according to any one of claims 1 to 6, wherein the obtaining a user image comprises:

Obtaining a user image collected by the image acquisition device of the aircraft;

Alternatively, the user image collected by the ground image acquisition device is acquired.
The method of claim 7, wherein the acquiring the user image comprises: acquiring a user image collected by the image capturing device of the aircraft; the method further comprising:

After controlling the flight of the aircraft according to the flight instruction, the image acquisition angle of the image acquisition device of the aircraft is adjusted such that the user is within the image acquisition range of the image acquisition device.
The method of claim 1, the identifying a user gesture in the user image comprising:

Determining whether there is a face area in the user image that matches a facial feature of the legal user;

And if there is a face region in the user image that matches a face feature of the legal user, extracting a user portrait corresponding to the face region of the user image that matches the face feature of the legal user;

A user gesture in the user portrait is identified.
The method according to claim 9, wherein said identifying a user gesture in said user portrait comprises:

Identifying a human skin area in the user portrait, extracting a user gesture area from the human skin area, matching a contour feature of the user gesture area with a preset contour feature of each standard user gesture, and determining the user a standard user gesture with the highest degree of contour feature matching of the gesture area, obtaining a user gesture recognized from the user portrait;

Or, extracting the connected area in the user portrait, matching the contour feature of each connected area with the preset contour features of each standard user gesture, determining a standard user gesture with the highest matching degree, and selecting the standard user with the highest matching degree. Gesture as a user gesture recognized from the user portrait;

Or, using the detector of each standard user gesture, respectively detecting the user portrait, obtaining a detection result of the user portrait by a detector of each standard user gesture, and determining, according to the detection result of the user portrait, from the User gestures identified in the user's portrait.
The method of claim 1, after the identifying a user gesture in the user image, the method further comprising:

Determining a position of the first gesture in the user image if the user gesture is a predetermined first gesture;

Adjusting the flight attitude of the aircraft according to the position of the first gesture in the user image to cause the aircraft to follow the gesture trajectory of the first gesture.
The method according to claim 11, wherein the acquiring the user image comprises: acquiring a user image collected by the image capturing device of the aircraft; and adjusting the aircraft according to the position of the first gesture in the user image The flight attitude includes:

Determining, according to the position, an adjusted horizontal movement distance in the same horizontal motion direction as the gesture trajectory of the first gesture; and determining, according to the position, the same vertical motion direction of the aircraft as the gesture trajectory of the first gesture , adjusted vertical movement distance;

The flight attitude of the aircraft is adjusted with the determined horizontal movement distance and vertical movement distance such that the first gesture is always within the image acquisition field of view of the image acquisition device.
The method according to claim 12, wherein the acquiring the user image comprises: acquiring a user image collected by the image capturing device of the aircraft;

Then, according to the location, determining that the aircraft is in the same horizontal motion direction as the gesture trajectory of the first gesture, the adjusted horizontal moving distance includes:

Constructing a horizontal axis coordinate with a line of sight range of the image capturing device in a horizontal axis direction, where an origin of the horizontal axis coordinate is a midpoint of a line of sight of the image capturing device in a horizontal axis direction;

Determining a projection point of the position on a horizontal axis coordinate, and determining a coordinate of the projection point on the horizontal axis coordinate;

According to the length of the horizontal axis coordinate, the vertical height of the aircraft and the ground, the angle between the center line and the vertical direction of the image capturing device, the half angle of the viewing angle of the image capturing device in the horizontal axis direction, and the projection point in the The coordinates on the horizontal axis coordinates are used to determine the horizontal moving distance of the aircraft.
The method according to claim 12, wherein the acquiring the user image comprises: acquiring a user image collected by the image capturing device of the aircraft;

Then, according to the location, determining that the aircraft is in the same vertical motion direction as the gesture trajectory of the first gesture, the adjusted vertical movement distance includes:

Constructing a longitudinal axis coordinate with a line of sight range of the image capturing device in a longitudinal axis direction, the origin of the vertical axis coordinate being a midpoint of a line of sight of the image capturing device in a longitudinal axis direction;

Determining a projection point of the position on a coordinate of the longitudinal axis, and determining a coordinate of the projection point on the coordinate of the longitudinal axis;

a vertical height of the aircraft from the ground according to the height of the vertical axis coordinate, a half angle of view of the longitudinal axis of the image capturing device, an angle difference between the inclination of the image capturing device and the half angle of view, and the projection point is The coordinates on the vertical axis coordinates determine the vertical movement distance of the aircraft.
The method of claim 11, the identifying a user gesture in the user image comprising:

And detecting, by the detector of the first gesture that is pre-trained, the user image, and determining whether the first gesture exists in the user image;

Or, according to the skin detection algorithm, identifying a human skin region in the user image, removing the human face region from the human skin region, obtaining a user gesture region, and matching the contour feature of the user gesture region with the contour feature of the predetermined first gesture Determining, by matching degree, whether there is a first gesture in the user image;

Or, extracting the connected area in the user image, matching the contour feature of each connected area with the contour feature of the predetermined first gesture, and determining whether the first gesture exists in the user image by the matching degree.
The method of claim 15, the identified first user gesture being a predetermined first gesture comprises:

Identifying, by the detector of the pre-trained first gesture, that the first gesture exists in the user image;

Or, the contour feature of the user gesture area in the user image is matched with the contour feature of the predetermined first gesture by a predetermined first matching degree, and the first gesture is recognized in the user image;

Or, if there is a connected area in the user image that matches the contour feature of the first gesture by a predetermined second matching degree, it is recognized that the first gesture exists in the user image.
The method according to claim 15 or 16, wherein determining the location of the first gesture in the user image comprises:

Determining, in the user image, an area corresponding to the first gesture, where the center point of the area is in the user image, as a position of the first gesture in the user image;

Or determining an area of the first gesture in the user image, defining a rectangular frame whose edge corresponds to the area, and a position of the center point of the rectangular frame in the user image as a first gesture in the user image s position.
The method of claim 11, after the identifying a user gesture in the user image, the method further comprises:

If the identified user gesture is a predetermined second gesture, and the aircraft is not currently entering the first mode, triggering the aircraft to enter a first mode, the first mode being used to indicate a gesture trajectory of the aircraft following the first gesture of the user flight;

If the identified user gesture is a predetermined second gesture, and the aircraft has entered the first mode, triggering the aircraft to exit the first mode, instructing the aircraft to cancel the gesture trajectory following the first gesture of the user;

If the identified user gesture is a predetermined first gesture, determining the location of the first gesture in the user image includes:

If the identified user gesture is a predetermined first gesture and the aircraft has currently entered the first mode, determining the location of the first gesture in the user image.
The method of claim 18, the identifying a user gesture in the user image comprising:

The user image is detected by a detector of the first gesture that is pre-trained and a detector of the second gesture to identify a user gesture in the user image;

Or, according to the skin detection algorithm, identifying a human skin region in the user image, removing the human face region from the human skin region, obtaining a user gesture region, and respectively contouring the contour of the user gesture region with the contour feature of the predetermined first gesture, Matching a contour feature of the predetermined second gesture to identify a user gesture in the user image;

Or extracting a connected area in the user image, respectively matching the contour features of each connected area with the contour feature of the predetermined first gesture and the contour feature of the predetermined second gesture to identify the image in the user image User gestures.
The method of claim 11 or 18, further comprising:

Determining whether there is a face area in the user image that matches a facial feature of the legal user;

The identifying a user gesture in the user image includes:

If there is a face region in the user image that matches the face feature of the legitimate user, the face region that matches the face feature of the legitimate user is identified in the user gesture corresponding to the user image.
An aircraft flight control device is applied to an aircraft, the aircraft flight control device comprising:

An image acquisition module, configured to acquire a user image;

a gesture recognition module, configured to identify a user gesture in the user image;

a flight instruction determining module, configured to determine a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction;

A flight control module is configured to control aircraft flight according to the flight instruction.
The aircraft flight control device according to claim 21, further comprising:

a training module, configured to pre-collect a plurality of user images including standard user gestures as image samples corresponding to standard user gestures for each standard user gesture; and for each standard user gesture corresponding image sample, according to a machine training method, training each a detector for standard user gestures;

The gesture recognition module is configured to identify a user gesture in the user image, and specifically includes:

Using the detectors of the standard user gestures, respectively detecting the user images, and obtaining detection results of the user images by the detectors of the standard user gestures;

A user gesture recognized from the user image is determined based on a detection result of the user image.
The aircraft flight control device according to claim 21, wherein the gesture recognition module is configured to identify a user gesture in the user image, including:

Determining whether there is a face area in the user image that matches a facial feature of the legal user;

And if there is a face region in the user image that matches a face feature of the legal user, extracting a user portrait corresponding to the face region of the user image that matches the face feature of the legal user;

A user gesture in the user portrait is identified.
The aircraft flight control device according to claim 21, the aircraft flight control device further comprising a gesture position determining module, configured to determine that the first gesture is in the user if the recognized user gesture is a predetermined first gesture The position in the image;

The flight control module is further configured to adjust a flight attitude of the aircraft according to a position of the first gesture in the user image, so that the aircraft follows the gesture trajectory of the first gesture to fly.
The aircraft flight control device according to claim 24, wherein the image acquisition module is configured to acquire a user image collected by an image acquisition device of the aircraft;

The flight control module is configured to adjust a flight attitude of the aircraft according to a position of the first gesture in the user image, specifically:

Determining, according to the position, an adjusted horizontal movement distance in the same horizontal motion direction as the gesture trajectory of the first gesture; and determining, according to the position, the same vertical motion direction of the aircraft as the gesture trajectory of the first gesture, Adjusted vertical movement distance;

The flight attitude of the aircraft is adjusted with the determined horizontal movement distance and vertical movement distance such that the first gesture is always within the image acquisition field of view of the image acquisition device.
The aircraft flight control device according to claim 24, wherein the flight control module is further configured to:

If the identified user gesture is a predetermined second gesture, and the aircraft is not currently entering the first mode, triggering the aircraft to enter a first mode, the first mode being used to indicate a gesture trajectory of the aircraft following the first gesture of the user flight;

If the identified user gesture is a predetermined second gesture, and the aircraft has entered the first mode, triggering the aircraft to exit the first mode, instructing the aircraft to cancel the gesture trajectory following the first gesture of the user;

The flight control module is configured to determine a location of the first gesture in the user image if the identified user gesture is a predetermined first gesture, including:

If the identified user gesture is a predetermined first gesture and the aircraft has currently entered the first mode, determining the location of the first gesture in the user image.
The aircraft flight control device according to claim 24, wherein the gesture recognition module is further configured to: before identifying a user gesture in the user image, determining whether there is a facial feature of the legal user in the user image Matching face area;

The gesture recognition module is configured to identify a user gesture in the user image, including:

If there is a face region in the user image that matches the face feature of the legitimate user, the face region matching the face feature of the legitimate user is identified in the user gesture corresponding to the user image.
An aircraft characterized by comprising: an image acquisition device and a processing chip; the processing chip performing the aircraft flight control method according to any one of claims 1 to 20.
An aircraft flight control system, comprising:

Ground image acquisition device and aircraft;

The ground image acquisition device is configured to collect a user image and transmit it to the aircraft;

The aircraft includes a processing chip; the processing chip is used to:

Acquiring a user image transmitted by the ground image capturing device; identifying a user gesture in the user image; determining a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction; controlling according to the flight instruction Aircraft flying.
An aircraft flight control system, comprising: a ground image acquisition device, a ground processing chip and an aircraft;

The ground image acquisition device is configured to collect a user image and transmit the image to a ground processing chip;

The ground processing chip is used to:

Acquiring a user image transmitted by the ground image capturing device; identifying a user gesture in the user image; determining a flight instruction corresponding to the user gesture according to a predefined correspondence between each user gesture and a flight instruction; transmitting the flight instruction Giving the aircraft

The aircraft includes a processing chip; the processing chip is configured to acquire the flight instruction, and control aircraft flight according to the flight instruction.
A computer readable storage medium comprising instructions that, when executed on a computer, perform the method of claims 1 to 20.
A computer program product comprising instructions for performing the method of claims 1 to 20 when said computer program product is run on a computer.