CN105892474A - Unmanned plane and control method of unmanned plane - Google Patents
Unmanned plane and control method of unmanned plane Download PDFInfo
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Abstract
The invention discloses an unmanned plane and a control method of the unmanned plane. The unmanned plane comprises a RGBD camera, a flight controller and a processor. The processor is connected with the RGBD camera and the flight controller, wherein the RGBD camera is used for obtaining RGBD images of a target in real time in the flight process of the unmanned plane, each pixel point in the RGBD images comprises R, G and B pixel information and corresponding depth information; the processor is used for processing the R, G and B pixel information and corresponding depth information in real time, identifying gestures of a user and outputting corresponding control instructions according to the gestures of the user; and the flight controller is used for adjusting the flight attitude and/or shooting mode of the unmanned plane according to the control instructions. By adopting the above mode, the transmission of the control instructions of a remote controller is reduced, the bandwidth occupation is further reduced, and the experience degree of the user is improved.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of unmanned plane and unmanned aerial vehicle (UAV) control side
Method.
Background technology
Along with microelectric technique and the development of computer vision technique so that target following is able to
Real-time implementation, is especially installed to target tracker on unmanned plane, it is possible to achieve to target
Dynamic tracking, has higher use value in military and civilian field flexibly.
In the target following technology of tradition unmanned plane, generally use laser, radar and ultrasonic etc. actively
Environment perception method, its shortcoming is to directly obtain the unknown message of target, and multiple nothing
Can interfere during people's machine testing, more drawback is disguised poor, by enemy in battlefield surroundings
The big increase of probability found.
When existing unmanned plane is directed generally to increase boat, improves speed, stealthy body, reduce body
Long-pending, highly intelligence, load weapon, strengthen transmission reliability and versatility, enable unmanned plane by
Predetermined combat duty is completed according to instruction or program prepared in advance.And on existing unmanned plane
Camera be normally applied 2D camera to shoot 2D image, in image, each pixel only includes red
(Red, R), green (Green, G), blue (Blue, B) pixel, do not include depth information D.
Such existing unmanned plane cannot be automatically obtained target following shooting etc. according to shooting 2D image.
Summary of the invention
Embodiments provide a kind of unmanned plane and unmanned aerial vehicle (UAV) control method, it is possible to automatically real
The track up of existing target.
The present invention provides a kind of unmanned plane, unmanned plane include RGBD camera, flight controller and
Processor, processor is connected with RGBD camera and flight controller, wherein: RGBD camera,
For obtaining the RGBD image of target during unmanned plane during flying in real time, every in RGBD image
Individual pixel includes the depth information of R, G, B Pixel Information and correspondence；Processor, for real
Time the depth information of R, G, B Pixel Information and correspondence is processed, identify the gesture of user,
And export corresponding control instruction according to the described gesture of user；Flight controller is for according to control
Instruction adjusts flight attitude and/or the screening-mode of unmanned plane.
Wherein, RGBD camera is additionally operable to obtain in real time the RGBD image sequence of target, processor
According to the gesture of RGBD image sequence identification user, and export control instruction according to gesture.
Wherein, processor selects the screening-mode of RGBD camera always according to control instruction.Wherein clap
The pattern of taking the photograph includes the single RGBD image of photographic subjects, multi-angle RGBD image or claps
Take the photograph target RGBD image sequence at least one.
Wherein, the gesture of user include but not limited to grasp, naturally raise one's hand, front push away, upper and lower,
Wave in left and right.
Wherein, processor is additionally operable to: receive the voice of target input, and according to voice output control
Instruction.
The present invention provides a kind of unmanned aerial vehicle (UAV) control method, including: during unmanned plane during flying in real time
Obtaining the RGBD image of target, in RGBD image, each pixel includes R, G, B pixel
Information and corresponding depth information；In real time to R, G, B Pixel Information and the depth information of correspondence
Process, identify the gesture of user, and export corresponding control instruction according to the gesture of user；
Flight attitude and/or the screening-mode of unmanned plane is adjusted according to control instruction.
Wherein, during unmanned plane during flying, obtain the step bag of the RGBD image of target in real time
Include: obtain the RGBD image sequence of target in real time；In real time R, G, B Pixel Information is carried out
Process, identify the gesture of user, and export the step of corresponding control instruction according to the gesture of user
Including: according to the gesture of RGBD image sequence identification user, and export control instruction according to gesture.
Wherein, method also includes: select the screening-mode of RGBD camera according to control instruction.Its
Middle screening-mode include the single RGBD image of photographic subjects, multi-angle RGBD image or
At least one the RGBD image sequence of person's photographic subjects.
Wherein, flight attitude and the step bag of screening-mode of unmanned plane is adjusted according to control instruction
Include: adjust flight attitude and/or the screening-mode of multiple unmanned plane according to control instruction simultaneously.
Wherein, flight attitude and the step bag of screening-mode of unmanned plane is adjusted according to control instruction
Include: activate at least one in multiple unmanned planes to adjust its flight appearance further according to control instruction
State and/or screening-mode.
Wherein, the gesture of user include but not limited to grasp, naturally raise one's hand, front push away, upper and lower,
Wave in left and right.
Wherein, in real time R, G, B Pixel Information is processed, identify the gesture of user, and
The step of the control instruction of the gesture output correspondence according to user includes: receive the language of target input
Sound, and according to voice output control instruction.
By such scheme, the invention has the beneficial effects as follows: flown at unmanned plane by RGBD camera
Obtaining RGBD image information during row in real time, RGBD image information includes R, G, B picture
Prime information and corresponding depth information；Processor is in real time to R, G, B Pixel Information and correspondence
Depth information processes, and identifies the gesture of user, exports corresponding control according to the gesture of user
Instruction；Flight controller adjusts flight attitude and/or the screening-mode of unmanned plane according to control instruction,
So can reduce the transmission to remote controller control instruction, and then bandwidth is taken by minimizing, improves
User experience.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, embodiment will be retouched below
In stating, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below
It is only some embodiments of the present invention, for those of ordinary skill in the art, is not paying
On the premise of creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.Wherein:
Fig. 1 is the structural representation of the unmanned plane of first embodiment of the invention；
Fig. 2 is the structural representation of the unmanned plane of second embodiment of the invention；
Fig. 3 is the schematic flow sheet of the unmanned aerial vehicle (UAV) control method of first embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real
Execute example rather than whole embodiment.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under not making performing creative labour premise, broadly falls into this
The scope of invention protection.
Fig. 1 is the structural representation of the unmanned plane of first embodiment of the invention.As it is shown in figure 1, nothing
Man-machine (unmanned air vehicle, UAV) 10 includes: RGBD camera 11, flight control
Device 12 processed and processor 13.Processor 13 and RGBD camera 11 and flight controller 12
Connect.RGBD camera 11 is for obtaining RGBD image in real time in unmanned plane 10 flight course.
In RGBD image, each pixel includes the depth information of R, G, B Pixel Information and correspondence.
Wherein the depth information of pixel constitutes the two-dimensional pixel matrix of scene, is called for short depth map.Each picture
Element is corresponding with its position in the scene, and has expression from certain reference position to its scene bit
The pixel value of the distance put.In other words, depth map has the form of image, and pixel value points out scene
The topographical information of object rather than brightness and/or color.Processor 13 in real time to R, G,
B Pixel Information and corresponding depth information process, and identify the gesture of user, according to user's
The control instruction that gesture output is corresponding.Flight controller 12 is unmanned for adjusting according to control instruction
The flight attitude of machine 10 and/or screening-mode.Wherein, the flight attitude of unmanned plane 10 include taking off,
Hovering, pitching, rolling, go off course, landing etc..The unmanned plane of the embodiment of the present invention directly passes through RGBD
The gesture of the RGBD Image Acquisition user of camera shooting and then the flight attitude of adjustment unmanned plane, energy
Enough reduce the transmission to remote controller control instruction, and then bandwidth is taken by minimizing, improves user's body
Degree of testing.
Unmanned plane 10 also includes flight assembly and The Cloud Terrace (not shown).RGBD camera 11 is arranged
On The Cloud Terrace, The Cloud Terrace is made a response for the attitudes vibration measuring carrier with on stable The Cloud Terrace
RGBD camera 11, to facilitate RGBD camera to obtain the RGBD image of target in real time.Flight
Assembly can include rotor or fixed-wing, for guaranteeing the normal flight of unmanned plane and flying
In journey, flight attitude stablizes.Preferably, as a example by four rotor wing unmanned aerial vehicles, four propellers are ten
Font chi structure, four relative rotors have identical direction of rotation, divide two groups, the rotation of two groups
Turn direction different.Different from traditional helicopter, quadrotor can only be by changing propeller
Speed realize various action.
In embodiments of the present invention, when RGBD camera 11 obtains the RGBD image of target in real time,
RGBD camera 11 obtains the RGBD image sequence of multi-angle can pass through multiple RGBD cameras
Scene is shot by 11 from different perspectives, it is possible to use single RGBD camera 11 moves not
Same position carries out shooting and obtains.Method based on shooting, user can utilize multiple figures of shooting
Picture or key frame of video carry out scene rebuilding.Single RGBD camera 11 shooting during,
The movement of RGBD camera 11 may be considered the movement at visual angle, if RGBD camera during shooting
11 move horizontally, then can photograph bigger scene, if RGBD camera 11 around
Object rotates and shoots, then can photograph the visual angle that same object is different.
In embodiments of the present invention, processor 13 selects RGBD camera always according to control instruction
Screening-mode.Wherein screening-mode includes the single RGBD image of photographic subjects, multi-angle RGBD
At least one the RGBD image sequence of image or photographic subjects.
In embodiments of the present invention, processor 13 is for carrying out R, G, B Pixel Information in real time
Identifying processing, with lock onto target.Specifically, color image segmentation method can be applied, utilize the back of the body
Scape Texture Segmentation goes out background image, then utilizes original image subtracting background image to obtain target figure
Picture.Certainly the most in other embodiments of the present invention, it is also possible to application additive method identification target, and then
Lock onto target.Target is specific human body, and processor 13 can be according to R, G, B Pixel Information
The face feature of detection human body is to lock human body.The shooting of target can be wrapped by RGBD camera 11
Include the one in front shooting, side shooting, back side shooting, top shooting or combination in any.
In embodiments of the present invention, deep according to R, G, B Pixel Information and correspondence of processor 13
Degree information identification target is rigid body or non-rigid.Specifically can utilize the depth information profile to target
Being identified, distinguish that profile is rigid body or non-rigid, picking out target is that dynamic biological is (such as people
Body) or the object of non-rigid.If rigid body is then identified as object, and whether target is led
Dynamic motion.Wherein rigid body refers to the object that three dimensional structure will not change along with motion, rather than
Rigid body is then contrary, and its three dimensional structure can change along with motion.
Processor 13 is also with rgb color information and target carries out feature identification, identifies thing
The profile of body, color information, extract more clarification of objective, improves the recognition accuracy of target.
Recognition methods is not limited to the training method commonly used, such as machine learning, degree of depth study scheduling algorithm.Such as
Utilize RGB information, dynamic biological target carried out skin color model, or meets human body complexion feature,
Then identify whether target is human body, is otherwise non-human.Processor 13 be also compatible with process sound,
The information of other sensors such as infrared sensor, is used for identifying and detecting target and feature thereof, improves
Accuracy rate.
If recognizing target is human body, then processor 13 identifies trunk, extremity, hands
The human body such as portion, face, extract height, brachium, shoulder breadth, hand size, face size,
The information such as countenance feature.Owing to human body is non-rigid, in the track up process of long period
In, human body can not keep same posture, is susceptible to non-rigid change, needs to carry out model
Rebuild, it is to avoid the non-rigid change of data.Processor 13 is first to RGBD camera 11 shooting
The depth image of target removes background parts, owing to the depth value of background pixel point is than human body
Depth value is big, and processor 13 can select a suitable threshold value, when the depth value of pixel is big
When this threshold value, this pixel is labeled as background dot, removes from depth image, obtain people
Body cloud data.Cloud data is converted into triangle grid data by processor 13 again, the most permissible
Four fields on depth image are utilized to close according to this topology as the topological relation connected, cloud data
System generates triangle grid data.Point is gone data to carry out denoising by processor 13 further, tool
The multiframe cloud data at each visual angle sum-average arithmetic respectively can be removed big noise by body, then with bilateral
Small noise is removed in filtering.The triangle grid data at multiple visual angles is finally spliced by processor 13
Form an entirety together, for carrying out Model Reconstruction.Processor 13 can use iteration to calculate
Method rebuilds three-dimensional (3 D) manikin.In iterative algorithm, the data first found out master pattern with collect
Between corresponding point, for use as change obligatory point below.Then using obligatory point as energy term,
Minimize object function, thus be deformed to master pattern solve scan data, finally obtain deformation
After master pattern parameter in human space, calculated human parameters is for changing next time
Dai Zhong, completes the reconstruction of three-dimensional (3 D) manikin after so carrying out successive ignition.And then can identify
The human bodies such as trunk, extremity, hand, face, extract height, brachium, shoulder breadth,
The information such as hand size, face size, countenance feature.
Processor 13 is according to the gesture of the obtaining three-dimensional model user of target, or is obtaining target
Threedimensional model time, can only obtain the threedimensional model of the hand difference of user and then obtain user's
Gesture.Processor 13 exports control instruction according to the gesture of user.Now the gesture of user is permissible
Including the five fingers opening and closing gesture, the five fingers opening and closing gesture includes that the five fingers open gesture and the five fingers Guan Bi gesture.
In embodiments of the present invention, RGBD camera 11 is additionally operable to obtain in real time the RGBD of target
Image sequence.Processor 13 is according to the gesture of RGBD image sequence identification user, and according to hands
Gesture output control instruction.Specifically, after processor 13 completes the three-dimensional modeling of target, should
With skeleton grid and the movement locus of RGBD image sequence generation target of hand region.Wherein
Skeleton grid is the triangle gridding formed during target three-dimensional modeling.Processor 13 so according to
The attitude action of the gripper path analysis target of target, and according to the attitude motion analysis user of target
Gesture.Herein the gesture of user include but not limited to grasp, naturally raise one's hand, front push away, upper and lower,
Wave in left and right.The corresponding different control instruction of different gestures, as expression of naturally raising one's hand starts unmanned
Machine 10, upper and lower, left and right wave represent adjust unmanned plane 10 heading control instruction etc.,
It is not described in detail in this.Certainly processor 13 can also be according to the attitude action of target, behavioral pattern
Extract identity information Deng analyzing, and then divide into child, old man, adolescence etc..
More specifically realize process as follows:
RGBD camera 11 is for shooting the RGBD image of user, and processor 13 is according to RGBD
Image obtains the skeleton grid data of staff in real time, and extracts relevant to unmanned plane 10 operation
Skeleton grid data, and by the skeleton grid data of acquisition and unmanned plane 10 prestore with operation
The skeleton grid data of relevant gesture model compares.If the skeleton grid data obtained exists
The grid data of gesture model in default threshold range, then processor 13 obtain skeleton
Lattice data are bound with the gesture model prestored.Processor 13 is obtained by RGBD camera
Coordinate about the skeleton grid data of frame every in gesture RGBD image sequence realizes gesture model
Action coherent, reaches the motion effect of the gesture of gesture model simulation real user input in scene
Really.The action that processor 13 mates with gesture model according to the gesture obtained.The embodiment of the present invention
In unmanned plane 10 also include memory element, for store video, processor 13 process target
3D model and the gesture model etc. prestored.
In embodiments of the present invention, nothing can be adjusted at flight controller 12 according to the gesture of user
Before man-machine flight attitude and/or screening-mode, according to the different gestures of user, this unmanned plane is entered
Line activating.
In embodiments of the present invention, processor 13 is additionally operable to receive the voice of target input, and root
According to voice output control instruction, in order to flight controller 12 adjusts unmanned plane 10 according to control instruction
Flight attitude.Specifically, seeing Fig. 3, unmanned plane 10 also includes voice acquisition module 14,
Voice acquisition module electrically connects with processor 13.Voice acquisition module 14 is used for obtaining user's input
Voice, processor 13 according to voice produce control instruction.Flight controller 12 refers to according to control
Order adjusts the flight attitude of unmanned plane 10.
Specifically, recognition of face can be carried out by remote control unit and carry out Application on Voiceprint Recognition.Face is known
Time other, face database pre-save face information and (has such as detected face figure by infrared signal
Picture also retains the physiological feature such as people's interorbital space, human eye length), when gathering, adopted by infrared signal
Collection is made comparisons to human face data with the data in face database.If it is by recognition of face, the most right
The voice received further determines whether the voice for having voice-operated authority, determines this language
Authority corresponding to sound, and carry out speech recognition.Remote control unit is further according to the knot of recognition of face
Really, it may be judged whether receive voice.Every has and sends the personnel of phonetic control command and all upload one section
Training voice, and then obtain vocal print storehouse.Carrying out vocal print when comparing, the phonetic order person of sending sends language
Sound instructs, and this phonetic order is carried out vocal print contrast with voice print database.Believed by vocal print and face
Breath searches identity information corresponding in voice print database and face database, thus confirms its authority.
Phonetic order is sent to the voice acquisition module 14 of unmanned plane by remote control unit further.Voice obtains
Module 14 by the security verification of phonetic order, and by checking preprocessor 13 according to voice
Instruction produces control instruction, is sent to the flight controller 12 of unmanned plane.Flight controller 12
According to the operation time needed for the instruction that the symbol lookup of the instruction received is corresponding, then at this language
This operation time is added after sound instruction (being actually code).Flight controller 12 refers to according to control
Order controls the flight attitude of unmanned plane 10, such as flight speed, flying height, flight path and week
Enclose the distance etc. between barrier.
Fig. 3 is the schematic flow sheet of the unmanned aerial vehicle (UAV) control method of first embodiment of the invention.Such as Fig. 3
Shown in, unmanned aerial vehicle (UAV) control method includes:
Step S10: obtain the RGBD image of target, RGBD during unmanned plane during flying in real time
In image, each pixel includes the depth information of R, G, B Pixel Information and correspondence.
Wherein the depth information of pixel constitutes the two-dimensional pixel matrix of scene, is called for short depth map.Often
Individual pixel is corresponding with its position in the scene, and has expression from certain reference position to it
The pixel value of the distance of scape position.In other words, depth map has the form of image, and pixel value is pointed out
The topographical information of the object of scene rather than brightness and/or color.
In step slo, can be by using multiple RGBD cameras 11 from different perspectives to field
Scape shoots, it is also possible to carry out shooting obtain by single RGBD camera moves different positions
?.Method based on shooting, user can utilize multiple images of shooting or key frame of video to carry out
Scene rebuilding.Single RGBD camera is during shooting, and the movement of RGBD camera can be recognized
For being the movement at visual angle, if RGBD camera moves horizontally during shooting, then can photograph
Bigger scene, if RGBD camera is rotated into row shooting around object, then can photograph same
The visual angle that one object is different.
Step S11: in real time the depth information of R, G, B Pixel Information and correspondence is processed,
Identify the gesture of user, and export corresponding control instruction according to the described gesture of user.
In step s 11, it is identified R, G, B Pixel Information in real time processing, with locking
Target.Specifically, color image segmentation method can be applied, utilize background texture to be partitioned into background
Image, then utilizes original image subtracting background image to obtain target image.Certainly the present invention its
In his embodiment, it is also possible to application additive method identification target, and then lock onto target.
In step s 11, it is also with rgb color information and target is carried out feature identification,
Identifying the profile of object, color information, extract more clarification of objective, the identification improving target is accurate
Really rate.Recognition methods is not limited to the training method commonly used, such as machine learning, degree of depth study scheduling algorithm.
Such as utilize RGB information, dynamic biological target is carried out skin color model, or meets human body complexion
Feature, then identify whether target is human body, is otherwise non-human.It addition, be also compatible with process sound,
The information of other sensors such as infrared sensor, is used for identifying and detecting target and feature thereof, improves
Accuracy rate.
When depth information according to R, G, B Pixel Information and correspondence sets up the threedimensional model of target,
First the depth image of the target of RGBD camera shooting is removed background parts, due to background pixel
The depth value of point is bigger than the depth value of human body, can select a suitable threshold value, work as pixel
When the depth value of point is more than this threshold value, this pixel is labeled as background dot, from depth image
Remove, obtain human body data cloud.Again cloud data is converted into triangle grid data, specifically may be used
To utilize four fields on depth image as the topological relation connected, cloud data is according to this topology
Relation generates triangle grid data.Point go data carry out denoising further, specifically can be by
The multiframe cloud data at each visual angle sum-average arithmetic respectively removes big noise, then removes with bilateral filtering
Small noise.Finally be stitched together one entirety of formation by the triangle grid data at multiple visual angles,
For carrying out Model Reconstruction.Iterative algorithm can be used to rebuild three-dimensional (3 D) manikin.Calculate in iteration
In method, first find out the corresponding point between master pattern and the data collected, for use as change below
Change obligatory point.Then using obligatory point as energy term, object function is minimized, thus by master die
Type is deformed to solve scan data, finally obtains the ginseng in human space of the master pattern after deformation
Number, calculated human parameters, in next iteration, completes after so carrying out successive ignition
The reconstruction of three-dimensional (3 D) manikin.
In step s 11, according to the gesture of the obtaining three-dimensional model user of target, or obtaining
During the threedimensional model of target, can only obtain the threedimensional model of the hand difference of user and then obtain and use
The gesture at family, thus export control instruction according to the gesture of user.Now the gesture of user can be wrapped
Including the five fingers opening and closing gesture, the five fingers opening and closing gesture includes that the five fingers open gesture and the five fingers Guan Bi gesture.
In embodiments of the present invention, in step slo, it is also possible to obtain the RGBD of target in real time
Image sequence.The most in step s 11, according to the gesture of RGBD image sequence identification user,
And export control instruction according to gesture.Specifically, after the three-dimensional modeling completing target, application
The skeleton grid of hand region and RGBD image sequence generate the movement locus of target.Wherein bone
Frame grid is the triangle gridding formed during target three-dimensional modeling.And then according to the motion rail of target
Mark analyzes the attitude action of target, and the gesture of the attitude motion analysis user according to target.Herein
The gesture of user includes but not limited to grasp, naturally raises one's hand, front push away, wave in upper and lower, left and right.
And it is as follows more specifically to realize process:
By the RGBD image of RGBD camera shooting user and then real according to RGBD image
Time obtain the skeleton grid data of staff, and extract and the unmanned plane relevant skeleton grid number of operation
According to, and by the skeleton grid data of acquisition to unmanned plane prestores with the relevant gesture model of operation
Skeleton grid data compare.If the skeleton grid data obtained is at the grid of gesture model
Data are in default threshold range, then the skeleton grid data obtained enters with the gesture model prestored
Row binding.The bone about frame every in gesture RGBD image sequence obtained by RGBD camera
The coordinate of frame grid data realizes the coherent of gesture model action, reaches gesture model simulation in scene
The movement effects of the gesture of real user input.According to moving that the gesture obtained is mated with gesture model
Make.Unmanned plane in the embodiment of the present invention can also store video, process the target 3D mould obtained
Type and the gesture model etc. prestored.
Step S12: adjust flight attitude and/or the screening-mode of unmanned plane according to control instruction.
Wherein, the flight attitude of unmanned plane includes taking off, hovers, pitching, rolling, goes off course, drops
Fall.The corresponding different control instruction of different gestures, as naturally raise one's hand, expression starts unmanned plane,
Wave and represent the control instruction etc. adjusting unmanned plane during flying direction in upper and lower, left and right, the most detailed at this
State.
In step s 12, according to control instruction adjust the flight attitude of unmanned plane and screening-mode with
When target is tracked shooting, target can differ with user, can be now a RGBD
Camera shoots, and user and target are in the same visual field.Unmanned plane can include at least two
Individual RGBD camera, a RGBD camera is used for obtaining gesture, and a RGBD camera is used for
Photographic subjects.One RGBD camera is used for obtaining gesture, and a RGBD camera is used for shooting
Target.
In step s 12, it is also possible to adjust the flight appearance of multiple unmanned plane according to control instruction simultaneously
State and screening-mode to be tracked shooting to target.Now user can be controlled by gesture simultaneously
Target is shot by multiple unmanned planes, it is also possible to the same time only controls one of them unmanned plane pair
Target shoots.Specifically can activate wherein one or more unmanned planes, then by first gesture
By second gesture, the one or more unmanned planes activated are controlled, such as, can apply the centre of the palm
One unmanned plane is activated to facilitate further by the first gesture just waved unmanned plane
Control it, and apply wave after drop-down gesture of clenching fist cancel this unmanned plane swashed
Live.In step s 12, it is also possible to activate whole unmanned planes by the 3rd gesture, the most defeated
Go out a second gesture and all activated unmanned plane can be carried out Synchronization Control.3rd gesture is preferred
Clench fist for hands held high three-sixth turn.Certainly can also be applied it in other embodiments of the invention
Unmanned plane is activated or cancels activation by his gesture, and this is not restricted.
In embodiments of the present invention, the RGBD Image Acquisition directly shot by RGBD camera
The gesture of user and then adjust flight attitude and/or the screening-mode of unmanned plane, it is possible to reduce remote control
The transmission of device control instruction, so reduce bandwidth is taken, improve user experience.
In embodiments of the present invention, also receive the voice of target input, and according to voice output control
Instruction, in order to adjust the flight attitude of unmanned plane according to control instruction.Specifically, can be by distant
Control device carries out recognition of face and carries out Application on Voiceprint Recognition.During recognition of face, in face database in advance
Preserve face information (such as detect facial image by infrared signal and retain people's interorbital space, human eye
The physiological features such as length), when gathering, collect human face data and human face data by infrared signal
Data in storehouse are made comparisons.If by recognition of face, then the voice received is determined whether
Whether it is the voice with voice-operated authority, determines the authority corresponding to this voice, and carry out
Speech recognition.Remote control unit is further according to the result of recognition of face, it may be judged whether receive voice.
Every has and sends the personnel of phonetic control command and all upload one section of training voice, and then obtains vocal print
Storehouse.Carrying out vocal print when comparing, the phonetic order person of sending sends phonetic order, this phonetic order by with
Voice print database carries out vocal print contrast.Voice print database and face is searched by vocal print and face information
Identity information corresponding in data base, thus confirm its authority.Voice is referred to by remote control unit further
Order is sent to unmanned plane with the security verification to phonetic order, and according to voice after by checking
Instruction produces control instruction.During operation needed for the instruction that symbol lookup according to control instruction is corresponding
Between, then after this phonetic order (being actually code), add this operation time.Thus root
The flight attitude of unmanned plane 10 is controlled, such as flight speed, flying height, flight according to control instruction
Distance etc. between track and peripheral obstacle, so can improve the Experience Degree of user.
In embodiments of the present invention, it is also possible to select the shooting mould of RGBD camera according to control instruction
Formula.Wherein screening-mode includes that the single RGBD image of photographic subjects, multi-angle RGBD are schemed
At least one the RGBD image sequence of picture or photographic subjects.
In sum, the present invention is obtained during unmanned plane during flying in real time by RGBD camera
RGBD image information, RGBD image information includes the deep of R, G, B Pixel Information and correspondence
Degree information；The depth information of R, G, B Pixel Information and correspondence is processed by processor in real time,
Identify the gesture of user, and export corresponding control instruction according to the gesture of user；Flight controller
Adjust flight attitude and/or the screening-mode of unmanned plane according to control instruction, so can reduce distant
Control the transmission of device control instruction, and then bandwidth is taken by minimizing, improves user experience.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention,
Every equivalent structure utilizing description of the invention and accompanying drawing content to be made or equivalence flow process conversion, or
Directly or indirectly being used in other relevant technical fields, the patent being the most in like manner included in the present invention is protected
In the range of protecting.
Claims (12)
1. a unmanned plane, it is characterised in that described unmanned plane includes RGBD camera, flight
Controller and processor, described processor and described RGBD camera and described flight controller
Connect, wherein:
Described RGBD camera, for obtaining the RGBD of target in real time during unmanned plane during flying
Image, in described RGBD image, each pixel includes R, G, B Pixel Information and correspondence
Depth information；
Described processor, believes the degree of depth of described R, G, B Pixel Information and correspondence in real time
Breath processes, and identifies the gesture of user, and exports corresponding control according to the described gesture of user
Instruction；
Described flight controller for adjusting the flight appearance of described unmanned plane according to described control instruction
State and/or screening-mode.
Unmanned plane the most according to claim 1, it is characterised in that described RGBD camera
Being additionally operable to obtain in real time the RGBD image sequence of described target, described processor is according to described
The gesture of RGBD image sequence identification user, and export described control instruction according to described gesture.
Unmanned plane the most according to claim 1, it is characterised in that described processor always according to
Described control instruction selects the screening-mode of described RGBD camera.Wherein said screening-mode includes
Shoot the single RGBD image of described target, multi-angle RGBD image or shooting described
At least one the RGBD image sequence of target.
Unmanned plane the most according to claim 1, it is characterised in that the gesture bag of described user
Include but be not limited to grasp, naturally raise one's hand, front push away, wave in upper and lower, left and right.
Unmanned plane the most according to claim 1, it is characterised in that described processor is additionally operable to:
Receive the voice of described target input, and according to control instruction described in described voice output.
6. a unmanned aerial vehicle (UAV) control method, it is characterised in that described method includes:
Obtaining the RGBD image of target during unmanned plane during flying in real time, described RGBD schemes
In Xiang, each pixel includes the depth information of R, G, B Pixel Information and correspondence；
In real time the depth information of described R, G, B Pixel Information and correspondence is processed, identify
The gesture of user, and export corresponding control instruction according to the described gesture of user；
Flight attitude and/or the screening-mode of described unmanned plane is adjusted according to described control instruction.
Method the most according to claim 6, it is characterised in that described in unmanned plane during flying mistake
The step of the RGBD image obtaining target in journey in real time includes: obtain described target in real time
RGBD image sequence；
Described in real time described R, G, B Pixel Information is processed, identifies the gesture of user,
And include according to the step of the control instruction of the described gesture output correspondence of user: according to described
The gesture of RGBD image sequence identification user, and export described control instruction according to described gesture.
Method the most according to claim 6, it is characterised in that described method also includes: root
The screening-mode of described RGBD camera is selected according to described control instruction.Wherein said screening-mode bag
Include the shooting single RGBD image of described target, multi-angle RGBD image or shooting institute
State target RGBD image sequence at least one.
Method the most according to claim 6, it is characterised in that described refer to according to described control
The step of flight attitude and/or screening-mode that order adjusts described unmanned plane includes:
Adjust flight attitude and the shooting mould of multiple described unmanned plane according to described control instruction simultaneously
Formula.
Method the most according to claim 9, it is characterised in that described according to described control
The step of flight attitude and/or screening-mode that instruction adjusts described unmanned plane includes:
At least one in multiple described unmanned planes is activated to adjust further according to described control instruction
Its flight attitude whole and screening-mode.
11. methods according to claim 6, it is characterised in that the gesture bag of described user
Include but be not limited to grasp, naturally raise one's hand, front push away, wave in upper and lower, left and right.
12. methods according to claim 6, it is characterised in that described in real time to described R,
G, B Pixel Information processes, and identifies the gesture of user, and the described gesture according to user is defeated
The step of the control instruction going out correspondence includes: receive the voice of described target input, and according to described
Control instruction described in voice output.
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