WO2018103188A1 - Method and device for controlling unmanned aerial vehicle based on vr glasses - Google Patents

Abstract

A method for controlling an unmanned aerial vehicle (1) based on VR glasses (4). The VR glasses (4) are provided with a motion sensing component. The unmanned aerial vehicle (1) is provided with a camera (2), and is wirelessly connected to the VR glasses (4). The method comprises: after receiving image data photographed by the camera (2) and sent by the unmanned aerial vehicle (1), converting the received image data into a VR video source that can be played back by the VR glasses (4), and playing back the VR video source on the VR glasses (S10); detecting head and body actions of a VR glasses wearer by means of the motion sensing component and generating corresponding motion data (S20); and converting the motion data into a control instruction that can be recognized by the unmanned aerial vehicle and sending the control instruction to the unmanned aerial vehicle to control the unmanned aerial vehicle to execute a corresponding control operation (S30). Also disclosed is a device for controlling an unmanned aerial vehicle based on VR glasses. The method and device solve the technical problem in the prior art that an unmanned aerial vehicle can only be controlled by means of a handle lever but cannot be controlled according to a user's perspective, thereby improving the user's visual interactive experience.

Description

 Method and device for controlling drone based on VR glasses

Technical field

The invention relates to the technical field of drone control, and in particular to a method and a device for controlling a drone based on VR glasses.

Background technique

VR (Virtual Reality, a virtual reality technology, is a computer simulation system that can create and experience a virtual world. It uses a computer to generate a simulation environment. It is a multi-source information fusion interactive 3D dynamic view and system simulation of entity behavior. To immerse users in the simulation environment.

At present, the application of drones in people's lives is more and more extensive, and there are more and more drone players. The existing drones are generally operated by a joystick or remote control to achieve certain remote control operations. The operation is not much different from the traditional remote-controlled toy airplane, the playability is not strong, and there is no visual interaction. For example, when using a drone for aerial photography, the user can only view the aerial video sent by the drone through the ground terminal, and then adjust the shooting direction or shooting position of the drone through the drone handle control lever. The user's perspective controls the shooting direction or shooting position of the drone, and the visual interaction experience for the user is not high.

Summary of the invention

The main object of the present invention is to provide a method and a device for controlling a drone based on VR glasses, aiming at solving the prior art that the drone can only be controlled by the joystick of the handle, and the drone cannot be controlled according to the perspective of the user. Technical issues that enhance the user's visual interaction experience.

To achieve the above object, the present invention provides a method for controlling a drone based on VR glasses, wherein the VR glasses are provided with a motion sensing component, the drone is provided with a camera, and the VR glasses are wirelessly connected with the drone. The method for controlling a drone based on VR glasses includes:

After receiving the image data captured by the camera sent by the drone, converting the received image data into a VR video source playable by the VR glasses, and playing on the VR glasses;

Detecting the head and limb movements of the VR glasses wearer by the motion sensing component, and generating corresponding motion data;

The generated motion data is converted into a control command recognizable by the drone, and the control command is sent to the drone to control the drone to perform a corresponding control operation.

Preferably, detecting the head and limb movements of the VR glasses wearer by the motion sensing component and generating corresponding motion data includes:

When the motion sensing component detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, and generating corresponding rotation data;

When the motion sensing component detects that the limb of the VR glasses wearer moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated.

Preferably, the generated motion data is converted into a control command recognizable by the drone, and the control command is sent to the drone to control the drone to perform a corresponding control operation. The steps include:

Converting the rotation data into a rotation control command recognizable by the drone and transmitting to the drone to control a camera corresponding to the drone or the drone to perform a corresponding rotation operation, wherein the rotation The rotation direction and the rotation angle of the UAV or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

Preferably, the generated motion data is converted into a control command recognizable by the drone, and the control command is sent to the drone to control the drone to perform a corresponding control operation. The steps also include:

Converting the mobile data into a mobile control command recognizable by the drone and transmitting to the drone to control the drone to perform a corresponding moving operation, wherein the moving direction of the drone is The moving direction of the limb of the VR glasses wearer is the same, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer.

Preferably, the motion sensing component comprises a gyroscope and a three-axis motion sensor;

The detecting the head and limb movements of the VR glasses wearer by the motion sensing component includes:

When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired.

In addition, in order to achieve the above object, the present invention also provides a device for controlling a drone based on VR glasses, wherein the VR glasses are provided with a motion sensing component, the drone is provided with a camera, and the VR glasses and the drone are wireless. The device for controlling the drone based on the VR glasses includes:

a receiving module, configured to convert the received image data into a VR video source playable by the VR glasses after receiving the image data captured by the camera sent by the drone, and perform the VR video source on the VR glasses Play

a detecting module, configured to detect a head and a limb motion of the VR glasses wearer by using the motion sensing component, and generate corresponding motion data;

And a control module, configured to convert the generated motion data into a control instruction recognizable by the drone, and send the control instruction to the drone to control the drone to perform a corresponding control operation.

Preferably, the detection module is configured to:

When the motion sensing component detects that the head of the VR glasses wearer rotates, acquires a rotation direction and a rotation angle of the VR glasses wearer's head, and generates corresponding rotation data; when the motion sensing component detects the VR When the wearer's limb moves, the moving direction and moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated.

Preferably, the control module comprises:

a first control unit, configured to convert the rotation data into a rotation control command recognizable by the drone, and send the rotation control instruction to the drone to control the corresponding camera of the drone or the drone to perform a corresponding The rotating operation, wherein the rotation direction and the rotation angle of the UAV or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

Preferably, the control module further includes:

a second control unit, configured to convert the mobile data into a mobile control command recognizable by the drone, and send the same to the drone to control the drone to perform a corresponding moving operation, where the The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer.

Preferably, the motion sensing component comprises a gyroscope and a three-axis motion sensor;

Then the detection module is used to:

When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head; when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired.

The method and device for controlling a drone based on VR glasses provided by the present invention, detecting the rotation or moving behavior of the wearer of the VR glasses by the motion sensing component, and then controlling the drone to perform the same rotation or moving operation, so that The shooting angle of the UAV corresponding to the camera is consistent with the viewing angle of the VR glasses wearer, which solves the problem that the UAV can only be controlled by the handle lever in the prior art, and cannot be controlled according to the user's perspective. The technical problems of man-machines improve the user's visual interaction experience.

DRAWINGS

1 is a schematic flow chart of a first embodiment of a method for controlling a drone based on VR glasses according to the present invention;

2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention;

3 is a schematic flow chart of a second embodiment of a method for controlling a drone based on VR glasses according to the present invention;

4 is a schematic diagram of a module of a first embodiment of a device for controlling a drone based on VR glasses according to the present invention;

FIG. 5 is a schematic diagram of a module of a second embodiment of a device for controlling a drone based on VR glasses according to the present invention.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

The preferred embodiments of the present invention are described in conjunction with the accompanying drawings, and the preferred embodiments described herein are intended to illustrate and explain the invention, and not to limit the invention, and The embodiments and the features in the embodiments can be combined with each other.

The invention provides a method for controlling a drone based on VR glasses, which is mainly used for controlling flight of a drone by using VR glasses, wherein the VR glasses are provided with a motion sensing component, and the drone is provided with a camera. And the VR glasses are wirelessly connected to the drone.

1 is a schematic flowchart of a first embodiment of a method for controlling a drone based on VR glasses according to the present invention. In this embodiment, the method for controlling a drone based on VR glasses includes:

Step S10, after receiving the image data captured by the camera sent by the drone, converting the received image data into a VR video source playable by the VR glasses, and playing on the VR glasses.

In this embodiment, a camera is mounted on the drone, and the camera can adopt a panoramic camera to capture a 3D image suitable for playing VR glasses. The drone is connected to the VR glasses by means of wireless connection. When the drone is started, the camera starts to take an image, and the captured image data is sent in real time through the drone transmitting device. To VR glasses. After receiving the image data sent by the drone, the VR glasses convert the received image data into a VR video source that can be played by the VR glasses, and play on the VR glasses.

In step S20, the head and limb movements of the VR glasses wearer are detected by the motion sensing component, and corresponding motion data is generated.

In this embodiment, the VR glasses are provided with a motion sensing component, and the motion sensing component can detect the head and limb movements of the VR glasses wearer, such as shaking the head, bowing, steering, etc., and moving forward and backward. action. And after detecting that the VR glasses wearer's head and limbs move, generate corresponding motion data.

Wherein, when the VR glasses wearer views the VR video source being played, the viewing angle can be converted according to personal interests or preferences. For example, the VR glasses wearer can change the angle of view at will when viewing the image taken by the drone corresponding to the camera, such as by rotating the head, moving the limb forward, etc. to obtain a new image. The motion sensing component monitors the head and limb movements of the VR glasses wearer in real time, and then generates corresponding motion data.

Step S30, converting the generated motion data into a control command recognizable by the drone, and transmitting the control command to the drone to control the drone to perform a corresponding control operation.

In this embodiment, the generated motion data is converted into a control command recognizable by the drone, and the type of the control command is consistent with the type of the control command sent by the original handle lever or the remote control device of the drone. . The converted control command is then sent to the drone, and the drone reads the control command and performs a corresponding control operation upon receiving the control command.

It can be understood that, in this embodiment, the drone handle or the remote control device can be used to control the drone to fly above the ideal scene of the user, and then the control authority of the drone can be assigned to the VR. The glasses enable the VR glasses to control the drone.

specific, Keeping the viewing angle of the VR glasses consistent with the shooting angle of the corresponding camera of the drone, and keeping the VR glasses in a linked state with the drone, that is, when the VR glasses wearer's head When the rotation occurs, the shooting angle of the drone corresponding to the camera also rotates. When the body of the VR glasses wearer moves, the shooting angle of the unmanned camera corresponding to the camera also moves. .

For a better understanding of the present invention, referring to FIG. 2, FIG. 2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention. In FIG. 2, the drone 1 is mounted with a camera 2, and the VR glasses are mounted. 4 is mounted with a motion sensing component 3, and the drone 1 is wirelessly connected to the VR glasses 4.

The method for controlling a drone based on VR glasses according to the embodiment may detect the rotation or movement behavior of the VR glasses wearer by the motion sensing component, and then control the drone to perform the same rotation or movement operation, so that The shooting angle of the UAV corresponding to the camera is consistent with the viewing angle of the VR glasses wearer, which solves the problem that the UAV can only be controlled by the handle lever in the prior art, and cannot be controlled according to the user's perspective. The technical problems of man-machines improve the user's visual interaction experience.

Further, based on the embodiment described above with reference to FIG. 1 , in the embodiment, detecting the head and limb movements of the VR glasses wearer by the motion sensing component and generating corresponding motion data according to the step S20 includes:

When the motion sensing component detects that the head of the VR glasses wearer rotates, acquires a rotation direction and a rotation angle of the VR glasses wearer's head, and generates corresponding rotation data; when the motion sensing component detects the VR When the wearer's limb moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated.

Wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor, wherein the detecting the head and limb movements of the VR glasses wearer by the motion sensing component comprises:

When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired.

Wherein, the gyroscope can detect the left or right rotation of the head of the VR glasses wearer, and the action of lowering or raising the head, and can simultaneously detect the angle or the amplitude of the rotation; the three-axis motion sensor can detect The movement of the VR glasses wearer's limbs forward and backward, and also the distance of movement can be detected at the same time.

The method for controlling a drone based on VR glasses according to the embodiment, the rotation direction and the rotation angle of the VR glasses wearer's head and the moving direction and the moving distance of the limb are detected by the motion sensing component, and the corresponding motion is generated. The data is used to control the drone to perform the same rotating operation or moving operation according to the generated motion data, so that the shooting angle of the unmanned camera corresponding to the camera can be consistent with the viewing angle of the VR glasses wearer.

Further, referring to FIG. 3, FIG. 3 is a schematic flowchart of a second embodiment of a method for controlling a drone based on VR glasses according to the present invention. Based on the foregoing embodiment, in this embodiment, the motion data to be generated in step S30 is generated. Converting to the control command recognizable by the drone, and transmitting the control command to the drone to control the drone to perform corresponding control operations, including:

Step S31, converting the rotation data into a rotation control command recognizable by the drone, and sending the rotation data to the drone to control the camera corresponding to the drone or the drone to perform a corresponding rotation operation, wherein The rotation direction and the rotation angle of the drone or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

Wherein, when the motion sensing component detects that the head of the VR glasses wearer rotates, the rotation direction and the rotation angle of the VR glasses wearer's head are acquired, and corresponding rotation data is generated, and then the rotation data is converted. The rotation control command recognizable by the drone is sent to the drone to control the corresponding camera of the drone or the drone to perform a corresponding rotation operation.

The rotation direction and the rotation angle of the UAV or the UAV corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

For example, when the motion sensing component detects that the head of the VR glasses wearer is rotated 90° to the right, sending a control command to the drone to control the camera corresponding to the drone or the drone to the right. Rotate 90°. Wherein, the drone can be kept stationary, and the shooting angle of the unmanned camera corresponding to the camera is rotated 90° to the right, or the shooting angle of the corresponding camera of the drone is kept unchanged, and the drone is Rotate 90° to the right.

Further, the generated motion data described in the above step S30 is converted into a control command recognizable by the drone, and the control command is sent to the drone to control the drone to perform corresponding Control operations also include:

Step S32, converting the mobile data into a mobile control command recognizable by the drone, and transmitting the same to the drone to control the drone to perform a corresponding moving operation, wherein the drone is The moving direction is the same as the moving direction of the VR glasses wearer's limb, and the moving distance of the drone is the same or proportional to the moving distance of the VR glasses wearer's limb.

Wherein, when the motion sensing component detects that the limb of the VR glasses wearer moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated, and then the mobile data is converted into none. A man-machine identifiable movement control command is sent to the drone to control the drone to perform a corresponding moving operation.

The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer.

For example, when the motion sensing component detects that the limb of the VR glasses wearer has moved 1 meter in the north direction, a control command is sent to the drone to control the drone to move 1 meter in the north direction. Wherein, the moving distance of the drone is proportional to the moving distance of the limb of the VR glasses wearer, for example, when the ratio is 1:2, the limb of the VR glasses wearer moves 1 meter. At the same time, the drone moves 2 meters at the same time.

The method for controlling a drone based on VR glasses according to the embodiment, by transmitting the generated mobile data into a drone identifiable control command to be sent to the drone, can implement the VR glasses wearer The rotation or movement of the drone controls the rotation or movement of the drone, and the shooting angle of the drone corresponding to the camera is consistent with the viewing angle of the wearer of the VR glasses, thereby improving the visual interaction experience of the user.

The invention also provides a device for controlling a drone based on VR glasses, which device can be part of VR glasses, the VR glasses are provided with a motion sensing component, the drone is provided with a camera, and the VR glasses are The drone is wirelessly connected.

Referring to FIG. 4, FIG. 4 is a schematic diagram of a module for controlling a drone based on VR glasses according to a first embodiment of the present invention. In this embodiment, the apparatus 100 for controlling a drone based on VR glasses includes:

The receiving module 10 is configured to convert the received image data into a VR video source playable by the VR glasses after receiving the image data captured by the camera sent by the drone, and on the VR glasses Play it.

In this embodiment, a camera is mounted on the drone, and the camera can adopt a panoramic camera to capture a 3D image suitable for playing VR glasses. The drone is connected to the VR glasses by means of wireless connection. When the drone is started, the camera starts to take an image, and the captured image data is sent in real time through the drone transmitting device. To VR glasses. After receiving the image data sent by the drone, the VR glasses convert the received image data into a VR video source that can be played by the VR glasses, and play on the VR glasses.

The detecting module 20 is configured to detect the head and limb movements of the VR glasses wearer through the motion sensing component, and generate corresponding motion data.

In this embodiment, the VR glasses are provided with a motion sensing component, and the motion sensing component can detect the head and limb movements of the VR glasses wearer, such as shaking the head, bowing, steering, etc., and moving forward and backward. action. And after detecting that the VR glasses wearer's head and limbs move, generate corresponding motion data.

Wherein, when the VR glasses wearer views the VR video source being played, the viewing angle can be converted according to personal interests or preferences. For example, the VR glasses wearer can change the angle of view at will when viewing the image taken by the drone corresponding to the camera, such as by rotating the head, moving the limb forward, etc. to obtain a new image. The motion sensing component monitors the head and limb movements of the VR glasses wearer in real time, and then generates corresponding motion data.

a control module 30, configured to convert the generated motion data into a control instruction recognizable by the drone, and send the control instruction to the drone to control the drone to perform a corresponding control operation .

In this embodiment, the generated motion data is converted into a control command recognizable by the drone, and the type of the control command is consistent with the type of the control command sent by the original handle lever or the remote control device of the drone. . The converted control command is then sent to the drone, and the drone reads the control command and performs a corresponding control operation upon receiving the control command.

It can be understood that, in this embodiment, the drone handle or the remote control device can be used to control the drone to fly above the ideal scene of the user, and then the control authority of the drone can be assigned to the VR. The glasses enable the VR glasses to control the drone.

specific, Keeping the viewing angle of the VR glasses consistent with the shooting angle of the corresponding camera of the drone, and keeping the VR glasses in a linked state with the drone, that is, when the VR glasses wearer's head When the rotation occurs, the shooting angle of the drone corresponding to the camera also rotates. When the body of the VR glasses wearer moves, the shooting angle of the unmanned camera corresponding to the camera also moves. .

For a better understanding of the present invention, referring to FIG. 2, FIG. 2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention. In FIG. 2, the drone 1 is mounted with a camera 2, and the VR glasses are mounted. 4 is mounted with a motion sensing component 3, and the drone 1 is wirelessly connected to the VR glasses 4.

The apparatus for controlling a drone based on VR glasses according to the embodiment may detect the rotation or movement behavior of the wearer of the VR glasses by the motion sensing component, and then control the drone to perform the same rotation or movement operation, so that The shooting angle of the UAV corresponding to the camera is consistent with the viewing angle of the VR glasses wearer, which solves the problem that the UAV can only be controlled by the handle lever in the prior art, and cannot be controlled according to the user's perspective. The technical problems of man-machines improve the user's visual interaction experience.

Further, based on the embodiment described above with reference to FIG. 4, in the embodiment, the detecting module 20 is configured to:

When the motion sensing component detects that the head of the VR glasses wearer rotates, acquires a rotation direction and a rotation angle of the VR glasses wearer's head, and generates corresponding rotation data; when the motion sensing component detects the VR When the wearer's limb moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated.

Wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor, wherein the detecting the head and limb movements of the VR glasses wearer by the motion sensing component comprises:

When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired.

Wherein, the gyroscope can detect the left or right rotation of the head of the VR glasses wearer, and the action of lowering or raising the head, and can simultaneously detect the angle or the amplitude of the rotation; the three-axis motion sensor can detect The movement of the VR glasses wearer's limbs forward and backward, and also the distance of movement can be detected at the same time.

The device for controlling the drone based on the VR glasses according to the embodiment, the rotation direction and the rotation angle of the head of the VR glasses and the moving direction and the moving distance of the limb are detected by the motion sensing component, and the corresponding motion is generated. The data is used to control the drone to perform the same rotating operation or moving operation according to the generated motion data, so that the shooting angle of the unmanned camera corresponding to the camera can be consistent with the viewing angle of the VR glasses wearer.

Further, referring to FIG. 5, FIG. 5 is a schematic diagram of a module of a second embodiment of a device for controlling a drone based on VR glasses according to the present invention. In the embodiment, the control module 30 includes:

a first control unit 31, configured to convert the rotation data into a rotation control command recognizable by the drone, and send the same to the drone to control the corresponding camera of the drone or the drone to perform corresponding The rotating operation, wherein the rotation direction and the rotation angle of the UAV or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

Wherein, when the motion sensing component detects that the head of the VR glasses wearer rotates, the rotation direction and the rotation angle of the VR glasses wearer's head are acquired, and corresponding rotation data is generated, and then the rotation data is converted. The rotation control command recognizable by the drone is sent to the drone to control the corresponding camera of the drone or the drone to perform a corresponding rotation operation.

The rotation direction and the rotation angle of the UAV or the UAV corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head.

For example, when the motion sensing component detects that the head of the VR glasses wearer is rotated 90° to the right, sending a control command to the drone to control the camera corresponding to the drone or the drone to the right. Rotate 90°. Wherein, the drone can be kept stationary, and the shooting angle of the unmanned camera corresponding to the camera is rotated 90° to the right, or the shooting angle of the corresponding camera of the drone is kept unchanged, and the drone is Rotate 90° to the right.

Further, the foregoing control module 30 further includes:

a second control unit 32, configured to convert the mobile data into a mobile control command recognizable by the drone, and send the data to the drone to control the drone to perform a corresponding mobile operation, where The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer.

Wherein, when the motion sensing component detects that the limb of the VR glasses wearer moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated, and then the mobile data is converted into none. A man-machine identifiable movement control command is sent to the drone to control the drone to perform a corresponding moving operation.

The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer.

For example, when the motion sensing component detects that the limb of the VR glasses wearer has moved 1 meter in the north direction, a control command is sent to the drone to control the drone to move 1 meter in the north direction. Wherein, the moving distance of the drone is proportional to the moving distance of the limb of the VR glasses wearer, for example, when the ratio is 1:2, the limb of the VR glasses wearer moves 1 meter. At the same time, the drone moves 2 meters at the same time.

The apparatus for controlling a drone based on VR glasses according to the embodiment, by transmitting the generated mobile data into a drone-identifiable control command to be sent to the drone, can realize the wearer according to the VR glasses The rotation or movement of the drone controls the rotation or movement of the drone, and the shooting angle of the drone corresponding to the camera is consistent with the viewing angle of the wearer of the VR glasses, thereby improving the visual interaction experience of the user.

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The serial numbers of the embodiments of the present invention are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the foregoing embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be through hardware, but in many cases, the former is better. Implementation. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium, including a plurality of instructions for causing a The terminal device performs the method described in various embodiments of the present invention.

The above are only the preferred embodiments of the present invention, and are not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are directly or indirectly applied to other related technical fields. The same is included in the scope of patent protection of the present invention.

Claims (18)

A method for controlling a drone based on VR glasses, wherein the VR glasses are provided with a motion sensing component, the drone is provided with a camera, and the VR glasses are wirelessly connected with the drone, and the VR glasses are based on Methods for controlling drones include: After receiving the image data captured by the camera sent by the drone, converting the received image data into a VR video source playable by the VR glasses, and playing on the VR glasses; Detecting the head and limb movements of the VR glasses wearer by the motion sensing component, and generating corresponding motion data; The generated motion data is converted into a control command recognizable by the drone, and the control command is sent to the drone to control the drone to perform a corresponding control operation. The method of controlling a drone based on VR glasses according to claim 1, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor. The method of controlling a drone based on VR glasses according to claim 1, wherein detecting the head and limb movements of the VR glasses wearer by the motion sensing component and generating corresponding motion data comprises: When the motion sensing component detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, and generating corresponding rotation data; When the motion sensing component detects that the limb of the VR glasses wearer moves, the moving direction and the moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated. The method of controlling a drone based on VR glasses according to claim 3, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor; The detecting the head and limb movements of the VR glasses wearer by the motion sensing component includes: When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head, when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired. The method of controlling a drone based on VR glasses according to claim 3, wherein said converting said generated motion data into a control command recognizable by said drone, and transmitting said control command to said The steps of controlling the drone to control the drone to perform corresponding control operations include: Converting the rotation data into a rotation control command recognizable by the drone and transmitting to the drone to control a camera corresponding to the drone or the drone to perform a corresponding rotation operation, wherein the rotation The rotation direction and the rotation angle of the UAV or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head. The method of controlling a drone based on VR glasses according to claim 3, wherein said converting said generated motion data into a control command recognizable by said drone, and transmitting said control command to said The steps of controlling the drone to control the drone to perform corresponding control operations include: Converting the mobile data into a mobile control command recognizable by the drone and transmitting to the drone to control the drone to perform a corresponding moving operation, wherein the moving direction of the drone is The moving direction of the limb of the VR glasses wearer is the same, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer. The method of controlling a drone based on VR glasses according to claim 5, wherein said converting said generated motion data into a control command recognizable by said drone, and transmitting said control command to said The step of controlling the drone to control the drone to perform corresponding control operations further includes: Converting the mobile data into a mobile control command recognizable by the drone and transmitting to the drone to control the drone to perform a corresponding moving operation, wherein the moving direction of the drone is The moving direction of the limb of the VR glasses wearer is the same, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer. The method of controlling a drone based on VR glasses according to claim 6, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor. The method of controlling a drone based on VR glasses according to claim 7, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor. A device for controlling a drone based on VR glasses, wherein the VR glasses are provided with a motion sensing component, the drone is provided with a camera, and the VR glasses are wirelessly connected with the drone, and the VR glasses are based on The devices that control the drone include: a receiving module, configured to convert the received image data into a VR video source playable by the VR glasses after receiving the image data captured by the camera sent by the drone, and perform the VR video source on the VR glasses Play a detecting module, configured to detect a head and a limb motion of the VR glasses wearer by using the motion sensing component, and generate corresponding motion data; And a control module, configured to convert the generated motion data into a control instruction recognizable by the drone, and send the control instruction to the drone to control the drone to perform a corresponding control operation. The apparatus for controlling a drone based on VR glasses according to claim 10, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor. The apparatus for controlling a drone based on VR glasses according to claim 10, wherein the detecting module is configured to: When the motion sensing component detects that the head of the VR glasses wearer rotates, acquires a rotation direction and a rotation angle of the VR glasses wearer's head, and generates corresponding rotation data; when the motion sensing component detects the VR When the wearer's limb moves, the moving direction and moving distance of the VR glasses wearer's limb are acquired, and corresponding movement data is generated. The apparatus for controlling a drone based on VR glasses according to claim 12, wherein the motion sensing component comprises a gyroscope and a three-axis motion sensor; Then the detection module is used to: When the gyroscope detects that the head of the VR glasses wearer rotates, acquiring a rotation direction and a rotation angle of the VR glasses wearer's head; when the three-axis motion sensor detects the limb of the VR glasses wearer When the movement occurs, the moving direction and the moving distance of the limb of the VR glasses wearer are acquired. The apparatus for controlling a drone based on VR glasses according to claim 12, wherein the control module comprises: a first control unit, configured to convert the rotation data into a rotation control command recognizable by the drone, and send the rotation control instruction to the drone to control the corresponding camera of the drone or the drone to perform a corresponding The rotating operation, wherein the rotation direction and the rotation angle of the UAV or the drone corresponding to the camera are the same as the rotation direction and the rotation angle of the VR glasses wearer's head. The apparatus for controlling a drone based on VR glasses according to claim 12, wherein the control module comprises: a second control unit, configured to convert the mobile data into a mobile control command recognizable by the drone, and send the same to the drone to control the drone to perform a corresponding moving operation, where the The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer. The apparatus for controlling a drone based on VR glasses according to claim 14, wherein the control module further comprises: a second control unit, configured to convert the mobile data into a mobile control command recognizable by the drone, and send the same to the drone to control the drone to perform a corresponding moving operation, where the The moving direction of the drone is the same as the moving direction of the limb of the VR glasses wearer, and the moving distance of the drone is the same or proportional to the moving distance of the limb of the VR glasses wearer. The apparatus for controlling a drone based on VR glasses according to claim 15, wherein the motion sensing assembly comprises a gyroscope and a three-axis motion sensor. The apparatus for controlling a drone based on VR glasses according to claim 16, wherein the motion sensing assembly comprises a gyroscope and a three-axis motion sensor.