WO2018184232A1 - Body sensing remote control method, control apparatus, gimbal and unmanned aerial vehicle - Google Patents

Abstract

A body sensing remote control method and a body sensing control apparatus using said method, used for remote control of an actuator by means of a body sensing mode. The body sensing remote control method comprises: acquiring body sensing information; generating a remote control command used to control the actuator according to said body sensing information; the actuator executing an action according to the remote control command. The body sensing control apparatus at least comprises: an acquisition module, used to acquire body sensing information; and a command generation module, used to generate a remote control command used to control the execution apparatus according to the body sensing information. The present invention also relates to a corresponding gimbal and unmanned aerial vehicle.

Description

Somatosensory remote control method, control device, pan/tilt and unmanned aerial vehicle

Copyright statement

The disclosure of this patent document contains material that is subject to copyright protection. This copyright is the property of the copyright holder. The copyright owner has no objection to the reproduction of the patent document or patent disclosure contained in the official records and files of the Patent and Trademark Office.

Technical field

The invention belongs to the technical field of remote control, in particular to the technical field of control of an unmanned aerial vehicle, and particularly relates to a somatosensory remote control method and a corresponding somatosensory control device, which have corresponding pan/tilt and unmanned aerial vehicles. The invention can also be applied to other devices that require remote control, such as various unmanned vehicles.

Background technique

Unmanned aerial vehicles have the advantages of good maneuverability, low cost and convenient use, and have been applied in many industries, such as aerial photography, agricultural plant protection, surveying and so on. A virtual reality head-mounted display device, that is, a VR (Virtual Reality) head display, including VR glasses, VR eye masks, VR helmets, and the like. The UAV aircraft can be connected with the virtual reality head-mounted display device to realize the first person perspective: the image captured by the camera device on the UAV aircraft can be transmitted back to the virtual reality head-mounted display device in real time; through the mobile terminal The controller can directly control the throttle, attitude angle and flight speed of the aircraft to achieve very precise control of the aircraft. Currently, in the field of VR glasses technology, there is no specific VR glasses product for maneuvering unmanned aerial vehicles. Most of them can only watch the picture and cannot control the attitude of the drone.

Summary of the invention

An aspect of the present invention provides a somatosensory remote control method for remotely executing a device by a somatosensory method, comprising: acquiring somatosensory information; generating a remote control command for controlling the execution device according to the somatosensory information; The remote command execution action is described.

Another aspect of the present invention provides a somatosensory control apparatus comprising: an acquisition module for acquiring somatosensory information; and an instruction generation module for generating a remote control instruction for controlling the execution device based on the somatosensory information.

Another aspect of the invention is a pan/tilt head, comprising a receiving module, configured to receive a remote control command, the remote control The instructions are generated by the somatosensory information; the execution module is configured to perform an action according to the remote command.

In another aspect of the invention, an unmanned aerial vehicle includes a receiving module for receiving a remote control command, the remote control command being generated by the somatosensory information, and an execution module for performing an action according to the remote control command.

Another aspect of the present invention provides a VR body sensing device including the somatosensory control device.

DRAWINGS

For a more complete understanding of the present invention and its advantages, reference will now be made to the following description

Figure 1 shows a block diagram of one embodiment of a somatosensory control device of the present invention.

Fig. 2 is a block diagram showing another embodiment of the somatosensory control device of the present invention.

Fig. 3 is a diagram showing an embodiment of the manner of information interaction between the somatosensory control device and the executing device of the present invention.

Fig. 4 is a block diagram showing the module of the somatosensory control device and the executing device in the embodiment of Fig. 3.

5 to 8 are schematic diagrams showing the corresponding postures of the control area of the somatosensory control device and the VR body-sensing glasses.

Fig. 9 is a diagram showing another embodiment of the manner of information interaction between the somatosensory control device and the executing device of the present invention.

10 and 11 are block diagrams showing the configuration of the somatosensory control device, the executing device, and the remote control device of the executing device in the embodiment of Fig. 9.

detailed description

Other aspects, advantages, and salient features of the present invention will become apparent to those skilled in the <

In the present invention, the terms "include" and "include" and their derivatives are intended to be inclusive and not limiting; the term "or" is inclusive, meaning "and/or".

In the present specification, the following various embodiments for describing the principles of the present invention are merely illustrative and should not be construed as limiting the scope of the invention. The following description of the invention is intended to be understood as The description below includes numerous specific details to assist the understanding, but these details should be considered as merely exemplary. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Further, the same reference numerals are used throughout the drawings for the same or similar functions and operations.

In general, the present invention provides a somatosensory remote control method in which the device is remotely controlled by a somatosensory method. The term "soul" as used herein refers to body perception, including the perception of various body state information of a person. The body state information in turn includes body motion state information, including exercise time, motion speed, motion acceleration, motion angle, motion angular velocity, motion posture, and the like. As used herein, an actuator refers to any device or device that can perform any action under the command, such as a drone, or a gimbal on a drone.

The drone is usually remotely controlled by a remote control device with a control handle, and the operator can control the handle without remote control of the drone. If the operator's own body-sensing information of the drone can be well utilized, the operator's operating load can be greatly reduced.

Therefore, first of all, the starting point of the present invention is to utilize the operator's somatosensory information, that is, first, the somatosensory information needs to be acquired. At present, there are various techniques for acquiring somatosensory information, and the present invention can be utilized. That is, the present invention is not limited to how to acquire somatosensory information and what type of somatosensory information.

Secondly, the present invention entails generating a remote command for controlling the execution device based on the somatosensory information; the executing device can thereby perform an action in accordance with the remote command. For example, a drone can perform an action based on a remote command of a remote controller, which is well known. However, the somatosensory information cannot be directly used as a remote control command. Therefore, the present invention proposes to convert the somatosensory information into a predetermined command format that can be read and recognized by the drone. Thereby, the executing device can perform the corresponding action in accordance with the remote control command in the usual manner.

Although the present invention is not limited to a specific device or element for acquiring somatosensory information, in view of convenience of handling and sense of presence, the present invention preferably uses a wearable device to collect somatosensory information. The wearable device is, for example, a smart bracelet, a smart watch, a virtual helmet, smart glasses, smart sports shoes, etc. Generally, the wearable device can collect motion information or posture information of at least one part of the user as the body feeling information. That is, the present invention can embed a somatosensory control device in a wearable device.

However, for remote control devices, particularly for remote control of unmanned vehicles such as drones, the present invention more preferably employs wearable devices with virtual reality (VR) functions, such as VR helmets, VR blinds. , VR glasses, etc. There has been a technology for transmitting a picture taken by a no-man's vehicle in real time to a controller's virtual reality device, so that when the controller manipulates the unmanned vehicle through the remote control device, the VR device reproduces the unmanned vehicle in real time in front of the person's eyes. The shooting picture, so that the operator produces a first-view immersive feeling. However, the existing VR device does not have the function of obtaining the sensory information of the controller. Thus, the present invention proposes to make VR The device has the function of obtaining somatosensory information, thereby converting the movement of a person or a part of a person into a manipulation information of the unmanned vehicle, so that the controller obtains an immersive manipulation feeling.

Hereinafter, the VR glasses will be described as a carrier of the body feeling control device as an example.

Figure 1 shows a block diagram of one embodiment of a somatosensory control device of the present invention. As shown in FIG. 1, the somatosensory control device 10 can be included in a VR body spectacle 1 including an acquisition module 11 and an instruction generation module 12. The acquisition module 11 is configured to acquire the somatosensory information; the instruction generation module 12 is configured to generate a remote control instruction for controlling the execution device (not shown) according to the somatosensory information. The somatosensory information acquired by the acquisition module 11 or the remote control command generated by the command generation module 12 can be directly transferred to the VR stereoscopic glasses 1 , and the VR stereoscopic glasses 1 complete the transmission of the somatosensory information or the remote control command and the interaction with the execution device.

Fig. 2 is a block diagram showing another embodiment of the somatosensory control device of the present invention. As shown in FIG. 2, unlike the embodiment shown in FIG. 1, the somatosensory control device 10 further includes a transmitting module 13. It is used to send the somatosensory information acquired by the acquisition module 11 or the remote control command generated by the instruction generation module 12 to the execution device or the remote control device of the execution device. That is, the body feeling control device 10 of this embodiment itself performs the transmission of the body feeling information or the remote control command and the interaction with the execution device.

Fig. 3 is a diagram showing an embodiment of the manner of information interaction between the somatosensory control device and the executing device of the present invention. As shown in FIG. 3, the somatosensory control device 10 is included in the VR body spectacle 1 which generates a remote control command based on the somatosensory information acquired by the somatosensory control device 10, and the remote control command is transmitted from the VR tactile glasses 1 to the drone. 2. The flight control module or the pan/tilt control module of the drone 2 serves as the execution device (not shown).

Fig. 4 is a block diagram showing the module of the somatosensory control device and the executing device in the embodiment of Fig. 3. As shown in FIG. 4, the body feeling control device 10 includes an acquisition module 11, an instruction generation module, and a transmission module. The acquisition module 11 is configured to acquire the somatosensory information; the instruction generation module 12 is configured to generate a remote control instruction for controlling the execution device 20 according to the somatosensory information. The sending module 13 is configured to send the somatosensory information acquired by the acquiring module 11 or the remote control command generated by the command generating module 12 to the executing device 20.

The execution device 20 includes an execution module 21, a main control module 22, and a receiving module 23. The execution module is configured to perform a corresponding action in accordance with an instruction of the control module 22. When the execution device 20 is a drone, the execution module may be a component that controls the flight state of the drone, such as an engine, a rotor, a rudder, and the like. When the execution device is mounted on the head of the drone, the execution module may be an actuating mechanism that controls the attitude of the gimbal. The invention is not limited to the specific configuration of the specific execution device and execution module.

The receiving module 23 of the executing device is configured to receive the somatosensory information or the remote control command from the transmitting module 13 of the somatosensory control device 10 by wire or wirelessly, and forward it to the control module 22. The control module 22 generates a remote control command for controlling the execution module 21 according to the somatosensory information or a remote control command. When the control module 22 receives the somatosensory information, it first generates a remote control command according to the somatosensory information, and then generates a remote control command of the execution module 21 according to the remote control command.

In the embodiment shown in FIG. 3, the obtaining module 11 further includes the step of acquiring the posture information of the current body feeling control device 20 when the VR body glasses 1 is turned on before the obtaining the body feeling information. The posture includes a direction, an angle, and the like, and the posture information of the body feeling control device 20 when the VR body glasses 1 is turned on is stored as reference information. The step of acquiring the somatosensory information may generate the somatosensory information according to the difference between the current posture information and the reference information by acquiring the current posture information of the somatosensory control device 20. Since the sensible control device 20 is built in the VR body spectacles 1, the posture information of the sensation control device 20 can also be regarded as the posture information of the VR body spectacles 1.

The reference information of the VR body-spectrum 1 and the current attitude information may be acquired by inertial measurement elements, that is, the acquisition device may be implemented by an inertial measurement element, and the conventional measurement element may include a gyroscope and an accelerometer.

In addition, in this embodiment, when the VR body-spectrum 1 is turned on, the command generation module generates a back-in command, and can be sent to the execution device 20 through the sending module, so that the control module 22 of the executing device 20 controls execution. The device causes the posture of the actuator 20 to be in an initial posture. For a head of a drone or a drone, the initial attitude may be that the three axes of the drone or the pan/tilt are perpendicular to each other, and the heading axis (yaw axis) is a vertical direction.

Preferably, the control area of the somatosensory control device 10 includes a control dead zone and a control active area. When the difference between the current posture and the reference information is within the dead zone range, the command generation module 12 does not generate a remote control command. And when the difference between the current posture and the reference information is within the effective control range, generating a remote control instruction according to the difference. More preferably, the control region of the somatosensory control device 10 further includes a control saturation region, and when the difference between the current posture and the reference information is greater than or equal to a preset threshold, the remote control command is unchanged.

5 to 8 are schematic diagrams showing the corresponding postures of the control area of the somatosensory control device and the VR body-sensing glasses. In the diagram, the angle of the heading axis (yaw axis) is taken as an example of the attitude information, but it should be understood that the attitude information may be other angles. As shown in FIG. 5, when the VR body glasses 1 is turned on, the acquisition module acquires the posture information of the current body feeling control device 20, and uses the posture information acquired at this time as reference information, wherein the current yaw axis angle is used as a reference yaw axis angle. The yaw axis angle difference is 0.

As shown in FIG. 6, when the VR body glasses are rotated by an angle, the current yaw axis angle acquired by the body feeling control device 10 is deflected, resulting in a yaw axis angle difference of not 0. When the yaw axis angle difference is within an angular range, it is likely that it is not caused by the operator's unintended action. Therefore, the present invention sets the angle range as a dead zone, and when the yaw axis angle difference is in the dead zone, The command generation module 12 of the somatosensory control device 10 does not generate a remote command, so that no remote command is sent to the executing device. In this way, as long as the action amplitude of the controller between the VR-like eyes is sufficiently large, the manipulation command is given to the execution device such as the drone, so that the drone and its pan/tilt do not excessively act on the user's minute movements. The reaction ensures the stability of the drone's operating state. The angular range of the dead zone is, for example, between -5 degrees and +5 degrees.

The posture balls in FIGS. 5 to 8 can be displayed on the screen of the VR body-wearing glasses 1 so that the user can intuitively feel the magnitude of the motion range and the accuracy of the operation.

As shown in FIG. 7, when the angle of rotation of the VR body-sensing glasses is such that the current yaw axis angle difference acquired by the body-sensing control device 10 exceeds the range of the dead zone, the "control effective area" shown in the figure is entered. The generation module 12 generates remote command to manipulate the actuator 30 based on the magnitude of the yaw axis deflection. In this embodiment, the difference in the angular direction of the current yaw axis direction minus the dead zone boundary is taken as the control angle α, and a remote command is generated based on the angle of the α, and the execution device is instructed to operate. When the actuator is included in the head of the drone, the yaw axis of the drone can be controlled to deflect the alpha angle or to deflect an angle associated with the alpha angle. When the executing device is included in the drone as the flight control module, a remote command for deflecting the unmanned machine yaw axis by a certain amount of the lever may be generated according to the alpha angle, and the lever amount has a corresponding relationship with the alpha angle.

As shown in FIG. 8, when the angle of rotation of the VR body-sensing glasses is such that the current yaw axis angle difference acquired by the body-sensing control device 10 exceeds the range of the dead zone, the "saturation control zone" shown in the figure is entered. The generation module 12 no longer generates remote command according to the magnitude of the yaw axis deflection angle, but still generates a remote command by controlling the yaw axis deflection angle corresponding to the maximum boundary of the effective area. Thus, when the magnitude of the motion of the controller is too large, there is no instruction to make the execution device unexecutable or dangerous or malfunctioning during execution. For the drone or its head, it can ensure that the drone and its head are operating within the design tolerance to ensure the stability of flight or posture.

Fig. 9 is a diagram showing another embodiment of the manner of information interaction between the somatosensory control device and the executing device of the present invention. As shown in FIG. 9, similar to the previous embodiment, the somatosensory control device 10 is included in the VR body-wearing glasses 1, and the VR-skinned eyewear 1 generates a remote control command according to the somatosensory information acquired by the somatosensory control device 10, and the remote control command is sensed by the VR. The glasses 1 are sent to the drone 2. Flight control module or pan/tilt control mode of drone 2 The block acts as the execution device (not shown). Furthermore, the actuator also has a remote control device 3, such as a remote control for the drone. Thus, the somatosensory information acquired by the somatosensory control device 10 or the generated remote control command may be transmitted to the remote control device 3 instead of being directly transmitted to the executing device. The remote control device 3 itself has a transceiver module that can directly transfer the somatosensory information or remote control commands to the execution device 2.

10 and 11 are block diagrams showing the body control device, the executing device, and the remote control device of the executing device in the embodiment of Fig. 9. As shown in FIG. 10, the body feeling control device 10 includes an acquisition module 11, an instruction generation module, and a transmission module. The acquisition module 11 is configured to acquire the somatosensory information; the instruction generation module 12 is configured to generate a remote control instruction for controlling the execution device 20 according to the somatosensory information. The sending module 13 is configured to send the somatosensory information acquired by the acquiring module 11 or the remote control command generated by the command generating module 12 to the executing device 20.

Likewise, the execution device 20 of this embodiment also includes an execution module 21, a main control module 22, and a receiving module 23. The execution module 21 is configured to perform a corresponding action according to an instruction of the control module 22. The receiving module 23 of the executing device is configured to receive the somatosensory information or the remote control command from the transmitting module 13 of the somatosensory control device 10 by wire or wirelessly, and forward it to the control module 22. The control module 22 generates a remote control command for controlling the execution module 21 according to the somatosensory information or a remote control command. When the control module 22 receives the somatosensory information, it first generates a remote control command according to the somatosensory information, and then generates a remote control command of the execution module 21 according to the remote control command. On the other hand, the body feeling control device 10 may not send the body feeling information or the remote control command directly to the execution device, but may simply transmit it to the remote control device 3. The remote control device 3 itself has a transceiver module 31 and a control module 32. The transceiver module 31 can directly forward the received somatosensory information or remote control command to the executing device 2, or process the received somatosensory information or remote control command and send it to the executing device. 2. The processing may be converting the somatosensory information into a remote control command or a fusion of the remote control commands. The fusion of remote command is further explained below.

Unmanned vehicles such as drones usually have matching remote controls, and the remote control itself can generate remote commands. In order to facilitate the distinction, here we refer to the remote control command generated by the somatosensory control device 10 as the first remote control command, and the remote control command generated by the remote control device as the second remote control command. The second remote command can be generated by a user input element such as a joystick. The remote control device fuses the first remote control command and the second remote control command to form a third remote control command. The fusion may be a direct superposition, or may be superimposed according to a predetermined weight, or calculated according to a predetermined linear or non-linear formula, and finally the third remote control command is obtained.

The merging operation can be implemented by the remote control device 3 or directly by the execution device. Figure 10 and Figure 11 show the two cases, respectively, in the case shown in Figure 10, the fusion module 33 as a remote control A portion of control module 32 of 3, in the illustrated situation of FIG. 11, fusion module 34 is a portion of control module 22 that is the execution device 2.

In the above embodiment, the operation of using the posture of the VR body-wearing glasses to control the yaw of the drone and the pitch of the pan-tilt is realized. The yaw (left and right turn) direction of the eyeglasses controls the yaw of the aircraft, and the pitch of the eyeglasses of the eyeglasses controls the pan/tilt, and the control of the pan/tilt is consistent with the control of the pan/tilt.

When the VR body glasses are turned on, the glasses periodically sample the yaw axis and pitch axis data of their own IMU (Inertial Measurement Unit), calculate the angular difference (including the yaw and pitch components) from the reference pose, and then use this difference as the cloud. The angle of the station or drone is offset, and a remote command is generated to be sent to the drone or its head. After the drone or pan/tilt receives the remote control command of the angle control, adjust the yaw and pitch angles of the drone or pan/tilt according to the yaw and pitch components of the angular difference indicated by the command.

According to another embodiment, the "sense control" has a higher priority than the "remote control". Therefore, it is possible to set the control of the remote control device to be ineffective when the somatosensory control is set. Further, as a specific embodiment, when the VR body glasses are turned off, the periodic acquisition of the body feeling information is stopped, and at this time, a remote control command is transmitted to control the return of the drone or the pan/tilt as the executing device.

Although the present invention has been shown and described with respect to the specific exemplary embodiments of the present invention, those skilled in the art Various changes in form and detail are made to the invention. Therefore, the scope of the invention should not be construed as being limited by the appended claims.

Claims (41)

A somatosensory remote control method for remotely executing a device by a somatosensory method, comprising: Get somatosensory information; Generating a remote control command for controlling the execution device according to the somatosensory information; The executing device performs an action according to the remote command. The somatosensory remote control method according to claim 1, wherein The somatosensory information is somatosensory information collected by the wearable device. The somatosensory remote control method according to claim 2, wherein the wearable device is a VR device, and the somatosensory information is deflection angle information of the VR device. The somatosensory remote control method according to claim 2, wherein before the obtaining the somatosensory information, the method further comprises: Obtaining posture information when the wearable device is turned on, and storing posture information when the wearable device is turned on as reference information. The somatosensory remote control method according to claim 4, wherein the step of acquiring the somatosensory information comprises: Acquiring the current posture information of the wearable device, and generating the somatosensory information according to the difference between the current posture information and the reference information. The somatosensory remote control method according to claim 5, wherein the reference information when the wearable device is turned on and the current posture information are acquired by the inertial measurement unit. The somatosensory remote control method according to any one of claims 2 to 6, wherein, when the wearable device is turned on, an instruction is transmitted to the executing device such that the posture of the executing device is in an initial posture. The somatosensory remote control method according to claim 5, wherein the control area of the wearable device comprises a control dead zone and a control effective area, and when the difference between the current posture and the reference information is within the dead zone range, determining The motion information does not generate a remote control command; when the difference between the current posture and the reference information is within the effective control range, it is determined to generate a remote control command according to the difference. The somatosensory remote control method according to claim 8, wherein the control area of the wearable device further comprises a control saturation region, and when the difference between the current posture and the reference information is greater than or equal to a preset threshold, the remote control command is unchanged. The somatosensory remote control method according to claim 2, wherein said generating according to said body feeling information The step of controlling the remote command of the executing device specifically includes: The wearable device generates the remote control command according to the somatosensory information, and the remote control command is sent by the wearable device to the execution device. The somatosensory remote control method according to claim 10, wherein Determining, by the wearable device, a remote control command generated according to the somatosensory information as a first remote control instruction; In the step of performing the action according to the remote command, the executing device further receives a second remote command from a remote control device, and fuses the first remote command and the second remote command to form a third remote command And performing an action according to the third remote command. The somatosensory remote control method according to claim 2, wherein The step of generating a remote control command for controlling the execution device according to the somatosensory information includes: the wearable device first transmitting the somatosensory information to a remote control device, and the remote control device generates the location according to the somatosensory information Remote control instructions. The somatosensory remote control method according to claim 12, wherein Using a remote control command generated by the remote control device according to the somatosensory information as a first remote control command; The remote control device further receives a user operation to generate a second remote control command; The remote control device or the execution device fuses the first remote control command and the second remote control command to form a third remote control command; The executing device performs an action according to the third remote command. The somatosensory remote control method according to any one of claims 1 to 13, wherein The somatosensory information includes motion information about a heading axis (yaw axis) and/or motion information about a pitch axis (pitch axis). The somatosensory remote control method according to claim 14, wherein the motion information includes a deflection angle and/or a deflection speed. The somatosensory remote control method according to any one of claims 1 to 13, wherein The execution device is a pan/tilt, and the remote control command includes a yaw motion command and/or a pitch motion command of the pan/tilt. The somatosensory remote control method according to any one of claims 1 to 13, wherein The execution device is an unmanned aerial vehicle, and the remote control command includes a lever amount for controlling the unmanned aerial vehicle. A somatosensory control device comprising: Obtaining a module for acquiring somatosensory information; And an instruction generating module, configured to generate a remote control instruction for controlling the execution device according to the somatosensory information. The somatosensory control device according to claim 18, wherein Also included is a transmitting module for transmitting the somatosensory information or remote control commands to the executing device or the remote control device of the executing device. The somatosensory control device according to claim 19, which is included in the wearable device. The somatosensory control device according to claim 20, wherein the wearable device is a VR device. The somatosensory control device according to claim 20, wherein The acquiring module is further configured to acquire posture information when the wearable device is turned on, and store posture information when the wearable device is turned on as reference information. The somatosensory control device according to claim 22, wherein the acquisition module is configured to acquire current posture information of the wearable device, and generate somatosensory information according to a difference between the current posture information and the reference information. The somatosensory control device according to claim 23, wherein the acquisition module is an inertial measurement unit configured to acquire reference information and current posture information when the wearable device is turned on. The somatosensory control device according to any one of claims 20 to 24, wherein the transmitting module is further configured to send a command to the executing device or the remote device of the executing device when the wearable device is turned on So that the posture of the actuator is in an initial posture. The body feeling control device according to any one of claims 18 to 25, wherein The somatosensory information includes motion information about a heading axis and/or motion information about a pitch axis. The somatosensory control device according to claim 26, wherein the motion information includes a deflection angle and/or a deflection speed. The body feeling control device according to any one of claims 18 to 25, wherein The remote command includes a yaw motion command and/or a pitch motion command for controlling the pan/tilt. The body feeling control device according to any one of claims 18 to 25, wherein The execution device is an unmanned aerial vehicle, and the remote control command includes a lever amount for controlling the unmanned aerial vehicle. a gimbal, including a receiving module, configured to receive a remote control instruction, where the remote control instruction is generated by the somatosensory information; An execution module is configured to perform an action according to the remote command. A pan/tilt head according to claim 30, wherein The receiving module is configured to receive somatosensory information collected from the wearable device. The pan/tilt head according to claim 31, wherein the remote control command generated by the wearable device according to the somatosensory information is used as a first remote command; The receiving module also receives a second remote control command from a remote control device; The cloud platform further includes a fusion module, the fusion module is configured to fuse the first remote control instruction and the second remote control instruction to form a third remote control instruction; The execution module performs an action according to the third remote control instruction. A pan/tilt head according to any one of claims 30 to 32, wherein The somatosensory information includes motion information about a heading axis and/or motion information about a pitch axis; A pan/tilt head according to any one of claims 30 to 32, wherein The remote command includes a yaw motion command and/or a pitch motion command of the pan/tilt. An unmanned aerial vehicle, including a receiving module, configured to receive a remote control instruction, where the remote control instruction is generated by the somatosensory information; An execution module is configured to perform an action according to the remote command. The UAV according to claim 35, wherein The receiving module is configured to receive somatosensory information collected from the wearable device. The UAV according to claim 36, wherein the remote control command generated by the wearable device according to the somatosensory information is used as a first remote command; The receiving module also receives a second remote control command from a remote control device; The UAV further includes a fusion module, the fusion module is configured to fuse the first remote control instruction and the second remote control instruction to form a third remote control instruction; The execution module performs an action according to the third remote control instruction. The UAV of any of claims 35-37, further comprising a flight control module that controls the execution module to perform the indicated action in accordance with the remote control command. An unmanned aerial vehicle according to claim 38, further comprising a pan/tilt head, the pan/tilt head including at least a rotatable member rotatable about a heading axis and a pitch axis, The flight control module controls the UAV itself to orbit and/or pitch according to the remote command Axis movement; or The flight control module controls the pan/tilt to move about a heading axis and/or a pitch axis according to the remote command. The UAV according to claim 39, wherein said flight control module controls said UAV and/or PTZ to return to an initial state in accordance with said remote command. A VR body sensing device comprising the body feeling control device according to any one of claims 18 to 29.

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