[go: up one dir, main page]

WO2018103188A1 - 基于vr眼镜控制无人机的方法及装置 - Google Patents

基于vr眼镜控制无人机的方法及装置 Download PDF

Info

Publication number
WO2018103188A1
WO2018103188A1 PCT/CN2017/071894 CN2017071894W WO2018103188A1 WO 2018103188 A1 WO2018103188 A1 WO 2018103188A1 CN 2017071894 W CN2017071894 W CN 2017071894W WO 2018103188 A1 WO2018103188 A1 WO 2018103188A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
glasses
control
wearer
limb
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2017/071894
Other languages
English (en)
French (fr)
Inventor
刘均
宋朝忠
杨伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Launch Technology Co Ltd
Original Assignee
Shenzhen Launch Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Launch Technology Co Ltd filed Critical Shenzhen Launch Technology Co Ltd
Publication of WO2018103188A1 publication Critical patent/WO2018103188A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • 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.
  • VR Virtual Reality, a virtual reality technology
  • VR 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.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • detecting the head and limb movements of the VR glasses wearer by the motion sensing component and generating corresponding motion data includes:
  • 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;
  • 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 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:
  • 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:
  • 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:
  • 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 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
  • 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 detection module is configured to:
  • 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.
  • 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.
  • 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.
  • the motion sensing component comprises a gyroscope and a three-axis motion sensor
  • the detection module is used to:
  • 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.
  • FIG. 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
  • FIG. 2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention
  • FIG. 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
  • FIG. 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 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.
  • FIG. 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.
  • 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.
  • 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.
  • the camera starts to take an image, and the captured image data is sent in real time through the drone transmitting device.
  • the 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.
  • 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.
  • 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.
  • the viewing angle can be converted according to personal interests or preferences.
  • 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.
  • 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.
  • 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.
  • 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. .
  • FIG. 2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention.
  • the drone 1 is mounted with a camera 2
  • 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 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.
  • 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:
  • 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.
  • 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:
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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° 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.
  • 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
  • the moving distance of the drone is the same or proportional to the moving distance of the VR glasses wearer's limb.
  • 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.
  • a control command is sent to the drone to control the drone to move 1 meter in the north direction.
  • 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.
  • the drone moves 2 meters at the same time.
  • the method for controlling a drone based on VR glasses 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.
  • 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.
  • 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.
  • 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.
  • the camera starts to take an image, and the captured image data is sent in real time through the drone transmitting device.
  • the 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.
  • 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.
  • the viewing angle can be converted according to personal interests or preferences.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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. .
  • FIG. 2 is a schematic diagram of a connection structure of a VR glasses and a drone according to the present invention.
  • the drone 1 is mounted with a camera 2
  • 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 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.
  • the detecting module 20 is configured to:
  • 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.
  • 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:
  • 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 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.
  • 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 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.
  • 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.
  • 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° 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.
  • 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.
  • 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.
  • a control command is sent to the drone to control the drone to move 1 meter in the north direction.
  • 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.
  • the drone moves 2 meters at the same time.
  • the apparatus for controlling a drone based on VR glasses 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)
  • Toys (AREA)

Abstract

一种基于VR眼镜(4)控制无人机(1)的方法，VR眼镜(4)设有运动感应组件，无人机(1)设有摄像头(2)，且VR眼镜(4)与无人机(1)无线连接，方法包括：在接收到无人机(1)发送的由摄像头(2)拍摄的图像数据后，转化为VR眼镜(4)可播放的VR视频源并在VR眼镜上播放(S10)；通过运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据(S20)；将运动数据转换成无人机可识别的控制指令并发送至无人机，以控制无人机执行相应的控制操作(S30)。还公开了一种基于VR眼镜控制无人机的装置。解决了现有技术中只能通过手柄操纵杆来控制无人机，无法根据用户的视角来控制无人机的技术问题，提高了用户的视觉交互体验。

Description

基于VR眼镜控制无人机的方法及装置
技术领域
本发明涉及无人机控制技术领域，尤其涉及一种基于VR眼镜控制无人机的方法及装置。
背景技术
VR(Virtual Reality，虚拟现实)技术是一种可以创建和体验虚拟世界的计算机仿真系统，它利用计算机生成一种模拟环境，是一种多源信息融合的交互式的三维动态视景和实体行为的系统仿真，使用户沉浸到该模拟环境中。
目前，无人机在人们生活中的应用越来越广泛，无人机玩家也越来越多，现有的无人机一般都是通过手柄操控杆或者遥控器来实现一定的遥控操作，遥控操作与传统的遥控玩具飞机并无太大差异，可玩性不强，且无视觉上的交互。例如，在采用无人机进行航拍时，用户只能通过地面终端查看到无人机发送的航拍视频，然后通过无人机手柄操控杆来调节无人机的拍摄方向或者拍摄位置，即无法根据用户的视角来控制无人机的拍摄方向或者拍摄位置，给用户带来的视觉交互体验并不高。
发明内容
本发明的主要目的在于提出一种基于VR眼镜控制无人机的方法及装置，旨在解决现有技术中只能通过手柄操纵杆来控制无人机，无法根据用户的视角来控制无人机的技术问题，提高用户的视觉交互体验。
为实现上述目的，本发明提供一种基于VR眼镜控制无人机的方法，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且VR眼镜与无人机无线连接，所述基于VR眼镜控制无人机的方法包括：
在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放；
通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据；
将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
优选地，通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据包括：
当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；
当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据。
优选地，所述将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作的步骤包括：
将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
优选地，所述将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作的步骤还包括：
将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
优选地，所述运动感应组件包括陀螺仪与三轴运动传感器；
则所述通过运动感应组件检测VR眼镜佩戴者的头部及肢体动作包括：
当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度，当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
此外，为实现上述目的，本发明还提供一种基于VR眼镜控制无人机的装置，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且VR眼镜与无人机无线连接，所述基于VR眼镜控制无人机的装置包括：
接收模块，用于在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放；
检测模块，用于通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据；
控制模块，用于将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
优选地，所述检测模块用于：
当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据。
优选地，所述控制模块包括：
第一控制单元，用于将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
优选地，所述控制模块还包括：
第二控制单元，用于将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
优选地，所述运动感应组件包括陀螺仪与三轴运动传感器；
则所述检测模块用于：
当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度；当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
本发明所提供的基于VR眼镜控制无人机的方法及装置，通过所述运动感应组件检测所述VR眼镜佩戴者的旋转或者移动行为，然后控制无人机执行相同的旋转或者移动操作，使得所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角保持一致，解决了现有技术中只能通过手柄操纵杆来控制无人机，无法根据用户的视角来控制无人机的技术问题，提高了用户的视觉交互体验。
附图说明
图1为本发明基于VR眼镜控制无人机的方法第一实施例的流程示意图；
图2为本发明中VR眼镜与无人机的连接架构示意图；
图3为本发明基于VR眼镜控制无人机的方法第二实施例的流程示意图；
图4为本发明基于VR眼镜控制无人机的装置第一实施例的模块示意图；
图5为本发明基于VR眼镜控制无人机的装置第二实施例的模块示意图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
以下结合说明书附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明，并且在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。
本发明提供一种基于VR眼镜控制无人机的方法，该方法主要用于通过VR眼镜来控制无人机的飞行，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且所述VR眼镜与无人机无线连接。
参照图1，图1为本发明基于VR眼镜控制无人机的方法第一实施例的流程示意图，本实施例中，所述基于VR眼镜控制无人机的方法包括：
步骤S10，在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放。
本实施例中，所述无人机上安装有摄像头，所述摄像头可以采用全景摄像头，以拍摄到适合VR眼镜播放的3D图像。所述无人机通过无线连接的方式与VR眼镜进行连接，当所述无人机在启动后，所述摄像头便随即开始拍摄图像，并将拍摄到的图像数据通过无人机发送装置实时发送至VR眼镜。当所述VR眼镜在接收到无人机发送的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放。
步骤S20，通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据。
本实施例中，所述VR眼镜上设有运动感应组件，通过该运动感应组件可以检测到VR眼镜佩戴者的头部及肢体动作，例如摇头、低头、转向等头部动作以及前进后退等肢体动作。并在检测到VR眼镜佩戴者的头部及肢体发生移动后，生成相应的运动数据。
其中，当VR眼镜佩戴者在观看播放的所述VR视频源时，可以根据个人兴趣或喜好转换视角。例如，VR眼镜佩戴者在观看无人机对应摄像头拍摄的图像时，可以随意改变视角，如通过旋转头部、向前移动肢体等来获取新的图像。上述运动感应组件实时监测VR眼镜佩戴者的头部及肢体动作，然后生成相应的运动数据。
步骤S30，将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
本实施例中，将生成的运动数据转换成所述无人机可识别的控制指令，该控制指令的类型与无人机原有的手柄操纵杆或遥控设备所发送的控制指令的类型相一致。然后将转换后的所述控制指令发送至所述无人机，所述无人机在接收到该控制指令后读取该控制指令并执行相应的控制操作。
可以理解的是，本实施例中，可以预先通过无人机手柄操纵杆或者遥控设备来控制无人机飞行到用户理想的景物上方，然后便可以将无人机的控制权限分配给所述VR眼镜，使得所述VR眼镜能够控制所述无人机。
具体的， 使所述VR眼镜的观影视角与所述无人机对应摄像头的拍摄视角保持一致，且使所述VR眼镜与所述无人机保持联动状态，即当所述VR眼镜佩戴者的头部发生转动时，所述无人机对应摄像头的拍摄视角也会随着发生转动，当所述VR眼镜佩戴者的身体发生移动时，所述无人机对应摄像头的拍摄视角也会随着发生移动。
为了更好的理解本发明，参照图2，图2为本发明中VR眼镜与无人机的连接架构示意图，在图2中，所述无人机1上安装有摄像头2，所述VR眼镜4上安装有运动感应组件3，所述无人机1与所述VR眼镜4进行无线连接。
本实施例所述的基于VR眼镜控制无人机的方法，可以通过所述运动感应组件检测所述VR眼镜佩戴者的旋转或者移动行为，然后控制无人机执行相同的旋转或者移动操作，使得所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角保持一致，解决了现有技术中只能通过手柄操纵杆来控制无人机，无法根据用户的视角来控制无人机的技术问题，提高了用户的视觉交互体验。
进一步地，基于上述图1所述的实施例，本实施例中，上述步骤S20所述的通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据包括：
当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向与移动距离，并生成相应的移动数据。
其中，所述运动感应组件包括陀螺仪与三轴运动传感器，则所述通过运动感应组件检测VR眼镜佩戴者的头部及肢体动作包括：
当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度，当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
其中，所述陀螺仪可检测到VR眼镜佩戴者的头部向左或者向右旋转、以及低头或者抬头的动作，并且可同时检测到旋转的角度或者是幅度；所述三轴运动传感器可检测到VR眼镜佩戴者肢体向前后左右的移动，并且也可同时检测到移动的距离。
本实施例所述的基于VR眼镜控制无人机的方法，通过所述运动感应组件来检测VR眼镜佩戴者头部的旋转方向及旋转角度以及肢体的移动方向与移动距离，并生成相应的运动数据，以此来根据生成的运动数据控制无人机执行相同的旋转操作或者移动操作，使得所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角能够保持一致。
进一步地，参照图3，图3为本发明基于VR眼镜控制无人机的方法第二实施例的流程示意图，基于上述实施例，本实施例中，上述步骤S30所述的将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作包括：
步骤S31，将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
其中，当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据，然后将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作。
其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
例如，当所述运动感应组件检测到VR眼镜佩戴者的头部向右旋转90°后，则向所述无人机发送控制指令，控制所述无人机或无人机对应的摄像头向右旋转90°。其中，可以是保持无人机静止，将所述无人机对应摄像头的拍摄角度向右旋转90°，也可以是保持所述无人机对应摄像头的拍摄角度不变，将所述无人机向右旋转90°。
进一步地，上述步骤S30所述的将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作还包括：
步骤S32，将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
其中，当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据，然后将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作。
其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
例如，当所述运动感应组件检测到VR眼镜佩戴者的肢体向正北方向移动了1米，则向所述无人机发送控制指令，控制所述无人机向正北方向移动1米。其中，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离也可以成比例关系，如当所述比例为1:2时，则所述VR眼镜佩戴者的肢体移动1米时，所述无人机同时移动2米。
本实施例所述的基于VR眼镜控制无人机的方法，通过将生成的所述移动数据转换成无人机可识别的控制指令本发送至所述无人机，能够实现根据VR眼镜佩戴者的旋转或移动来控制无人机的旋转或者移动，且使所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角保持一致，提高了用户的视觉交互体验。
本发明还提供一种基于VR眼镜控制无人机的装置，该装置可为VR眼镜的一部分，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且所述VR眼镜与无人机无线连接。
参照图4，图4为本发明基于VR眼镜控制无人机的装置第一实施例的模块示意图，本实施例中，所述基于VR眼镜控制无人机的装置100包括：
接收模块10，用于在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放。
本实施例中，所述无人机上安装有摄像头，所述摄像头可以采用全景摄像头，以拍摄到适合VR眼镜播放的3D图像。所述无人机通过无线连接的方式与VR眼镜进行连接，当所述无人机在启动后，所述摄像头便随即开始拍摄图像，并将拍摄到的图像数据通过无人机发送装置实时发送至VR眼镜。当所述VR眼镜在接收到无人机发送的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放。
检测模块20，用于通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据。
本实施例中，所述VR眼镜上设有运动感应组件，通过该运动感应组件可以检测到VR眼镜佩戴者的头部及肢体动作，例如摇头、低头、转向等头部动作以及前进后退等肢体动作。并在检测到VR眼镜佩戴者的头部及肢体发生移动后，生成相应的运动数据。
其中，当VR眼镜佩戴者在观看播放的所述VR视频源时，可以根据个人兴趣或喜好转换视角。例如，VR眼镜佩戴者在观看无人机对应摄像头拍摄的图像时，可以随意改变视角，如通过旋转头部、向前移动肢体等来获取新的图像。上述运动感应组件实时监测VR眼镜佩戴者的头部及肢体动作，然后生成相应的运动数据。
控制模块30，用于将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
本实施例中，将生成的运动数据转换成所述无人机可识别的控制指令，该控制指令的类型与无人机原有的手柄操纵杆或遥控设备所发送的控制指令的类型相一致。然后将转换后的所述控制指令发送至所述无人机，所述无人机在接收到该控制指令后读取该控制指令并执行相应的控制操作。
可以理解的是，本实施例中，可以预先通过无人机手柄操纵杆或者遥控设备来控制无人机飞行到用户理想的景物上方，然后便可以将无人机的控制权限分配给所述VR眼镜，使得所述VR眼镜能够控制所述无人机。
具体的， 使所述VR眼镜的观影视角与所述无人机对应摄像头的拍摄视角保持一致，且使所述VR眼镜与所述无人机保持联动状态，即当所述VR眼镜佩戴者的头部发生转动时，所述无人机对应摄像头的拍摄视角也会随着发生转动，当所述VR眼镜佩戴者的身体发生移动时，所述无人机对应摄像头的拍摄视角也会随着发生移动。
为了更好的理解本发明，参照图2，图2为本发明中VR眼镜与无人机的连接架构示意图，在图2中，所述无人机1上安装有摄像头2，所述VR眼镜4上安装有运动感应组件3，所述无人机1与所述VR眼镜4进行无线连接。
本实施例所述的基于VR眼镜控制无人机的装置，可以通过所述运动感应组件检测所述VR眼镜佩戴者的旋转或者移动行为，然后控制无人机执行相同的旋转或者移动操作，使得所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角保持一致，解决了现有技术中只能通过手柄操纵杆来控制无人机，无法根据用户的视角来控制无人机的技术问题，提高了用户的视觉交互体验。
进一步地，基于上述图4所述的实施例，本实施例中，上述检测模块20用于：
当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向与移动距离，并生成相应的移动数据。
其中，所述运动感应组件包括陀螺仪与三轴运动传感器，则所述通过运动感应组件检测VR眼镜佩戴者的头部及肢体动作包括：
当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度，当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
其中，所述陀螺仪可检测到VR眼镜佩戴者的头部向左或者向右旋转、以及低头或者抬头的动作，并且可同时检测到旋转的角度或者是幅度；所述三轴运动传感器可检测到VR眼镜佩戴者肢体向前后左右的移动，并且也可同时检测到移动的距离。
本实施例所述的基于VR眼镜控制无人机的装置，通过所述运动感应组件来检测VR眼镜佩戴者头部的旋转方向及旋转角度以及肢体的移动方向与移动距离，并生成相应的运动数据，以此来根据生成的运动数据控制无人机执行相同的旋转操作或者移动操作，使得所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角能够保持一致。
进一步地，参照图5，图5为本发明基于VR眼镜控制无人机的装置第二实施例的模块示意图，基于上述实施例，本实施例中，上述控制模块30包括：
第一控制单元31，用于将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
其中，当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据，然后将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作。
其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
例如，当所述运动感应组件检测到VR眼镜佩戴者的头部向右旋转90°后，则向所述无人机发送控制指令，控制所述无人机或无人机对应的摄像头向右旋转90°。其中，可以是保持无人机静止，将所述无人机对应摄像头的拍摄角度向右旋转90°，也可以是保持所述无人机对应摄像头的拍摄角度不变，将所述无人机向右旋转90°。
进一步地，上述控制模块30还包括：
第二控制单元32，用于将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
其中，当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据，然后将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作。
其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
例如，当所述运动感应组件检测到VR眼镜佩戴者的肢体向正北方向移动了1米，则向所述无人机发送控制指令，控制所述无人机向正北方向移动1米。其中，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离也可以成比例关系，如当所述比例为1:2时，则所述VR眼镜佩戴者的肢体移动1米时，所述无人机同时移动2米。
本实施例所述的基于VR眼镜控制无人机的装置，通过将生成的所述移动数据转换成无人机可识别的控制指令本发送至所述无人机，能够实现根据VR眼镜佩戴者的旋转或移动来控制无人机的旋转或者移动，且使所述无人机对应摄像头的拍摄视角与所述VR眼镜佩戴者的观影视角保持一致，提高了用户的视觉交互体验。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台终端设备执行本发明各个实施例所述的方法。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (18)

  1. 一种基于VR眼镜控制无人机的方法，其特征在于，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且VR眼镜与无人机无线连接，所述基于VR眼镜控制无人机的方法包括：
    在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放；
    通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据；
    将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
  2. 如权利要求1所述的基于VR眼镜控制无人机的方法，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
  3. 如权利要求1所述的基于VR眼镜控制无人机的方法，其特征在于，通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据包括：
    当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；
    当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据。
  4. 如权利要求3所述的基于VR眼镜控制无人机的方法，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器；
    所述通过运动感应组件检测VR眼镜佩戴者的头部及肢体动作包括：
    当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度，当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
  5. 如权利要求3所述的基于VR眼镜控制无人机的方法，其特征在于，所述将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作的步骤包括：
    将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
  6. 如权利要求3所述的基于VR眼镜控制无人机的方法，其特征在于，所述将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作的步骤包括：
    将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
  7. 如权利要求5所述的基于VR眼镜控制无人机的方法，其特征在于，所述将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作的步骤还包括：
    将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
  8. 如权利要求6所述的基于VR眼镜控制无人机的方法，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
  9. 如权利要求7所述的基于VR眼镜控制无人机的方法，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
  10. 一种基于VR眼镜控制无人机的装置，其特征在于，所述VR眼镜设有运动感应组件，所述无人机设有摄像头，且VR眼镜与无人机无线连接，所述基于VR眼镜控制无人机的装置包括：
    接收模块，用于在接收到无人机发送的由所述摄像头拍摄的图像数据后，将接收到的图像数据转化为所述VR眼镜可播放的VR视频源，并在所述VR眼镜上进行播放；
    检测模块，用于通过所述运动感应组件检测VR眼镜佩戴者的头部及肢体动作，并生成相应的运动数据；
    控制模块，用于将生成的运动数据转换成所述无人机可识别的控制指令，并将所述控制指令发送至所述无人机，以控制所述无人机执行相应的控制操作。
  11. 如权利要求10所述的基于VR眼镜控制无人机的装置，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
  12. 如权利要求10所述的基于VR眼镜控制无人机的装置，其特征在于，所述检测模块用于：
    当所述运动感应组件检测到VR眼镜佩戴者的头部发生旋转时，则获取VR眼镜佩戴者头部的旋转方向及旋转角度，并生成相应的旋转数据；当所述运动感应组件检测到VR眼镜佩戴者的肢体发生移动时，则获取VR眼镜佩戴者肢体的移动方向及移动距离，并生成相应的移动数据。
  13. 如权利要求12所述的基于VR眼镜控制无人机的装置，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器；
    则所述检测模块用于：
    当所述陀螺仪检测到VR眼镜佩戴者的头部发生旋转时，则获取所述VR眼镜佩戴者头部的旋转方向及旋转角度；当所述三轴运动传感器检测到VR眼镜佩戴者的肢体发生移动时，则获取所述VR眼镜佩戴者肢体的移动方向与移动距离。
  14. 如权利要求12所述的基于VR眼镜控制无人机的装置，其特征在于，所述控制模块包括：
    第一控制单元，用于将所述旋转数据转换成无人机可识别的旋转控制指令，并发送至所述无人机，以控制所述无人机或无人机对应的摄像头执行相应的旋转操作，其中，所述无人机或无人机对应摄像头的旋转方向及旋转角度与所述VR眼镜佩戴者头部的旋转方向及旋转角度相同。
  15. 如权利要求12所述的基于VR眼镜控制无人机的装置，其特征在于，所述控制模块包括：
    第二控制单元，用于将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
  16. 如权利要求14所述的基于VR眼镜控制无人机的装置，其特征在于，所述控制模块还包括：
    第二控制单元，用于将所述移动数据转换成无人机可识别的移动控制指令，并发送至所述无人机，以控制所述无人机执行相应的移动操作，其中，所述无人机的移动方向与所述VR眼镜佩戴者肢体的移动方向相同，所述无人机的移动距离与所述VR眼镜佩戴者肢体的移动距离相同或成比例关系。
  17. 如权利要求15所述的基于VR眼镜控制无人机的装置，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
  18. 如权利要求16所述的基于VR眼镜控制无人机的装置，其特征在于，所述运动感应组件包括陀螺仪与三轴运动传感器。
PCT/CN2017/071894 2016-12-06 2017-01-20 基于vr眼镜控制无人机的方法及装置 Ceased WO2018103188A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611112772.XA CN106708074B (zh) 2016-12-06 2016-12-06 基于vr眼镜控制无人机的方法及装置
CN201611112772.X 2016-12-06

Publications (1)

Publication Number Publication Date
WO2018103188A1 true WO2018103188A1 (zh) 2018-06-14

Family

ID=58937618

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/071894 Ceased WO2018103188A1 (zh) 2016-12-06 2017-01-20 基于vr眼镜控制无人机的方法及装置

Country Status (2)

Country Link
CN (1) CN106708074B (zh)
WO (1) WO2018103188A1 (zh)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111031292A (zh) * 2019-12-26 2020-04-17 北京中煤矿山工程有限公司 一种基于vr技术的煤矿安全生产实时监测系统
CN111897417A (zh) * 2020-06-29 2020-11-06 北京农业信息技术研究中心 一种远程在线互动装置及使用方法
CN112653883A (zh) * 2020-11-30 2021-04-13 江苏奇趣智能科技有限公司 一种基于vr的全景实训装置
CN113608623A (zh) * 2021-08-27 2021-11-05 江西佳铭特实业有限公司 一种基于人脸识别的车用vr设备
CN113851024A (zh) * 2021-10-26 2021-12-28 东北大学秦皇岛分校 基于vr的四旋翼无人机遥控器训练方法及系统
CN114089784A (zh) * 2021-11-23 2022-02-25 广东工业大学 一种基于mr眼镜的无人机控制方法及系统
CN114722495A (zh) * 2022-03-28 2022-07-08 南京航空航天大学 一种基于动态人机接口的半虚拟驾驶舱构建方法
CN114967557A (zh) * 2022-06-02 2022-08-30 台州宏创电力集团有限公司科技分公司 一种无人机、控制模块、成像头盔远程协控的控制方法

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019095139A1 (zh) * 2017-11-15 2019-05-23 深圳市大疆创新科技有限公司 数据处理方法和设备
CN108873931A (zh) * 2018-06-05 2018-11-23 北京理工雷科电子信息技术有限公司 一种基于主观与客观结合的无人机视觉防撞方法
CN109292103A (zh) * 2018-07-27 2019-02-01 北京臻迪科技股份有限公司 云台调整方法、装置、无人机及云台调整系统
CN109963137A (zh) * 2019-04-01 2019-07-02 赵福涛 一种全新的交互系统及方法
CN110337098B (zh) * 2019-07-05 2023-04-07 视联动力信息技术股份有限公司 一种通信连接的建立方法及装置
CN112997508B (zh) * 2019-12-30 2024-03-15 深圳市大疆创新科技有限公司 视频处理方法、装置、控制终端、系统及存储介质
CN111314616A (zh) * 2020-03-16 2020-06-19 维沃移动通信有限公司 图像获取方法、电子设备、介质及可穿戴设备
CN111857337A (zh) * 2020-07-10 2020-10-30 成都天翼空间科技有限公司 一种vr头控的切换方法
CN112822392B (zh) * 2020-12-25 2022-12-13 维沃移动通信有限公司 一种控制摄像模组旋转的方法及装置
CN112887616B (zh) * 2021-01-27 2022-08-26 维沃移动通信有限公司 拍摄方法和拍摄装置
CN115436377A (zh) * 2021-06-04 2022-12-06 同方威视技术股份有限公司 机器人及其控制装置和方法、车辆底盘检测系统和方法
CN113212777A (zh) * 2021-06-17 2021-08-06 广东汇天航空航天科技有限公司 载人飞行器体感控制方法、系统及相关设备
CN114137995A (zh) * 2021-11-24 2022-03-04 广东电网有限责任公司 一种无人机控制系统及其控制方法
CN114339189A (zh) * 2021-12-31 2022-04-12 绿城科技产业服务集团有限公司 沉浸式漫游实景vr呈现方法
CN114803858A (zh) * 2022-06-24 2022-07-29 杭州未名信科科技有限公司 智能塔机体感控制系统及智能塔机体感控制方法
CN115412722A (zh) * 2022-08-16 2022-11-29 中国检验认证集团河北有限公司 无人水尺观测系统、方法及装置
CN115938186A (zh) * 2022-11-24 2023-04-07 武汉未来幻影科技有限公司 一种vr驾驶模拟器空间坐标调节方法及系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103049007A (zh) * 2012-12-29 2013-04-17 安科智慧城市技术（中国）有限公司 一种基于操控员头部动作操控移动平台的系统和方法
CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
CN105334864A (zh) * 2015-11-24 2016-02-17 杨珊珊 一种用于控制无人机的智能眼镜及控制方法
CN105739525A (zh) * 2016-02-14 2016-07-06 普宙飞行器科技（深圳）有限公司 一种配合体感操作实现虚拟飞行的系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9324189B2 (en) * 2013-09-27 2016-04-26 Intel Corporation Ambulatory system to communicate visual projections
FR3028767B1 (fr) * 2014-11-26 2017-02-10 Parrot Systeme video pour le pilotage d'un drone en mode immersif
CN105222761A (zh) * 2015-10-29 2016-01-06 哈尔滨工业大学 借助虚拟现实及双目视觉技术实现的第一人称沉浸式无人机驾驶系统及驾驶方法
CN205692054U (zh) * 2016-06-22 2016-11-16 国网江西省电力公司南昌供电分公司 一种头部运动监测的无线巡线机
CN106125747A (zh) * 2016-07-13 2016-11-16 国网福建省电力有限公司 基于vr交互的无人机机载第一视角随动吊舱系统
CN106131530B (zh) * 2016-08-26 2017-10-31 万象三维视觉科技（北京）有限公司 一种裸眼3d虚拟现实展示系统及其展示方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103049007A (zh) * 2012-12-29 2013-04-17 安科智慧城市技术（中国）有限公司 一种基于操控员头部动作操控移动平台的系统和方法
CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
CN105334864A (zh) * 2015-11-24 2016-02-17 杨珊珊 一种用于控制无人机的智能眼镜及控制方法
CN105739525A (zh) * 2016-02-14 2016-07-06 普宙飞行器科技（深圳）有限公司 一种配合体感操作实现虚拟飞行的系统

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111031292A (zh) * 2019-12-26 2020-04-17 北京中煤矿山工程有限公司 一种基于vr技术的煤矿安全生产实时监测系统
CN111897417A (zh) * 2020-06-29 2020-11-06 北京农业信息技术研究中心 一种远程在线互动装置及使用方法
CN112653883A (zh) * 2020-11-30 2021-04-13 江苏奇趣智能科技有限公司 一种基于vr的全景实训装置
CN113608623A (zh) * 2021-08-27 2021-11-05 江西佳铭特实业有限公司 一种基于人脸识别的车用vr设备
CN113608623B (zh) * 2021-08-27 2023-09-26 江西佳铭特实业有限公司 一种基于人脸识别的车用vr设备
CN113851024A (zh) * 2021-10-26 2021-12-28 东北大学秦皇岛分校 基于vr的四旋翼无人机遥控器训练方法及系统
CN114089784A (zh) * 2021-11-23 2022-02-25 广东工业大学 一种基于mr眼镜的无人机控制方法及系统
CN114722495A (zh) * 2022-03-28 2022-07-08 南京航空航天大学 一种基于动态人机接口的半虚拟驾驶舱构建方法
CN114967557A (zh) * 2022-06-02 2022-08-30 台州宏创电力集团有限公司科技分公司 一种无人机、控制模块、成像头盔远程协控的控制方法
CN114967557B (zh) * 2022-06-02 2024-10-29 台州宏创电力集团有限公司科技分公司 一种无人机、控制模块、成像头盔远程协控的控制方法

Also Published As

Publication number Publication date
CN106708074B (zh) 2020-10-30
CN106708074A (zh) 2017-05-24

Similar Documents

Publication Publication Date Title
WO2018103188A1 (zh) 基于vr眼镜控制无人机的方法及装置
WO2018124662A1 (en) Method and electronic device for controlling unmanned aerial vehicle
WO2017036203A1 (zh) 媒体应用的播放控制方法、遥控装置及电视系统
WO2017215187A1 (zh) 遥控方法及遥控器
WO2016061774A1 (zh) 一种飞行航线设置方法及装置
WO2017008207A1 (en) Systems and methods for gimbal simulation
WO2016175412A1 (en) Mobile terminal and controlling method thereof
WO2017080193A1 (zh) 播放控制方法及装置
WO2018018681A1 (zh) 视频节目预览方法及装置
WO2016123816A1 (zh) 一种射击游戏的瞄准方法及装置
WO2018032693A1 (zh) 电视显示内容的处理方法、装置及系统
WO2016049905A1 (zh) 一种飞行任务处理方法、装置及系统
WO2019035582A1 (en) DISPLAY APPARATUS AND SERVER, AND METHODS OF CONTROLLING THE SAME
WO2013097487A1 (zh) 简易空中鼠标的实现方法、视频终端及系统
WO2018030651A1 (ko) 카메라를 구비한 무인 비행체 및 무인 비행체의 영상 처리 방법
WO2018000737A1 (zh) 飞行体温检测器控制方法及装置
WO2018103187A1 (zh) 监控装置的监控画面形成方法和系统
WO2018045682A1 (zh) 音画同步测试方法及装置
WO2024072140A1 (en) Apparatus and method for controlling a robot photographer with semantic intelligence
WO2016101252A1 (zh) 智能电视的频道信息显示方法及装置
WO2017084305A1 (zh) 终端控制方法及系统
WO2017000313A1 (zh) 图像处理系统、图像数据处理方法、装置及相关设备
WO2019061042A1 (zh) 曝光补偿的方法、装置及计算机可读存储介质
WO2017035960A1 (zh) 一种基于移动摄像机的视频拍摄方法及移动摄像机
WO2017059686A1 (zh) 桌面显示方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17877550

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17877550

Country of ref document: EP

Kind code of ref document: A1