CN106527466A - Wearing type unmanned aerial vehicle control system - Google Patents
Wearing type unmanned aerial vehicle control system Download PDFInfo
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- CN106527466A CN106527466A CN201611158051.2A CN201611158051A CN106527466A CN 106527466 A CN106527466 A CN 106527466A CN 201611158051 A CN201611158051 A CN 201611158051A CN 106527466 A CN106527466 A CN 106527466A
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention provides a wearing type unmanned aerial vehicle control system, including a processing unit, an antenna, gesture control gloves, an attitude sensor assembly and a head-mounted monocular display. The attitude sensor assembly includes a multiaxis sensor and more than one finger-type flexible sensor; the gesture control gloves are connected to the processing unit, and attitude parameters of the gesture control gloves are transmitted to the processing unit; and a memory cell is arranged in the processing unit and is used for prestoring attitude parameters of a plurality of gesture instructions, and the attitude parameters of the prestored gesture instructions are compared with the attitude parameters transmitted by the gesture control gloves, thereby obtaining a gesture instruction. The wearing type unmanned aerial vehicle control system provided by the invention has high portability and operability, and can satisfy the requirements for maneuverability and flexibility of unmanned aerial vehicle operation.
Description
Technical field
The present invention relates to can portable intelligent device, especially relate to wearable portable intelligent device technology.
Background technology
UAV referred to as " unmanned plane " (Unmanned Aerial Vehicle, UAV), is distant using radio
The not manned aircraft that control equipment and the presetting apparatus provided for oneself are manipulated.Can be divided into from technical standpoint definition：Unmanned fixed-wing
Machine, unmanned VTOL machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application, it is the real firm need of unmanned plane；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation,
Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture wave
The application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane itself, developed country also actively extension sector application with
Development unmanned air vehicle technique.
At present, unmanned plane level of development at home is maked rapid progress, and unmanned plane also tends to cheap, control simplicity.
As the characteristic of unmanned plane can replace artificial treatment to have the task of particularity, therefore the application of unmanned plane is also increasingly
Extensively, obtain the favor of Liao Ge every profession and trades consumer.
For at this stage, UAS includes flight control system, information acquisition system and ground control system group
Into.The sensors such as the built-in gyroscope of flight control system, geomagnetic sensor, accelerometer obtain the flight of unmanned plane to perceive
Attitude simultaneously controls unmanned plane by order flight；Wireless image transmission system can by unmanned plane position to look down shooting picture wireless
The mode of data is transferred to ground control system and is observed.Earth station include with unmanned plane carry out information communication PC ends and
The remote control of moveable pallet earth station.Ground control system can pass through the feedback letter of wireless data transmission real-time reception unmanned plane
The state of flight of unmanned plane is ceased and monitored, the flight shooting picture of unmanned plane, the support on ground can be shown in real time by wireless image transmission
Disk earth station can the mode of manually remote control command unmanned plane during flying and perform appointed task.
Meanwhile, it is also required to carry out training for a long time in a large number in the operation of unmanned plane can be only achieved accurately flight requirement,
The pallet earth station of bimanualness also increased many burdens in the operator that drives for performing special duty.
As known from the above, traditional unmanned aerial vehicle (UAV) control equipment at least need carry acceptable transmission wireless signal PC ends and
Ground station control case, this greatly reduces the portability and operability of unmanned plane.Propose sternly to perform task local environment
Severe requirement.
The content of the invention
It is an object of the invention to overcome the shortcoming of prior art, there is provided a kind of wearable type unmanned aerial vehicle control system, institute
Portability and operability that wearable type unmanned aerial vehicle control system has height are stated, the skill requirement for operator is reduced,
And operation is very easy, the present invention as described above is additionally favorable for the safety for improving line operator.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that.
A kind of wearable type unmanned aerial vehicle control system, including processing unit, antenna, gesture control glove, attitude transducer group
Part, monocular displays, wherein,
The attitude transducer component includes multi-axial sensor and more than one finger-type flexible sensor；
The multi-axial sensor is installed on the back of the hand portion of gesture control glove, wrist portion, palm of the hand portion, for detection gesture control
Glove the back of the hand portion processed and palm of the hand portion relative to the angle of pitch of wrist portion, detection gesture control glove the back of the hand portion and wrist portion relative to
The course angle in palm of the hand portion, detection gesture control the roll angle of glove the back of the hand portion and palm of the hand portion relative to wrist portion；
One above finger-type flexible sensor is installed on the finger section of gesture control glove, flexible according to the finger-type
Sensor finger ends and the differential seat angle for referring to root, determine the digital flexion angle of gesture control glove；
The gesture control glove are connected to processing unit, by the angle of pitch of the gesture control glove, course angle, roll
Angle and digital flexion angle are transferred to processing unit as attitude parameter；
The antenna is connected to processing unit, and is wirelessly connected to unmanned plane, obtains unmanned plane transmission
Video signal, and to the instruction of unmanned plane transmission processing unit, the instruction includes gesture instruction；
The monocular displays are connected to processing unit, obtain video signal and the reduction of processing unit transmission
Control hand signal；
There is in the processing unit memory element, for the attitude parameter of multiple gesture instructions that prestore, processing unit will
The attitude parameter that the attitude parameter of the gesture instruction that prestores is come with gesture control glove transmission is contrasted, and is obtained and gesture control
The gesture instruction that prestores that glove attitude processed is close to, gesture instruction is transmitted to antenna, is additionally operable to using the gesture instruction for obtaining also
Former control hand signal, the video signal come with antenna transmission are mixed, are transmitted to monocular displays.
Wherein, the appearance that the attitude parameter of the gesture instruction that prestores is come by the processing unit with gesture control glove transmission
State parameter is contrasted, and the method for obtaining the gesture instruction that prestores being close to gesture control glove attitude is included：
Effectively gesture acquisition parameter should meet condition：
|k1a+i-b|<c,
A is the magnitude of voltage in flexible sensor collection, characterizes the state of digital flexion.B is, using front, to adopt using front user
The standard value of the specific finger of collection.k1, i be respectively by the initial data reduction of sensor to be easy to process ratio data coefficient
And constant.C is default gesture error tolerance value.
Effectively Posture acquisition parameter should meet condition：
θfinal=f (k2θxdt+ i),
θfinalThe winged control obtained to meet the angle computing resolved from sensor for flying control and glove control requirement can receive
Angle value.F is θxReduction is to θfinalFunctional relationship.k2For the proportionality coefficient in calculating process.I is angle compensation value.
Especially, the wearable type unmanned aerial vehicle control system also includes positioner, and the positioner obtains wearable type
The position of unmanned aerial vehicle control system, is transferred to processing unit, for the location aware between unmanned plane and operator, coordinates nobody
Machine follows function.
In addition, the wearable type unmanned aerial vehicle control system also chases after induction apparatuss including head, the head chases after induction apparatuss and has rotation
Angle induction apparatuss, for measuring the rotational angle of wearer's head, the head chases after induction apparatuss and head rotation angle is transferred to process
Head rotation angle is converted into the cloud platform rotation instruction of unmanned plane for unit, processing unit, is transferred to antenna.
Especially, when processing unit detects scheduled time head does not have rotational angle, the cradle head control instruction is
Function command is stared, control unmanned plane enters tracking mode.
In addition, the wearable type unmanned aerial vehicle control system also includes unmanned plane touch screen controller, the unmanned plane touch screen control
Device processed is arranged at wearer front, for carrying out unmanned plane flight course planning and parameter setting.
First, by the wearable type unmanned aerial vehicle control system of the present invention, it is possible to increase the operability and carrying energy of operator
Power, while to operator with real impression on the spot in person, therefore improve operation enjoyment and degree of accuracy.
Secondly, by the wearable type unmanned aerial vehicle control system of the present invention, enabling to operator carries out multi-job operation, because
This can control unmanned plane and carry out more complicated action.
In the specific embodiment of the invention, wearable type unmanned aerial vehicle control system is arranged in pairs or groups using multiple types sensor, by combination
Computing is simulated, structure multijoint control core processing unit.Attitude fusion is relied on, the basic gesture control of unmanned plane is realized.By right
The consideration of equipment application environment, devises more science easily operating gesture, when the training to operator is greatly reduced
Between and operation difficulty so that operator liberate both hands, while processing multinomial pop-up mission.Traditional nothing is substituted completely functionally
Man-machine pallet earth station, realizes the summary of equipment, portability.
Description of the drawings
Fig. 1 is the schematic appearance of wearable type unmanned aerial vehicle control system in the specific embodiment of the invention.
Fig. 2 is the schematic appearance of wearable type unmanned aerial vehicle control system in the specific embodiment of the invention.
Fig. 3 is the schematic appearance of wearable type unmanned aerial vehicle control system in the specific embodiment of the invention.
Fig. 4 is the high-level schematic functional block diagram of wearable type unmanned aerial vehicle control system in the specific embodiment of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is elaborated.
The detailed example embodiment of following discloses.However, concrete structure disclosed herein and function detail merely for the sake of
The purpose of description example embodiment.
It should be appreciated, however, that the present invention is not limited to disclosed particular exemplary embodiment, but covers and fall into disclosure model
All modifications, equivalent and alternative in enclosing.In the description to whole accompanying drawings, identical reference represents identical unit
Part.
Refering to accompanying drawing, structure, ratio, size depicted in this specification institute accompanying drawings etc., only to coordinate description
Disclosed content, so that those skilled in the art understands and reads, is not limited to enforceable restriction bar of the invention
Part, therefore do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not affecting
Under effect that the present invention can be generated and the purpose that can reach, still all should fall obtain and can contain in disclosed technology contents
In the range of lid.Meanwhile, cited position restriction term in this specification is merely convenient to understanding for narration, and is not used to
Limit enforceable scope of the invention, its relativeness is altered or modified, under without essence change technology contents, when being also considered as
The enforceable category of the present invention.
It will also be appreciated that as used in this term "and/or" include one or more correlations list any of item
With all combinations.It will further be appreciated that when part or unit are referred to as " connection " or during " coupled " to another part or unit, it
Miscellaneous part or unit are can be directly connected or coupled to, or can also there is intermediate member or unit.Additionally, being used for describing
Between part or unit other words of relation should understand in the same fashion (for example, " and between " to " directly between ",
" adjacent " is to " direct neighbor " etc.).
As Figure 1-4, the specific embodiment of the invention includes a kind of wearable type unmanned aerial vehicle control system, including process
Unit 105, antenna 108, gesture control glove 101, attitude transducer component 104, monocular displays 102, wherein,
The attitude transducer component 102 includes multi-axial sensor and more than one finger-type flexible sensor；
The multi-axial sensor is installed on the back of the hand portion of gesture control glove 101, wrist portion, palm of the hand portion, for detecting handss
Gesture controls 101 the back of the hand portion of glove and palm of the hand portion and controls 101 the back of the hand portion of glove and handss relative to the angle of pitch of wrist portion, detection gesture
Wrist controls the roll of 101 the back of the hand portion of glove and palm of the hand portion relative to wrist portion relative to the course angle in palm of the hand portion, detection gesture
Angle；
One above finger-type flexible sensor is installed on the finger section of gesture control glove 101, according to the finger-type
Flexible sensor finger ends and the differential seat angle for referring to root, determine the digital flexion angle of gesture control glove 101；
The gesture control glove 101 are connected to processing unit 105, by the angle of pitch of the gesture control glove 101, boat
Processing unit 105 is transferred to as attitude parameter to angle, roll angle and digital flexion angle；
The antenna 108 is connected to processing unit 105, and is wirelessly connected to unmanned plane, obtains unmanned plane
The video signal of transmission, and to the instruction of unmanned plane transmission processing unit 105, the instruction includes gesture instruction etc.；
The monocular displays 102 are connected to processing unit 105, obtain the video letter of the transmission of processing unit 105
Number and reduction control hand signal；
There is in the processing unit 105 memory element, for the attitude parameter of multiple gesture instructions that prestore, will prestore handss
The attitude parameter that the attitude parameter of gesture instruction is come with the gesture control glove 101 transmission is contrasted, and is obtained and gesture control
The gesture instruction that prestores that 101 attitude of glove is close to, gesture instruction is transmitted to antenna 108, is additionally operable to refer to using the gesture for obtaining
Order reduction control hand signal, the video signal come with the transmission of antenna 108 are mixed, are transmitted to monocular displays 102.
Wherein, the multi-axial sensor and more than one finger-type flexible sensor are prepared and assembling using MEMS technology, no
Affect the activity of gesture control glove 101.
Processing unit 105 is mounted with the accurate sensing data multiaxis blending algorithm of science, can realize to gesture control
The comparison fusion of the attitude parameter of glove 101.Control hand signal is reduced into based on Monitoring Data.While and processing unit
The attitude parameter of the multiple gesture instructions prestored inside 105 is compared, if meeting the preset data of presupposed solution, selects phase
Corresponding unmanned plane gesture instruction.
Processing unit 105 utilizes the discernible agreement of unmanned plane, by wireless 108 and unmanned plane transmission signal.Antenna 108
The special communication protocols of Jing send control instruction to unmanned plane, the communication mode and agreement can be bluetooth approach and agreement,
Wireless local net mode and agreement etc..
The gesture instruction reduction using acquisition controls hand signal and is, using the attitude ginseng of the gesture instruction for obtaining
Number, repaints out control hand signal, and processing meanss are received after the video signal of unmanned plane, and the hand signal is painted
Make on the video signal come in unmanned plane transmission.Especially, control unit can also be according to the current pose of unmanned plane, by nobody
The attitude of machine is reflected on video signal.
The attitude parameter that processing unit 105 comes according to the transmission of gesture control glove 101 is come to determine gesture instruction be of the invention
One of key, the intention of discriminated operant person could be controlled to unmanned plane exactly exactly.
In a specific embodiment of the present invention, the processing unit 105 is by the attitude parameter of the gesture instruction that prestores
The attitude parameter come with the gesture control glove 101 transmission is contrasted, and acquisition is close to 101 attitude of gesture control glove
The method of the gesture instruction that prestores includes：
Effectively gesture acquisition parameter should meet condition：
|k1a+i-b|<c,
A is the magnitude of voltage in flexible sensor collection, characterizes the state of digital flexion.B is, using front, to adopt using front user
The standard value of the specific finger of collection.k1, i be respectively by the initial data reduction of sensor to be easy to process ratio data coefficient
And constant.C is default gesture error tolerance value.
Effectively Posture acquisition parameter should meet condition：
θfinal=f (k2θxdt+ i),
θfinalThe winged control obtained to meet the angle computing resolved from sensor for flying control and glove control requirement can receive
Angle value.F is θxReduction is to θfinalFunctional relationship.k2For the proportionality coefficient in calculating process.I is angle compensation value,
The value of above parameter rule of thumb can be obtained.
So, processing unit 105 obtains bimanual input control glove 101 by the respective angle of pitch, course angle, roll
Angle, digital flexion angle, and after bimanual input controls the distance between glove 101, it is possible to form more complicated gesture and refer to
Order, allows unmanned plane to complete more complicated action, more nimbly and freely.
In a specific embodiment of the invention, the wearable type unmanned aerial vehicle control system also includes positioner 103,
The positioner 103 obtains the position of wearable type unmanned aerial vehicle control system, is transferred to processing unit 105.
Especially, the positioner 103 is that (Global Navigation Satellite System lead in the whole world GNSS
Boat satellite system), the positioner 103 is with processing unit 105 by wirelessly carrying out data transmission.Positioner 103 can be with
Geographical location information is transferred to processing unit 105 by the geographical position of real-time detection wearer, for unmanned plane and operator
Between location aware, coordinate unmanned plane to follow function.
The geographical location information of 105 receiving positioner 103 of processing unit, is entered with the geographical location information of unmanned plane transmitting
Row is compared, and the function program in processing unit calculates compiling, is sent unmanned plane and is followed automatically function command, it is possible to achieve nothing
Man-machine follows function automatically.
In a specific embodiment of the invention, the wearable type unmanned aerial vehicle control system also chases after induction apparatuss including head
107, the head chases after the side that induction apparatuss 107 are arranged at the helmet, and the head chases after induction apparatuss 107 with angle of rotation induction apparatuss, is used for
The rotational angle of measurement wearer's head, the head chase after induction apparatuss and head rotation angle are transferred to processing unit, processing unit
The 105 cloud platform rotation instructions that head rotation angle is converted into unmanned plane, are transferred to antenna 108.
Especially, when processing unit detects scheduled time head does not have rotational angle, the cradle head control instruction is
Function command is stared, control unmanned plane enters tracking mode.
It should be noted that above-mentioned embodiment is only the present invention preferably embodiment, it is impossible to be understood as to this
The restriction of invention protection domain, under the premise of without departing from present inventive concept, to any minor variations done of the invention and modification
Belong to protection scope of the present invention.
Claims (6)
1. a kind of wearable type unmanned aerial vehicle control system, including processing unit, antenna, gesture control glove, attitude transducer component,
Monocular displays, wherein,
The attitude transducer component includes multi-axial sensor and more than one finger-type flexible sensor；
The multi-axial sensor is installed on the back of the hand portion of gesture control glove, wrist portion, palm of the hand portion, controls handss for detection gesture
Set the back of the hand portion and palm of the hand portion control glove the back of the hand portion and wrist portion relative to the palm of the hand relative to the angle of pitch of wrist portion, detection gesture
The course angle in portion, detection gesture control the roll angle of glove the back of the hand portion and palm of the hand portion relative to wrist portion；
One above finger-type flexible sensor is installed on the finger section of gesture control glove, according to the finger-type flexible sensing
Device finger ends and the differential seat angle for referring to root, determine the digital flexion angle of gesture control glove；
The gesture control glove are connected to processing unit, by the angle of pitch of the gesture control glove, course angle, roll angle with
And digital flexion angle is transferred to processing unit as attitude parameter；
The antenna is connected to processing unit, and is wirelessly connected to unmanned plane, obtains the video of unmanned plane transmission
Signal, and to the instruction of unmanned plane transmission processing unit, the instruction includes gesture instruction；
The monocular displays are connected to processing unit, obtain the video signal of processing unit transmission and the control of reduction
Hand signal；
There is in the processing unit memory element, for the attitude parameter of multiple gesture instructions that prestore, processing unit will prestore
The attitude parameter that the attitude parameter of gesture instruction is come with gesture control glove transmission is contrasted, and is obtained and gesture control handss
The gesture instruction that prestores that set attitude is close to, gesture instruction is transmitted to antenna, is additionally operable to using the gesture instruction reduction control for obtaining
Hand signal processed, the video signal come with antenna transmission are mixed, and are transmitted to monocular displays.
2. according to the wearable type unmanned aerial vehicle control system described in claim 1, it is characterised in that the processing unit will prestore
The attitude parameter that the attitude parameter of gesture instruction is come with gesture control glove transmission is contrasted, and obtains effective gathered data
Method include：
Effectively gesture acquisition parameter should meet condition：
|k1a+i-b|<C,
A be flexible sensor collection magnitude of voltage, characterize digital flexion state, b be using front user use it is front, collection
The standard value of specific finger, k1, i is respectively the initial data reduction of sensor to the ratio data coefficient for being easy to process and normal
Amount, c are default gesture error tolerance value,
Effectively Posture acquisition parameter should meet condition：
θfinal=f (k2θxdt+ i),
θfinalTo meet the receptible angle of winged control for flying that the angle computing resolved from sensor of control and glove control requirement is obtained
Angle value, f are θxReduction is to θfinalFunctional relationship, k2For the proportionality coefficient in calculating process, i is angle compensation value.
3. according to the wearable type unmanned aerial vehicle control system described in claim 1, it is characterised in that the wearable type unmanned plane control
System processed also includes positioner, and the positioner obtains the position of wearable type unmanned aerial vehicle control system, is transferred to process single
Unit, for unmanned plane and the location aware of operator, coordinate unmanned plane follows function.
4. according to the wearable type unmanned aerial vehicle control system described in claim 1, it is characterised in that the wearable type unmanned plane control
System processed also chases after induction apparatuss including head, and the head chases after induction apparatuss and has angle of rotation induction apparatuss, for measuring turning for wearer's head
Dynamic angle, the head chase after induction apparatuss and head rotation angle are transferred to processing unit, and head rotation angle is converted by processing unit
Cradle head control for unmanned plane is instructed, and is transferred to antenna.
5. according to the wearable type unmanned aerial vehicle control system described in claim 1, it is characterised in that when processing unit detect it is pre-
When head of fixing time does not have rotational angle, the cradle head control instruction is to stare function command.
6. according to the wearable type unmanned aerial vehicle control system described in claim 1, it is characterised in that the wearable type unmanned plane control
System processed also include unmanned plane touch screen controller, unmanned aerial vehicle station panel computer arrange with wearer front, be used for into
Row unmanned plane flight course planning and parameter setting.
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Cited By (5)
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| CN108664037A (en) * | 2017-03-28 | 2018-10-16 | 精工爱普生株式会社 | The method of operating of head-mount type display unit and unmanned plane |
| CN109032160A (en) * | 2018-07-27 | 2018-12-18 | 北京臻迪科技股份有限公司 | Attitude control system, method and UAV system |
| WO2019000380A1 (en) * | 2017-06-30 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Method for controlling following of movable device, control device, and following system |
| CN110412996A (en) * | 2019-06-18 | 2019-11-05 | 中国人民解放军军事科学院国防科技创新研究院 | It is a kind of based on gesture and the unmanned plane control method of eye movement, device and system |
| CN111580666A (en) * | 2020-05-11 | 2020-08-25 | 清华大学 | Equipment control method, electronic equipment, equipment control system and storage medium |
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