WO2017166723A1 - Unmanned aerial vehicle system and flight control method thereof - Google Patents

Abstract

Disclosed are an unmanned aerial vehicle system and a flight control method thereof. The unmanned aerial vehicle system comprises: a motion recognition unit (21) configured to acquire motion recognition signals of parts operated by an operator; a data processing unit (22) configured to convert the motion recognition signals into flight control signals according to a predetermined recognition algorithm; and an unmanned aerial vehicle (23) comprising a flight control part and a flight part, wherein the flight control part is used to provide corresponding flight maneuver instructions to the flight part according to the flight control signals.

Description

Drone system and flight control method thereof

The present application claims priority to Chinese Patent Application No. 201610191411.2, entitled "Unmanned Aircraft System and Flight Control Method", filed on March 30, 2016, the entire contents of which is incorporated by reference. Combined in this application.

Technical field

Embodiments of the present application relate to the field of unmanned aerial vehicles, for example, to an unmanned aircraft system and a flight control method thereof.

Background technique

Unmanned Aerial Vehicle (UAV), referred to as "unmanned aerial vehicle". UAVs can be divided into: unmanned fixed-wing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parachute aircraft, and so on. The drone is a rapidly developing flight device. The drone has the advantages of flexibility, quick response, no flight, and low operational requirements. By carrying a variety of sensors, the UAV can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing. At present, the scope of use of drones has been expanded to three major fields of military, scientific research and civil use. In power, communications, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order The field of anti-terrorism and other fields are widely used.

The drone is a non-manned aircraft operated by a remote-controlled joystick-type radio remote control device and a self-contained program control device. Among them, the radio remote control device has a remote control joystick, and the controller controls the flight and landing of the drone through the remote control joystick, and has strong professionalism.

Among them, the remote control joystick type radio remote control device is suitable for more professional players. For the player who just started, it is difficult to control the flight of the drone by using the remote control joystick, and the controllability is poor.

Summary of the invention

The embodiment of the present application provides an unmanned aircraft system and a flight control method thereof, which improve the steerable performance of the drone and realize the somatosensory flight control of the drone.

In a first aspect, an embodiment of the present application provides a flight control method for an unmanned aircraft system, including include:

Collecting a motion recognition signal of a controller's control portion;

Converting the motion recognition signal to a flight control signal according to a predetermined identification algorithm;

A corresponding flight action command is issued to the flight component of the drone according to the flight control signal.

In a second aspect, an embodiment of the present application provides a drone system, including:

a motion recognition unit configured to collect a motion recognition signal of a controller's control portion;

a data processing unit configured to convert the motion recognition signal into a flight control signal according to a predetermined identification algorithm;

A drone, including a flight control component and a flight component, the flight control component for issuing a corresponding flight action command to the flight component based on the flight control signal.

In a third aspect, an embodiment of the present application provides a non-transitory computer storage medium storing computer executable instructions for causing the computer to execute the foregoing method.

In a fourth aspect, an embodiment of the present application provides an electronic device, including:

At least one processor; and,

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the method described above.

In a fifth aspect, the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform the method described above.

The unmanned aerial vehicle system and the flight control method thereof provided by the embodiments of the present application can control the flight of the drone after performing the corresponding action on the control part of the controller in the operation of the drone. Realizes the somatosensory flight control of the drone and improves the maneuverability.

DRAWINGS

The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.

1 is a flow chart of an embodiment of a flight control method for a drone system provided by the present application;

2 is a schematic block diagram showing the structure of an embodiment of a drone system provided by the present application;

3 is a schematic block diagram showing the structure of a motion recognition unit of an embodiment of a drone system provided by the present application;

4 is a schematic diagram showing the hardware structure of an apparatus for performing a flight control method of an unmanned aerial vehicle system provided by the present application.

detailed description

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is obvious that the described embodiments are Some embodiments are applied, not all of the embodiments. The features of the embodiments of the present application may be arbitrarily combined without conflict.

The embodiment of the present application provides a drone system and a flight control method thereof, which can control flight of an unmanned aircraft through a sense of body, and has high controllability. The method and system are based on the same application concept. Since the principles of the method and the system for solving the problem are similar, the implementation of the method and the system can be referred to each other, and the repeated description is not repeated.

Embodiment 1

As shown in FIG. 1 , a flight control method for an unmanned aerial vehicle system according to Embodiment 1 of the present application includes the following steps.

In step 110, a motion recognition signal of the operator's control portion is acquired.

The control part of the controller usually has a hand, but not only the hand, but also the head, the leg, the arm, etc.; the motion recognition signal is determined according to the motion track of the control part, for example, The control part of the controller makes an upward movement trajectory, a downward movement trajectory, a leftward movement trajectory, and a rightward movement trajectory.

In step 120, the motion recognition signal is converted to a flight control signal in accordance with a predetermined identification algorithm.

The predetermined identification algorithm may be determined according to actual requirements; such that each defined motion recognition signal corresponds to a different flight control signal; for example, the upward motion trajectory corresponds to the first flight control signal, and the downward motion trajectory is corresponding. The second flight control signal corresponds to the third flight control signal to the left motion trajectory and the fourth flight control signal to the right motion trajectory. A predetermined identification algorithm may be set, for example, setting the direction of the flight control signal to be the same as the direction of the motion recognition signal, setting the first flight control signal to the upward flight control signal, and setting the second flight control signal to the downward direction The flight control signal sets the third flight control signal to a leftward flight control signal, and sets the fourth flight control signal to a rightward flight control signal. Certainly, the predetermined identification algorithm may have multiple settings, and the direction setting of the flight control signal may also be different from the direction of the motion recognition signal. Similarly, the embodiments of the present application are not listed one by one. The flight control signal can then be wirelessly transmitted to the drone.

In step 130, a corresponding flight action command is issued to the flight component of the drone according to the flight control signal.

The corresponding flight action command is an action command corresponding to the flight control signal. The flying component may include at least one propeller, at least one driving motor that drives the rotation of the propeller, and controls the flying direction, flight speed and the like of the drone by controlling the rotation start, stop, and rotation speed of each driving motor; During the process, the flight component receives a flight action command corresponding to the flight control signal for controlling the rotational start, stop, and rotational speed of the drive motor to control the flight of the drone; for example, the flight component receives the first flight The flight action command corresponding to the control signal (ie, the control signal flying to the left) is then left to fly.

In the flight control method of the drone system provided in the first embodiment of the present application, the motion recognition signal is obtained by acquiring the motion of the controller's control portion, thereby perceiving the information of the motion of the controller's control portion; and according to the predetermined recognition. The algorithm converts the motion recognition signal into a flight control signal such that the drone flight can be controlled based on the flight control signal. In the control of the drone, after the controller's control part makes the corresponding action, the drone's flight can be controlled, the drone's somatosensory flight control is realized, and the operability is improved.

Optionally, the motion recognition signal of the control portion can be sensed by inertia, as described in step 101 above. The motion recognition signal of the controller's control part is collected, including:

Synchronizing motion with the control portion of the controller, obtaining inertial motion information of the controller's control portion from the information of the synchronized motion, and calculating the motion recognition signal according to the inertial motion information.

The synchronous movement with the control part of the controller may be performed to synchronize the inertial sensing component with the control part of the controller. The inertial sensing component can be worn on the control part to synchronize the inertial sensing component with the control part; or the control part is the hand, the hand grips the inertial sensing component, and the inertial sensing component and the control part Synchronous movement. The inertial sensing component is mainly based on inertial sensors, such as gravity sensors, gyroscopes and magnetic sensors to sense the physical parameters (inertial motion information) of the controller's control parts, namely acceleration, angular velocity and magnetic field, inertia sense. The measuring component determines various actions (motion recognition signals) of the user in space according to the physical parameters.

Optionally, the motion recognition signal of the control part can be optically sensed, and the motion recognition signal of the control part of the controller is collected in the foregoing step 101, including:

The control part of the controller is photographed, the motion track of the control part of the controller is obtained from the captured information, and the motion recognition signal is calculated according to the motion track.

Wherein, the control part of the controller is photographed, and the camera of the optical sensing component is photographed to the control part of the controller; and the image analyzing device of the optical sensing component obtains the manipulation from the captured information. The motion trajectory of the operator's control unit calculates the motion recognition signal based on the motion trajectory. In the implementation process, the optical sensing component can use the laser and the camera (RGB) to obtain the 3D image information of the control part, which is not limited by the lighting environment.

In the implementation process, converting the motion recognition signal into a flight control signal according to a predetermined identification algorithm in the foregoing step 102 includes:

The motion recognition signal includes a direction identification signal and an acceleration identification signal;

Generating a direction flight signal of the flight control signal based on the direction identification signal;

An acceleration flight signal of the flight control signal is generated based on the acceleration identification signal.

The direction identification signal is: the upward motion trajectory corresponds to the upward motion direction, the downward motion trajectory corresponds to the downward motion direction, the leftward motion trajectory corresponds to the leftward motion direction, and the rightward motion trajectory corresponds to The direction of motion to the right; the acceleration identification signal is: the instantaneous acceleration value of the acquired control part.

The direction identification signal is associated with the direction flight signal, and the flight control signal can be The direction flight signal is set in the same direction as the direction identification signal for easy manipulation.

The acceleration identification signal may be proportional to the acceleration flight signal of the flight control signal, and the proportional ratio may be determined according to requirements. The control part that controls this is in a small acceleration movement, and the unmanned aircraft will increase the acceleration relative to the control part. Alternatively, the acceleration identification signal may be the same as or smaller than the acceleration flight signal of the flight control signal.

In the above step 103, according to the flight control signal, a corresponding flight action instruction is issued to the flight component of the drone, which may be:

Deriving a flight instruction to the flight component according to the direction flight signal;

The direction flight signal is used to control the flight direction of the unmanned aircraft;

An acceleration control flight command is issued to the flight component based on the acceleration flight signal.

The acceleration flight signal is used to control the flight acceleration of the drone.

Embodiment 2

As shown in FIG. 2, an unmanned aerial vehicle system provided by the second embodiment of the present application includes: a motion recognition unit 21, a data processing unit 22, and a drone aircraft 23;

The motion recognition unit 21 is configured to collect a motion recognition signal of the controller's control portion;

The data processing unit 22 is configured to convert the motion recognition signal into a flight control signal in accordance with a predetermined identification algorithm;

The drone aircraft 23 includes a flight control component and a flight component for issuing a corresponding flight action command to the flight component based on the flight control signal.

In the unmanned aerial vehicle system provided in the second embodiment of the present application, the motion recognition signal is obtained by acquiring the motion of the controller's control portion, thereby perceiving the information of the motion of the controller's control portion; the motion is performed according to a predetermined recognition algorithm. The identification signal is converted into a flight control signal so that the drone flight can be controlled based on the flight control signal. In the control of the drone, after the controller's control part makes the corresponding action, the drone's flight can be controlled, the drone's somatosensory flight control is realized, and the operability is improved.

In an implementation process, the data processing unit may further include a radio component configured to wirelessly transmit the flight control signal to a wireless receiving component of the drone. The motion recognition unit may include a switch that controls the opening and closing of the recognition motion recognition signal. Need to start moving through When the identification unit controls the drone, pressing the switch activates the motion recognition function of the motion recognition unit; when it is not needed, the switch is turned on to turn off the motion recognition function of the motion recognition unit.

As shown in FIG. 3, in an embodiment provided by the present application,

The motion recognition unit may further include an inertial sensing component 211.

The inertial sensing component 211 is configured to synchronously move with the control part of the controller, obtain inertial motion information of the controller's control part from the information of the synchronous motion, and calculate the motion recognition signal according to the inertial motion information. .

The inertial sensing component can be integrated with the data processing unit and disposed on the radio remote control device. The radio remote control device can be provided with a handle or directly formed into a handle shape for easy grasping. Or, set the shape of the bracelet and armband to be worn on the hand or arm to control the drone. The inertial sensing component may include a direction sensor and an acceleration sensor; the direction sensor measures the acceleration and gravity by sensing the magnitude of the inertial force in a certain direction, and feels the change posture by the force sensitive sensor. Judging by changes in the center of gravity. An acceleration sensor is an electronic device that measures acceleration. Acceleration is the force that acts on an object during acceleration, just like gravity, or gravity. Acceleration can be a constant, such as g, or a variable. There are two types of accelerometers in accelerometers: one is an angular accelerometer, which is improved by a gyroscope (angular velocity sensor). The other is a line accelerometer.

In another embodiment provided by the present application,

The motion recognition unit may further include an optical sensing component 212;

The optical sensing component 212 is configured to capture a control portion of the controller, obtain a motion track of the controller of the controller from the captured information, and calculate the motion recognition signal according to the motion track.

The optical sensing component may include a camera and an image analyzing device; the camera is configured to capture a control portion of the controller; and the image analyzing device is configured to acquire a motion track of the controller of the controller from the captured information. The motion recognition signal is calculated based on the motion trajectory. The optical sensing component as a whole can be integrated with the data processing unit and disposed on the radio remote control device. The camera of the optical sensing component and the image analyzing device may also be separately arranged, and the image analyzing device and the data processing unit are integrated into one body, set on the radio remote control device, and the camera and the radio remote control device are separately arranged, and the camera and the image are arranged. Analyze the device for wireless communication. In operation, the volume can be smaller The camera is placed separately for easy shooting. Optionally, a bracket can be disposed on the camera, and the bracket can be provided with a height adjustable structure for adjusting the height position of the camera.

In an embodiment provided by the present application,

The flight control component may further include a flight direction control unit and a flight acceleration control unit;

The motion recognition signal may include a direction identification signal and an acceleration identification signal;

The data processing unit may be configured to generate a direction flight signal of the flight control signal according to the direction identification signal;

Generating an acceleration flight signal of the flight control signal according to the acceleration identification signal;

The flight direction control unit may be configured to issue a guiding flight instruction to the flight component according to the direction flight signal;

The flight acceleration control unit may be configured to issue an acceleration control flight command to the flight component based on the acceleration flight signal.

The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules may be selected according to actual needs to implement the solution of the embodiment.

Through the description of the above embodiments, those skilled in the art can clearly understand that the implementation can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on such understanding, the above-described technical solutions may be embodied in the form of software products in essence or in the form of software products, which may be stored in a computer readable storage medium such as ROM/RAM, magnetic Discs, optical discs, etc., include instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in the Examples or Embodiments.

Embodiment 3

The embodiment of the present application further provides a non-transitory computer storage medium, where the computer storage medium stores computer executable instructions, which can execute the method in any of the foregoing method embodiments.

Embodiment 4

4 is a schematic diagram showing the hardware structure of an apparatus for performing a flight control method of an unmanned aerial vehicle system provided by the present application. As shown in Figure 4, the device includes:

One or more processors 410 and memory 420, one processor 410 is exemplified in FIG.

The device may also include an input device 430 and an output device 440.

The processor 410, the memory 420, the input device 430, and the output device 440 may be connected by a bus or other means, as exemplified by a bus connection in FIG.

The memory 420 is used as a non-transitory computer readable storage medium, and can be used for storing a non-transitory software program, a non-transitory computer executable program, and a module, as in the flight control method of the drone system in the embodiment of the present application. Program instructions/modules. The processor 410 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in the memory 420, that is, the flight control method of the unmanned aircraft system in the above method embodiment is implemented. .

The memory 420 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; and the storage data area may store data created according to use of the device played by the multi-stream video stream. Wait. Moreover, memory 420 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 420 can optionally include memory remotely located relative to processor 410, which can be connected to a device that plays multiple streams of video over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Input device 430 can receive input digital or character information and generate key signal inputs related to user settings and function control of the flight control system of the drone system. Output device 440 can include a display device such as a display screen.

The one or more modules are stored in the memory 420, and when executed by the one or more processors 410, perform a flight control method of the drone system in any of the above method embodiments.

The above-mentioned products can be implemented in the method provided by the embodiments of the present application, and the functional modules and the beneficial effects of the method are not described in detail in the embodiments.

Finally, it should be noted that the above embodiments are only used to explain the technical solutions of the present application, and are not limited thereto; although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still The technical solutions described in the foregoing embodiments are modified, or some of the technical features are equivalently replaced.

Industrial applicability

The drone system and the flight control method thereof provided by the embodiments of the present application improve the steerable performance of the drone and realize the somatosensory flight control of the drone.

Claims (11)

A flight control method for a drone system includes: Collecting a motion recognition signal of a controller's control portion; Converting the motion recognition signal to a flight control signal according to a predetermined identification algorithm; A corresponding flight action command is issued to the flight component of the drone according to the flight control signal. The method of claim 1 wherein The motion recognition signal of the control operator's control part includes: Synchronizing motion with the control portion of the controller, obtaining inertial motion information of the controller's control portion from the information of the synchronized motion, and calculating the motion recognition signal according to the inertial motion information. The method of claim 1 wherein The motion recognition signal of the control operator's control part includes: The control part of the controller is photographed, the motion track of the control part of the controller is obtained from the captured information, and the motion recognition signal is calculated according to the motion track. The method of claim 1 wherein Converting the motion recognition signal into a flight control signal according to a predetermined identification algorithm, including: The motion recognition signal includes a direction identification signal and an acceleration identification signal; Generating a direction flight signal of the flight control signal based on the direction identification signal; Generating an acceleration flight signal of the flight control signal according to the acceleration identification signal; Delivering corresponding flight action instructions to the flight components of the drone according to the flight control signal, including: Deriving a flight instruction to the flight component based on the direction flight signal; An acceleration control flight command is issued to the flight component based on the acceleration flight signal. A drone system that includes: a motion recognition unit configured to collect a motion recognition signal of a controller's control portion; a data processing unit configured to convert the motion recognition signal into a flight control signal in accordance with a predetermined identification algorithm; A drone, including a flight control component and a flight component, the flight control component being configured to issue a corresponding flight action command to the flight component based on the flight control signal. The system of claim 5 wherein The motion recognition unit includes an inertial sensing component; The inertial sensing component is configured to synchronously move with the control portion of the controller, obtain inertial motion information of the controller's control portion from the information of the synchronous motion, and calculate the motion recognition signal according to the inertial motion information. The system of claim 5 wherein The motion recognition unit includes an optical sensing component; The optical sensing component is configured to capture a control portion of the controller, obtain a motion trajectory of the controller of the controller from the captured information, and calculate the motion recognition signal according to the motion trajectory. The system of claim 5 wherein The flight control component includes a flight direction control unit and a flight acceleration control unit; The motion recognition signal includes a direction identification signal and an acceleration identification signal; The data processing unit is configured to generate a direction flight signal of the flight control signal based on the direction identification signal; Generating an acceleration flight signal of the flight control signal according to the acceleration identification signal; The flight direction control unit is configured to issue a guided flight instruction to the flight component according to the direction flight signal; The flight acceleration control unit is configured to issue an acceleration control flight command to the flight component based on the acceleration flight signal. A non-transitory computer storage medium storing computer executable instructions for causing the computer to perform the method of any of claims 1-4. An electronic device comprising: At least one processor; and, a memory communicatively coupled to the at least one processor; wherein The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the method of any of claims 1-4 method. A computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to execute The method of claims 1-4.

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