WO2022193153A1 - Procédé et appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et support de stockage - Google Patents

Procédé et appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et support de stockage Download PDF

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Publication number
WO2022193153A1
WO2022193153A1 PCT/CN2021/081174 CN2021081174W WO2022193153A1 WO 2022193153 A1 WO2022193153 A1 WO 2022193153A1 CN 2021081174 W CN2021081174 W CN 2021081174W WO 2022193153 A1 WO2022193153 A1 WO 2022193153A1
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WIPO (PCT)
Prior art keywords
attitude
angle
axis
information
remote controller
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PCT/CN2021/081174
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English (en)
Chinese (zh)
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段武阳
商志猛
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深圳市大疆创新科技有限公司
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Priority to CN202180087702.6A priority Critical patent/CN116710870A/zh
Priority to PCT/CN2021/081174 priority patent/WO2022193153A1/fr
Publication of WO2022193153A1 publication Critical patent/WO2022193153A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present application relates to the technical field of somatosensory remote control, and in particular, to a control method, device and storage medium based on somatosensory remote control.
  • the absolute attitude of the somatosensory remote controller is obtained, and the absolute attitude of the somatosensory remote controller is mapped to the control command of the unmanned aerial vehicle.
  • the three-axis attitude yaw angle yaw, pitch angle, and roll angle roll of the somatosensory remote control can be obtained through typical angle rotation decomposition, such as ZYX Euler angle rotation; the attitude is mapped within a certain angle range, Obtain the corresponding stick quantity, and then convert the stick quantity into the corresponding unmanned aerial vehicle control command, so as to realize the control of the unmanned aerial vehicle.
  • mapping method is prone to serious roll, pitch, and yaw coupling phenomenon, which makes the unmanned aerial vehicle control command coupling serious, and causes the unmanned aerial vehicle to have a large error in the control, and the unintended user occurs. Movement, the user experience is poor.
  • the present application provides a control method, device and storage medium based on a somatosensory remote controller, which can reduce the coupling phenomenon of the control commands of the unmanned aerial vehicle and reduce the unintended motion of the user.
  • the present application provides a control method based on a somatosensory remote controller, comprising:
  • the control instruction is sent to the unmanned aerial vehicle, and the control instruction is used to instruct the unmanned aerial vehicle to perform a corresponding operation.
  • the present application provides a control device based on a somatosensory remote controller, the device comprising: a memory and a processor;
  • the memory is used to store instructions
  • the processor invokes the instructions stored in the memory to implement the following operations:
  • the control instruction is sent to the unmanned aerial vehicle, where the control instruction is used to instruct the unmanned aerial vehicle to perform a corresponding operation.
  • the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned somatosensory-based remote control control method.
  • the embodiments of the present application provide a control method, device and storage medium based on a somatosensory remote controller, to obtain first attitude information of a target attitude of the somatosensory remote controller; attitude change information between attitude information, determine the roll angle, pitch angle or yaw angle of the somatosensory remote controller corresponding to the attitude change information; generate control instructions according to the roll angle, pitch angle and yaw angle ; Send the control instruction to the unmanned aerial vehicle, and the control instruction is used to instruct the unmanned aerial vehicle to perform a corresponding operation.
  • the absolute attitude of the somatosensory remote controller is directly mapped to the control command of the unmanned aerial vehicle.
  • the pitch angle or yaw angle, but the roll angle, pitch angle or yaw angle of the somatosensory remote control is determined according to the attitude change information between the reference attitude and the target attitude of the somatosensory remote control, so the user intends to manipulate
  • the target posture of the somatosensory remote control caused by uncertainty can express the intention of the user's manipulation more clearly through the posture change between the reference posture of the somatosensory remote control which is also an absolute posture, so that it can mostly offset the user's manipulation.
  • Serious roll, pitch, yaw coupling phenomenon occurs due to uncertain intention, reduce or reduce the coupling phenomenon of UAV control instructions, reduce or reduce the control error of UAV, reduce or reduce the occurrence of unintended user unintended UAV Movement, increase user experience.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method based on a somatosensory remote controller of the present application
  • FIG. 2 is a schematic flowchart of another embodiment of a control method based on a somatosensory remote controller of the present application
  • Fig. 3 is the rotational decomposition schematic diagram of determining the roll angle in one embodiment of the control method based on the somatosensory remote controller of the present application;
  • FIG. 4 is a schematic flowchart of another embodiment of a control method based on a somatosensory remote controller of the present application
  • FIG. 5 is a schematic diagram of a rotation decomposition using tilt-torsion in an embodiment of a control method based on a somatosensory remote controller of the present application;
  • FIG. 6 is a schematic flowchart of another embodiment of a control method based on a somatosensory remote controller of the present application
  • FIG. 7 is a schematic flowchart of another embodiment of a control method based on a somatosensory remote controller of the present application.
  • FIG. 8 is a schematic structural diagram of an embodiment of a control device based on a somatosensory remote controller of the present application.
  • the absolute attitude of the somatosensory remote controller is mapped to the control command of the unmanned aerial vehicle.
  • the above-mentioned mapping method is prone to serious roll, pitch, and yaw coupling phenomenon, which makes the unmanned aerial vehicle control command coupling serious, and causes the unmanned aerial vehicle to have a large error in the control, and the unintended user occurs. Movement, the user experience is poor.
  • the embodiments of the present application provide a control method, device and storage medium based on a somatosensory remote controller, to obtain first attitude information of a target attitude of the somatosensory remote controller; attitude change information between attitude information, determine the roll angle, pitch angle or yaw angle of the somatosensory remote controller corresponding to the attitude change information; generate control instructions according to the roll angle, pitch angle and yaw angle ; Send the control instruction to the unmanned aerial vehicle, and the control instruction is used to instruct the unmanned aerial vehicle to perform a corresponding operation.
  • the absolute attitude of the somatosensory remote controller is directly mapped to the control command of the unmanned aerial vehicle.
  • the pitch angle or yaw angle, but the roll angle, pitch angle or yaw angle of the somatosensory remote control is determined according to the attitude change information between the reference attitude and the target attitude of the somatosensory remote control, so the user intends to manipulate
  • the target posture of the somatosensory remote control caused by uncertainty can express the intention of the user's manipulation more clearly through the posture change between the reference posture of the somatosensory remote control which is also an absolute posture, so that it can mostly offset the user's manipulation.
  • Serious roll, pitch, and yaw coupling phenomenon occurs due to uncertain intention, reduce or reduce the coupling phenomenon of UAV control commands, reduce or reduce the control error of UAV, reduce or reduce the occurrence of unintended user-intended UAV Movement, increase user experience.
  • FIG. 1 is a schematic flowchart of an embodiment of a control method based on a somatosensory remote controller of the present application.
  • the method includes: S101 , S102 , S103 and S104 .
  • S101 Acquire first posture information of the target posture of the somatosensory remote controller.
  • S103 Generate a control command according to the roll angle, pitch angle, and yaw angle.
  • S104 Send the control instruction to the unmanned aerial vehicle, where the control instruction is used to instruct the unmanned aerial vehicle to perform a corresponding operation.
  • the somatosensory remote controller can use the somatosensory technology to obtain the user's intention or predict the user's needs through the user's body movements (such as gesture operations), so as to realize the interaction between the user and the UAV in a more natural way, so that the user can interact with the UAV in a more natural way.
  • the somatosensory remote controller can use the somatosensory technology to obtain the user's intention or predict the user's needs through the user's body movements (such as gesture operations), so as to realize the interaction between the user and the UAV in a more natural way, so that the user can interact with the UAV in a more natural way.
  • the somatosensory remote controller can use the somatosensory technology to obtain the user's intention or predict the user's needs through the user's body movements (such as gesture operations), so as to realize the interaction between the user and the UAV in a more natural way, so that the user can interact with the UAV in a more natural way.
  • the target posture of the somatosensory remote controller may be the absolute posture of the somatosensory remote controller carrying the user's intention
  • the first posture information may be specific posture information of the target posture of the somatosensory remote controller.
  • the representation methods of attitude information include rotation vector, rotation matrix, quaternion, Euler angle and other rotation representation methods.
  • the specific posture information of the target posture may be the specific posture information represented by the above-mentioned various representation methods.
  • the reference posture of the somatosensory remote controller may be the absolute posture of the somatosensory remote controller serving as the target posture comparison reference.
  • the second posture information may be specific posture information of the reference posture of the somatosensory remote controller.
  • the specific attitude information of the reference attitude may be the specific attitude information represented by the above various representation methods.
  • the reference posture of the somatosensory remote control can be a preset posture, the posture of the somatosensory remote control in a certain state, the posture at a certain moment before the target posture, or the default initial posture of the somatosensory remote control. and many more.
  • the attitude difference between the target attitude and the reference attitude can offset the vague intentions of most users, and can show the user's intentions more clearly. Therefore, through the attitude between the second attitude information and the first attitude information
  • the change information can determine the roll angle, pitch angle or yaw angle of the somatosensory remote controller with more obvious and clear user intentions. Generate control instructions with more obvious and clear user intentions according to the roll angle, pitch angle and yaw angle with more obvious user intentions, and send the control instructions with more obvious and clear user intentions to the unmanned aerial vehicle.
  • the control instructions can instruct the UAV to perform more obvious and clear operations corresponding to the user's intention, so that it can mostly offset the more serious roll, pitch, and yaw coupling phenomena caused by the uncertainty of the user's manipulation intention, and reduce or reduce the Unmanned aerial vehicle control command coupling phenomenon, reduce or reduce the control error of the unmanned aerial vehicle, reduce or reduce the unintended movement of the unmanned aerial vehicle, and increase the user experience.
  • This embodiment of the present application acquires the first attitude information of the target attitude of the somatosensory remote control; according to the attitude change information between the second attitude information, which is the reference attitude of the somatosensory remote control, and the first attitude information, the corresponding position change information is determined.
  • the roll angle, pitch angle or yaw angle of the somatosensory remote controller generate control instructions according to the roll angle, pitch angle and yaw angle; send the control instructions to the unmanned aerial vehicle, and the control instructions use to instruct the UAV to perform corresponding operations.
  • the absolute attitude of the somatosensory remote controller is directly mapped to the control command of the unmanned aerial vehicle.
  • the pitch angle or yaw angle, but the roll angle, pitch angle or yaw angle of the somatosensory remote control is determined according to the attitude change information between the reference attitude and the target attitude of the somatosensory remote control, so the user intends to manipulate
  • the target posture of the somatosensory remote control caused by uncertainty can express the intention of the user's manipulation more clearly through the posture change between the reference posture of the somatosensory remote control which is also an absolute posture, so that it can mostly offset the user's manipulation.
  • Serious roll, pitch, and yaw coupling phenomenon occurs due to uncertain intention, reduce or reduce the coupling phenomenon of UAV control commands, reduce or reduce the control error of UAV, reduce or reduce the occurrence of unintended user-intended UAV Movement, increase user experience.
  • the embodiment of the present application determines the roll angle, pitch angle or yaw angle of the somatosensory remote controller through attitude change information, this makes the actual movement range of the user through the remote controller smaller under the same maximum attitude configuration, and the user More comfortable to operate.
  • the roll angle, pitch angle or yaw angle of the somatosensory remote controller is determined by the Euler angle rotation method. That is, S102, the roll angle and pitch of the somatosensory remote controller corresponding to the attitude change information are determined according to the attitude change information between the second attitude information serving as the reference attitude of the somatosensory remote controller and the first attitude information angle or yaw angle, which may include: determining the somatosensory remote controller corresponding to the attitude change information according to the attitude change information between the second attitude information and the first attitude information by means of Euler angle rotation the roll, pitch or yaw angle.
  • the Euler angle is a set of independent angular parameters used to determine the position of the rigid body rotating at a fixed point.
  • the rotation angle of the positive direction) the rigid body position is rotated at a fixed point, the attitude of the rigid body changes, and the coordinate system XYZ also changes synchronously.
  • the angle rotated around the X axis is the roll angle roll
  • the angle rotated around the Y axis is the pitch angle pitch
  • the angle rotated around the Z axis is the yaw angle yaw.
  • the attitude change information between the second attitude information and the first attitude information can be the attitude change information from the second attitude information to the first attitude information (that is, from the reference attitude to the target attitude, the angle obtained by the rotation direction can be specified as positive), it can also be the attitude change information from the first attitude information to the second attitude information (that is, from the target attitude to the reference attitude, the angle obtained by the rotation direction can be specified as negative, the roll angle of the somatosensory remote controller, The pitch angle or yaw angle can only take the angle value).
  • a common rotation direction from the reference pose to the target pose is generally used. That is, S102, the roll angle of the somatosensory remote controller corresponding to the attitude change information is determined according to the attitude change information between the second attitude information and the first attitude information through the Euler angle rotation method. , the pitch angle or the yaw angle, and may also include: rotating from the reference attitude to the target attitude by means of Euler angle rotation, and determining the roll according to the attitude change information from the second attitude information to the first attitude information angle, pitch, or yaw.
  • the manner of determining the roll angle roll may be:
  • S102 the rotation from the reference attitude to the target attitude by means of Euler angle rotation, and determining the roll angle, pitch angle or yaw angle according to attitude change information from the second attitude information to the first attitude information , and may also include: S102A1 and S102A2, as shown in FIG. 2 .
  • S102A1 Rotate around the X-axis for the first time from the reference attitude to the target attitude, and determine an intermediate angle corresponding to the first rotation around the X-axis.
  • S102A2 Use an intermediate angle corresponding to the first rotation around the X axis as the roll angle.
  • the first rotation when rotating from the reference attitude to the target attitude, the first rotation is around the X axis (the X axis corresponding to the reference attitude), and the second and third rotations may be the second rotation around the intermediate attitude.
  • the Y axis (the corresponding Y axis in the intermediate posture) rotates, and the third time rotates around the Z axis in the target posture (the corresponding Z axis in the target posture), or it can be rotated around the Z axis in the intermediate posture for the third time.
  • sub-step S102A1 since the XYZ rotation sequence is more in line with the user's operating habits, sub-step S102A1, the first rotation around the X axis is rotated from the reference attitude to the target attitude, and the intermediate angle corresponding to the first rotation around the X axis is determined, It can also include: rotating from the reference attitude to the target attitude according to the rotation sequence of the X axis under the reference attitude, the Y axis under the intermediate attitude, and the Z axis under the target attitude, and determining the intermediate angle corresponding to the rotation around the X axis under the reference attitude; , S102A2, taking the middle angle corresponding to the first rotation around the X-axis as the roll angle, may further include: taking the middle angle corresponding to the rotation around the X-axis under the reference attitude as the roll angle .
  • the coordinate system corresponding to the reference attitude of the somatosensory remote controller is marked with xyz (see D in Figure 3); the coordinate system corresponding to the target attitude is marked with x"y"z" (see E in Figure 3) .
  • Rotate from the reference attitude to the target attitude take the X-axis direction corresponding to the reference attitude as the first rotation, and perform three rotation decompositions in the order of XYZ (roll, pitch, yaw) rotation, and only select the decomposed first time around the X-axis
  • the middle angle obtained by the direction rotation is used as the original roll angle roll (the original roll angle roll can be mapped as the roll amount), and the middle angle corresponding to the remaining two rotations is discarded.
  • the above XYZ rotation order may refer to obtaining x"y
  • the attitude of the "z" coordinate system relative to the xyz coordinate system the xyz coordinate system is revolved around the x-axis (the corresponding x-axis in the reference attitude, see A in Figure 3), the y' axis (the corresponding coordinate system x'y in the intermediate attitude)
  • the z" axis the corresponding z" axis in the target attitude, see C in Figure 3
  • the intermediate angles ⁇ , ⁇ Only the intermediate angle ⁇ of the first rotation around the x-axis is retained as the roll angle roll.
  • the manner of determining the pitch angle pitch may be:
  • S102 the rotation from the reference attitude to the target attitude by the Euler angle rotation method, according to the attitude change information from the second attitude information to the first attitude information, determine the roll angle, the pitch angle or the yaw angle, and also It can include: S102B1 and S102B2, as shown in FIG. 4 .
  • S102B1 Rotate around the Y-axis for the first time from the reference attitude to the target attitude, and determine an intermediate angle corresponding to the first rotation around the Y-axis.
  • the first rotation when rotating from the reference attitude to the target attitude, the first rotation is around the Y axis
  • the second and third rotations may be the second rotation around the X axis in the intermediate attitude, and the third rotation around the target.
  • the Z-axis rotation in the attitude can also be the second rotation around the Z-axis in the intermediate attitude, and the third rotation around the X-axis in the target attitude.
  • only the intermediate angle corresponding to the first rotation around the Y axis is retained, and the intermediate angle corresponding to the first rotation around the Y axis is used as the pitch angle pitch.
  • the first rotation around the Y axis is rotated from the reference attitude to the target attitude, the intermediate angle corresponding to the first rotation around the Y axis is determined, and the It can include: rotating from the reference attitude to the target attitude according to the rotation sequence of the Y-axis under the reference attitude, the X-axis under the intermediate attitude, and the Z-axis under the target attitude, and determining the intermediate angle corresponding to the rotation around the Y-axis under the reference attitude; at this time, S102B2, using the intermediate angle corresponding to the first rotation around the Y axis as the pitch angle, and may further include: using the intermediate angle corresponding to the rotation around the Y axis under the reference attitude as the pitch angle.
  • the reference attitude to the target attitude three rotations are decomposed according to the YXZ (pitch, roll, yaw) rotation sequence with the Y-axis direction as the first rotation, and only the decomposed first rotation around the Y-axis direction is selected.
  • the obtained intermediate angle is used as the original pitch angle pitch (the original pitch angle pitch can be mapped to the pitch rod amount), and the intermediate angles corresponding to the remaining two rotations are discarded.
  • the roll angle and pitch angle of the somatosensory remote control can take the above-mentioned intermediate angle of only the first rotation around the axis as the roll angle and pitch angle corresponding to the first rotation around the axis, that is, according to this
  • the decomposition method of multiple independent rotations has a low degree of coupling of roll, pitch, and yaw in different directions, and does not depend on the sequence of different rotations.
  • a fixed rotation decomposition method such as (XYZ) is adopted, it will not match the rotation order of the user, which will bring more coupling rods; Dependency on the order of user rotation operations.
  • the amount of coupled roll obtained by decomposing the pitch is smaller, and the amount of additional coupled pitch superimposed on the existing pitch when rolling is smaller.
  • the pitch and/or roll direction may correspond to the tilt direction Tilt
  • the yaw direction may correspond to the twist direction Torsion. Since the control of the UAV's yaw direction (Torsion) takes more than ten times longer than the control of the pitch and/or roll direction (Tilt), in the UAV's attitude loop control framework, For the expected attitude angle, Torsion's control strategy is more efficient after Tilt is prioritized.
  • the roll angle, pitch angle or yaw angle of the somatosensory remote controller is determined by a tilt-twist rotation manner. That is, S102, the roll angle and pitch of the somatosensory remote controller corresponding to the attitude change information are determined according to the attitude change information between the second attitude information serving as the reference attitude of the somatosensory remote controller and the first attitude information angle or yaw angle, and may also include: determining the somatosensory corresponding to the attitude change information according to the attitude change information between the second attitude information and the first attitude information through a tilt-torsion rotation method The roll, pitch or yaw angle of the remote control.
  • tilt-torsion rotation sequence of tilt-torsion (ie, tilt-torsion) is first explained below.
  • the first step is tilt rotation (the rotation process from A to B as shown in Figure 5), and the xy plane of the coordinate system xyz is rotated around a space rotation axis by an angle ⁇ , so that the xy plane of the coordinate system xyz is the same as the coordinate system.
  • the x'y' planes of x'y'z' coincide.
  • This space rotation axis is a vector, the space rotation axis is perpendicular to the plane composed of zz', and this space rotation axis vector is projected to the xy plane, and the direction and size of the projection are the middle angle of tilt, with tilt_x components (ie roll component) and tilt_y component (ie, pitch component).
  • tilt_x components ie roll component
  • tilt_y component ie, pitch component
  • the intermediate angle obtained by rotating around the z' axis this time is the intermediate angle of the torsion, and the intermediate angle of the torsion is the yaw component of the yaw angle.
  • a tilt-torsion sequence decomposition is completed, and the intermediate angle of tilt and torsion can be obtained by solving.
  • the reference posture When specifically decomposing the tilt-torsion order, the reference posture can be rotated to the target posture according to the till-torsion rotation order, or the target posture can be rotated to the reference posture according to the till-torsion rotation order (the obtained tilt and torsion intermediate angle Negative, that is, the tilt and torsion intermediate angles corresponding to the rotation of the reference pose to the target pose).
  • a commonly used rotation direction is used to rotate the reference posture to the target posture according to the till-torsion rotation sequence. That is, S102, the roll of the somatosensory remote controller corresponding to the attitude change information is determined according to the attitude change information between the second attitude information and the first attitude information through the tilt-torsion rotation method.
  • angle, pitch angle, or yaw angle may also include: rotating from a reference attitude to a target attitude through a tilt-twist rotation, and determining the roll, pitch or yaw.
  • the unmanned aerial vehicle may still exhibit yaw motion unintended by the user.
  • the way to determine the yaw angle yaw can be through the tilt-torsion rotation method, and the decomposed torsion intermediate angle is used as the original yaw angle yaw, and the original yaw angle yaw can be mapped to the yaw rod amount.
  • the tilt-torsion rotation method is used for decomposition.
  • the user holds the somatosensory remote controller to pitch before tilting and then roll to the left as an example
  • the manner of determining the yaw angle yaw may be:
  • S102 Rotate from a reference attitude to a target attitude in a tilt-torsion rotation manner, and determine the roll angle, pitch angle or yaw according to attitude change information from the second attitude information to the first attitude information
  • the corners may also include: S102C1, S102C2 and S102C3, as shown in FIG. 6 .
  • S102C1 Perform tilt rotation from the reference posture to the intermediate posture.
  • S102C2 Rotate around the Z axis to the target posture in the intermediate posture, and determine an intermediate angle corresponding to the rotation around the Z axis in the intermediate posture, wherein the Z axis in the intermediate posture coincides with the Z axis in the target posture.
  • tilt rotation that is, tilt rotation
  • a space rotation axis to an intermediate attitude, which can make the xy plane of the coordinate system xyz corresponding to the reference attitude and the coordinate system x'y corresponding to the intermediate attitude.
  • the x'y' planes of 'z' coincide.
  • the axis of rotation of the space is perpendicular to the plane formed by zz'.
  • the reference posture includes an initial posture of the somatosensory remote controller.
  • the method may further include: recording the initial posture of the somatosensory remote controller.
  • the somatosensory remote control can be set to a locked state (or also includes a semi-locked state) and an unlocked state.
  • the unmanned aerial vehicle is controlled by the strategy in the method of the embodiment of the present application (for example, when the unmanned aerial vehicle flies normally in the air, the somatosensory remote control is usually set in an unlocked state);
  • the strategy in the method of the embodiment of the present application is no longer used to control the UAV, but another processing strategy or control strategy is adopted to better meet the requirements of operational safety ( For example, when the UAV stops propellers on the ground, brakes and hovers in the air, etc., the somatosensory remote control is usually set in a locked or semi-locked state).
  • the acquiring the first posture information of the target posture of the somatosensory remote controller may include: when the somatosensory remote controller is in an unlocked state, acquiring the first posture information of the target posture of the somatosensory remote controller.
  • the method may further include: when the somatosensory remote control enters an unlocked state from a locked state or a semi-locked state, recording the current posture of the somatosensory remote control; Use the recorded current pose as the initial pose of the somatosensory remote.
  • the method may further include: S105 , S106 , S107 and S108 .
  • S106 Decompose the current posture through a tilt-torsion rotation method to obtain a tilt vector.
  • S107 Determine the roll angle or pitch angle of the somatosensory remote controller at the current attitude according to the tilt vector, and set the yaw angle of the somatosensory remote controller at the current attitude to zero.
  • S108 Send the roll angle or pitch angle of the somatosensory remote controller at the current posture to the display terminal, so that the display terminal displays the roll angle or pitch angle of the somatosensory remote controller at the current posture.
  • the tilt-torsion rotation sequence is directly used to decompose the current posture of the somatosensory remote control; ;Because the current posture used is an absolute posture, the somatosensory remote control can be oriented in any direction. If the absolute yaw is converted into the yaw rod value at this time, it may bring a larger yaw rod value. This value is meaningless.
  • the lever amount is reset to zero; after entering the unlocked state, it will take the entering attitude as the initial attitude (as the reference attitude), and perform the conversion of yaw and yaw lever amount.
  • the somatosensory remote control may be in any orientation (absolute heading is not 0) when pitching forward, such as leaning forward towards the due east, at this time decomposition
  • the output component may also have a larger roll component; it will cause confusion to the user when the display terminal (such as the app or glasses side of the user terminal) is displayed in real time; in the semi-locked/locked state, when the absolute pose is used for decomposition, Using the tilt-torsion order decomposition directly can avoid the above problems. After decomposing, discard the middle angle of torsion. At this time, the tilt is completely unaffected by the orientation of the remote controller. When tilting forward at any course, it corresponds to the pitch component, and the right tilt corresponds to the roll component.
  • the roll angle roll can be adopted: the first rotation around the X axis rotates from the reference attitude to the target attitude, and the The intermediate angle corresponding to the first rotation around the X axis is used as the roll angle;
  • the pitch angle pitch can be used: the first rotation around the Y axis is rotated from the reference attitude to the target attitude, which will be the same as the first rotation around the Y axis.
  • the intermediate angle corresponding to the rotation of the Y-axis is used as the pitch angle; the yaw angle yaw can be adopted: rotate from the reference attitude to the target attitude, perform tilt rotation to the intermediate attitude, rotate around the Z axis to the target attitude under the intermediate attitude, and the intermediate attitude
  • the lower Z-axis coincides with the Z-axis in the target attitude, and the intermediate angle corresponding to the rotation around the Z-axis in the intermediate attitude is taken as the yaw angle.
  • the original rod quantities converted from the above roll angle, pitch angle and yaw angle need to be processed by dead zone, exp, filtering, and maximum angle amplitude mapping.
  • mapping the maximum angle amplitude for example, the maximum angle range in the roll direction is configured as [-20, 25] degrees, when the original roll amount is -20, the mapping lever is -1, and when the original roll amount is 25, the mapping lever The amount is 1.
  • the mapping allows the positive and negative directions to be configured with different maximum angle sizes, which are used to deal with the asymmetry of wrist movements in different directions. For example, the angle of wrist lift is significantly lower than the maximum angle of wrist down.
  • the dead zone configuration is allowed, and the human hand cannot hold it and keep it in an absolute posture.
  • the wrist holding posture when the wrist holding posture is near the neutral position, it can output 0 sticks, which corresponds to the control of the UAV hovering or maintaining the posture horizontally. instruction.
  • the throttle stick quantity is directly sampled and post-processed as the final stick quantity; then the stick quantity shielding strategy is used to perform related shielding and zeroing processing.
  • FIG. 8 is a schematic structural diagram of an embodiment of a control device based on a somatosensory remote controller of the present application.
  • the control device in this embodiment can be integrated with the somatosensory remote controller, or can be set separately from the somatosensory remote controller. It should be noted that the control device of this embodiment can perform the operations in the above-mentioned control method based on a somatosensory remote controller.
  • the relevant content please refer to the relevant content of the above-mentioned control method based on a somatosensory remote controller, which will not be repeated here.
  • Iran the relevant content of the above-mentioned control method based on a somatosensory remote controller
  • the control device 100 includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus.
  • the control device 100 is also connected to the somatosensory remote controller 3 , and the connection between the control device 100 and the somatosensory remote controller 3 may be a wired connection or a wireless connection.
  • the processor 2 may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.
  • the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the memory 1 is used to store instructions; the processor 2 invokes the instructions stored in the memory 1 to implement the following operations:
  • the first posture information of the target posture of the somatosensory remote controller according to the posture change information between the second posture information serving as the reference posture of the somatosensory remote controller and the first posture information, determine the somatosensory remote control corresponding to the posture change information the roll angle, pitch angle or yaw angle of the UAV; generate a control command according to the roll angle, pitch angle and yaw angle; send the control command to the unmanned aerial vehicle, and the control command is used to instruct the unmanned aerial vehicle
  • the unmanned aerial vehicle performs corresponding operations.
  • the processor is specifically configured to: determine the somatosensory remote control corresponding to the attitude change information according to the attitude change information between the second attitude information and the first attitude information by means of Euler angle rotation roll, pitch, or yaw angle of the vehicle.
  • the processor is specifically configured to: rotate from a reference attitude to a target attitude by means of Euler angle rotation, and determine the roll angle, Pitch or yaw angle.
  • the processor is specifically used to: rotate around the X-axis for the first time from the reference attitude to the target attitude, and determine an intermediate angle corresponding to the first rotation around the X-axis;
  • the intermediate angle corresponding to the axis rotation is used as the roll angle.
  • the processor is specifically configured to: rotate from the reference attitude to the target attitude according to the rotation sequence of the X-axis in the reference attitude, the Y-axis under the intermediate attitude, and the Z-axis under the target attitude, and determine the rotation corresponding to the rotation around the X-axis under the reference attitude
  • the intermediate angle corresponding to the first rotation around the X-axis as the roll angle includes: using the intermediate angle corresponding to the rotation around the X-axis under the reference attitude as the roll angle.
  • the processor is specifically used to: rotate around the Y axis for the first time from the reference attitude to the target attitude, and determine an intermediate angle corresponding to the first rotation around the Y axis;
  • the intermediate angle corresponding to the axis rotation is used as the pitch angle.
  • the processor is specifically configured to: rotate from the reference attitude to the target attitude according to the rotation sequence of the Y-axis in the reference attitude, the X-axis under the intermediate attitude, and the Z-axis under the target attitude, and determine the rotation corresponding to the rotation around the Y-axis under the reference attitude.
  • the intermediate angle corresponding to the first rotation around the Y axis as the pitch angle includes: using the intermediate angle corresponding to the rotation around the Y axis under the reference attitude as the pitch angle.
  • the processor is specifically configured to: determine the somatosensory corresponding to the attitude change information according to the attitude change information between the second attitude information and the first attitude information through a tilt-torsion rotation manner The roll, pitch or yaw angle of the remote control.
  • the processor is specifically configured to: rotate from a reference attitude to a target attitude through a tilt-twist rotation, and determine the roll angle according to attitude change information from the second attitude information to the first attitude information , pitch or yaw angle.
  • the processor is specifically configured to: perform tilt rotation from the reference posture to the intermediate posture; rotate around the Z axis to the target posture in the intermediate posture, and determine the intermediate angle corresponding to the rotation around the Z axis in the intermediate posture, Wherein, the Z axis in the intermediate attitude coincides with the Z axis in the target attitude; the intermediate angle corresponding to the rotation around the Z axis in the intermediate attitude is taken as the yaw angle.
  • the reference posture includes the initial posture of the somatosensory remote controller.
  • the processor is specifically configured to: record the initial posture of the somatosensory remote controller.
  • the processor is specifically configured to: when the somatosensory remote controller is in an unlocked state, acquire first posture information of the target posture of the somatosensory remote controller.
  • the processor is specifically configured to: acquire the current posture of the somatosensory remote controller when the somatosensory remote controller is in a locked state or a semi-locked state; vector; according to the inclination vector, determine the roll angle or pitch angle under the current attitude of the somatosensory remote controller, and set the yaw angle under the current attitude of the somatosensory remote controller to zero; The roll angle or pitch angle is sent to the display terminal, so that the display terminal displays the roll angle or pitch angle under the current attitude of the somatosensory remote controller.
  • the processor is specifically configured to: record the current posture of the somatosensory remote controller when the somatosensory remote controller enters an unlocked state from a locked state or a semi-locked state; and use the recorded current posture as the initial posture of the somatosensory remote controller.
  • the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the somatosensory-based remote control as described in any of the above control method.
  • the computer-readable storage medium may be an internal storage unit of the above-mentioned control device, such as a hard disk or a memory.
  • the computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé et un appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et un support de stockage. Le procédé comprend les étapes consistant à : acquérir des premières informations d'attitude d'une attitude cible d'un dispositif de commande à distance somatosensoriel (S101) ; en fonction d'informations de changement d'attitude entre les premières informations d'attitude et des secondes informations d'attitude qui sont utilisées en tant qu'attitude de référence du dispositif de commande à distance somatosensoriel, déterminer un angle de roulis, un angle de tangage ou un angle de lacet, correspondant aux informations de changement d'attitude, du dispositif de commande à distance somatosensoriel (S102) ; générer une instruction de commande en fonction de l'angle de roulis, de l'angle de tangage et de l'angle de lacet (S103) ; et envoyer l'instruction de commande à un véhicule aérien sans pilote, l'instruction de commande étant utilisée pour ordonner au véhicule aérien sans pilote d'effectuer une opération correspondante (S104).
PCT/CN2021/081174 2021-03-16 2021-03-16 Procédé et appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et support de stockage WO2022193153A1 (fr)

Priority Applications (2)

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CN202180087702.6A CN116710870A (zh) 2021-03-16 2021-03-16 基于体感遥控器的控制方法、装置及存储介质
PCT/CN2021/081174 WO2022193153A1 (fr) 2021-03-16 2021-03-16 Procédé et appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et support de stockage

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PCT/CN2021/081174 WO2022193153A1 (fr) 2021-03-16 2021-03-16 Procédé et appareil de commande basés sur un dispositif de commande à distance somatosensoriel, et support de stockage

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