CN106647788B - UAV Flight Control method and device - Google Patents
UAV Flight Control method and device Download PDFInfo
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- CN106647788B CN106647788B CN201611095133.7A CN201611095133A CN106647788B CN 106647788 B CN106647788 B CN 106647788B CN 201611095133 A CN201611095133 A CN 201611095133A CN 106647788 B CN106647788 B CN 106647788B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention discloses a kind of UAV Flight Control method and device, wherein, included the following steps: with UAV Flight Control method based on Trusted channel, the first exercise data or wearable device of the motion feature of reception characterization wearable device motion characteristic data of determination according to the first exercise data that it is detected；Determine whether motion feature corresponding to the second exercise data of the generation of motion feature and this unmanned plane itself representated by the corresponding motion feature of first exercise data or the motion characteristic data matches；This unmanned plane during flying state is implemented to control when motion feature matches.In addition, can simplify user the present invention also provides a kind of unmanned plane assisting in flying control method for wearable device and corresponding device, implementation of the invention to UAV Flight Control process, promoting safety and the user experience of unmanned plane takeoff operational.
Description
Technical field
The present invention relates to Aeronautics fields, more particularly, to UAV Flight Control method and device.
Background technique
Unmanned unmanned plane abbreviation unmanned plane is manipulated not using remote control method and the presetting apparatus provided for oneself
Manned unmanned plane.In order to maintain organism balance and complete task, the sensor installed on unmanned body is increasingly
It is more, and with the development of microelectric technique, multiple high-precision sensors are integrated in small drone has become reality.
Currently, the function that unmanned plane can be realized is also more and more, aerial reconnaissance, monitoring, communication, antisubmarine, electric is had been widely used for
Son interference etc..In the flight control of unmanned plane, on the one hand, takeoff phase is most dangerous one of the stage, therefore is had to safety
Higher requirement；On the other hand, unmanned plane universal and ordinary user is made to wish to possess in the take-off process of unmanned plane
More convenient and fast UAV Flight Control experience.
It needs to operate by self-test, unlock, there are also processes such as pick up calibrations since conventional unmanned plane takes off
Journey is complex for ordinary user, and requires to carry out in spacious place, affects the user in UAV Flight Control
Experience.And if rolling takeoff without above-mentioned process, be easy danger is caused to user and unmanned plane itself.
Flight control mode in the unmanned plane take-off process of mainstream at present are as follows: unmanned plane is placed in level land by operator
On, the operating control device except a certain distance makes unmanned plane gradually take off.But that there are take-off processes is cumbersome, right for this method
The problems such as take-off venue is more demanding.And in recent years, there is operator and holds the control of taking off that unmanned plane is thrown directly up
Mode, although this method is more convenient, vulnerable to the influence of maloperation, there are biggish security risks.
Summary of the invention
It is an object of the invention to provide a kind of UAV Flight Control for at least one aspect deficiency present on
Method and device.Wherein, the UAV Flight Control device can simplify the flight control process that unmanned plane takes off, and promote nothing
The safety of man-machine takeoff operational and user experience.The unmanned aerial vehicle (UAV) control method can be the flight that the unmanned plane takes off
The simplification and safety of control process, which are promoted, provides implementation.
To achieve the goals above, the present invention takes the technical solution of following several aspects:
In a first aspect, providing a kind of UAV Flight Control method in the embodiment of the present invention, include the following steps:
Based on Trusted channel, the first exercise data or wearable device foundation of the motion feature of characterization wearable device are received
Its detect the first exercise data and determination motion characteristic data；
Determine the spy of movement representated by the corresponding motion feature of first exercise data or the motion characteristic data
Levy whether motion feature corresponding to the second exercise data generated with this unmanned plane itself matches；
This unmanned plane during flying state is implemented to control when motion feature matches.
With reference to first aspect, for the present invention in the first implementation of first aspect, the movement of the wearable device is special
Sign includes that user gesture acts the first motion profile to be formed；The motion feature of described unmanned plane includes the movement of this unmanned plane
The second motion profile formed；When first motion profile and second motion profile meet desired trajectory, really
Fixed, the motion feature matches.
The first implementation with reference to first aspect, in second of implementation of first aspect, described in formation
The time difference of first motion profile and second motion profile is poor less than the predetermined time, and first motion profile and institute
When stating the second motion profile and meeting desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature
It does not match that.
With reference to first aspect, the present invention is in the third implementation of first aspect, when motion feature matches pair
The process that this unmanned plane during flying state implements control includes: the motion feature to match according to, to this unmanned plane during flying shape
State implements corresponding control.
The third implementation with reference to first aspect, the present invention are described in the 4th kind of implementation of first aspect
The process for implementing control to this unmanned plane during flying state when motion feature matches specifically includes: in the first motion feature phase
When matching, control unmanned plane during flying state is self-test state, for carrying out function inspection to unmanned plane sensor and/or motor
It surveys.
The third implementation with reference to first aspect, the present invention are described in the 5th kind of implementation of first aspect
The process for implementing control to this unmanned plane during flying state when motion feature matches specifically includes: in the second motion feature phase
When matching, the flight control locking of unmanned plane is released, is taken off preparation with completing unmanned plane.
The third implementation with reference to first aspect, the present invention are described in the 6th kind of implementation of first aspect
Implement control process to this unmanned plane during flying state when motion feature matches to specifically include: in third motion feature phase
Timing, control unmanned plane take off.
With reference to first aspect, the present invention is in the 7th kind of implementation of first aspect, the inspection of first exercise data
Survey process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of wearable device；
The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；
The fortune of the characterization wearable device is calculated according to the acceleration information of the wearable device and angular velocity data
First exercise data of dynamic feature.
With reference to first aspect, the present invention is in the 8th kind of implementation of first aspect, the inspection of second exercise data
Survey process includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；
The motion feature of characterization unmanned plane is calculated according to the acceleration information of the unmanned plane and angular velocity data
Second exercise data.
With reference to first aspect or any one implementation of its first to the 8th, the present invention in first aspect the 9th
In kind implementation, first exercise data further includes the location data of wearable device, and second exercise data further includes
The location data of unmanned plane；
It is special according to first exercise data or movement before implementing the step of controlling to this unmanned plane during flying state
Sign data and second exercise data, which calculate, determines whether the unmanned plane and the wearable device are in pre-determined distance,
If implementing to control to this unmanned plane during flying state when motion feature matches in pre-determined distance；Otherwise stop to this
The control of unmanned plane during flying state.
With reference to first aspect, the present invention further includes following previous step in the tenth kind of implementation of first aspect:
The unmanned plane carries out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
Second aspect provides a kind of unmanned plane assisting in flying controlling party for wearable device in the embodiment of the present invention
Method includes the following steps:
First exercise data of the motion feature of detection characterization wearable device；
Determine that scheduled data send condition whether it is satisfied；
When meeting data transmission condition, it is based on Trusted channel, sends first exercise data or wearing to unmanned plane
Equipment motion characteristic data of determination according to the first exercise data that it is detected, so that unmanned plane determines first movement
Motion feature representated by the corresponding motion feature of data or the motion characteristic data and the second of unmanned plane itself generation
Whether motion feature corresponding to exercise data matches, to be applied to implement to control to unmanned plane during flying state.
In conjunction with second aspect, the present invention is in the first implementation of second aspect, the inspection of first exercise data
Survey process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of wearable device；
The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；
The fortune of the characterization wearable device is calculated according to the acceleration information of the wearable device and angular velocity data
First exercise data of dynamic feature.
In conjunction with the first implementation of second aspect, the present invention is described in second of implementation of second aspect
The detection process of second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；
The motion feature of characterization unmanned plane is calculated according to the acceleration information of the unmanned plane and angular velocity data
Second exercise data.
In conjunction with second aspect or its first or second kind implementation, the present invention is in the third realization side of second aspect
In formula, first exercise data further includes the location data of wearable device, and second exercise data further includes unmanned plane
Location data；
Before implementing control to unmanned plane during flying state, unmanned plane is special according to first exercise data or movement
Sign data and second exercise data, which calculate, determines whether the unmanned plane and the wearable device are in pre-determined distance,
If implementing to control to unmanned plane during flying state when motion feature matches in pre-determined distance；Otherwise stop to nobody
The control of machine state of flight.
In conjunction with second aspect, in the 4th kind of implementation of second aspect, the data send condition and include the present invention
At least one of:
Detect that wearable device and unmanned plane establish Trusted channel；
It is in the open state to detect that the data of wearable device send switch；
Receive the data requesting instructions of unmanned plane transmission.
In conjunction with second aspect, the present invention further includes following previous step in the 5th kind of implementation of second aspect:
By communication connection, authentication request is sent to unmanned plane；
When authentication success, the wearable device and the unmanned plane establish Trusted channel.
The third aspect provides a kind of UAV Flight Control device in the embodiment of the present invention, comprising:
Receiving unit is configured as receiving the first movement number of the motion feature of characterization wearable device based on Trusted channel
According to or wearable device according to its detection the first exercise data and determination motion characteristic data；
Determination unit is matched, is configured to determine that the corresponding motion feature of first exercise data or the movement
Whether motion feature corresponding to the second exercise data that motion feature representated by characteristic and this unmanned plane itself generate
Match；
Control unit is configured as implementing to control to this unmanned plane during flying state when motion feature matches.
In conjunction with the third aspect, for the present invention in the first implementation of the third aspect, the movement of the wearable device is special
Sign includes that user gesture acts the first motion profile to be formed；The motion feature of described unmanned plane includes the movement of this unmanned plane
The second motion profile formed；The matching determination unit is configured as when first motion profile and second movement
When track meets desired trajectory, determine that the motion feature matches.
In conjunction with the third aspect, the present invention is in second of implementation of the third aspect, which is characterized in that the matching
Determination unit is additionally configured to be less than pre- timing when the time difference for forming first motion profile and second motion profile
Between it is poor, and when first motion profile and second motion profile meet desired trajectory, determine the motion feature phase
Matching；Otherwise, it determines the motion feature does not match that.
In conjunction with the third aspect, the present invention is described to match in motion feature in the third implementation of the third aspect
When to implement the process of control to this unmanned plane during flying state include: the motion feature to match according to, it is winged to this unmanned plane
Row state implements corresponding control.
In conjunction with the third implementation of the third aspect, the present invention is described in the 4th kind of implementation of the third aspect
The process for implementing control to this unmanned plane during flying state when motion feature matches specifically includes: in the first motion feature phase
When matching, control unmanned plane during flying state is self-test state, for carrying out function inspection to unmanned plane sensor and/or motor
It surveys.
In conjunction with the third implementation of the third aspect, the present invention is described in the 5th kind of implementation of the third aspect
The process for implementing control to this unmanned plane during flying state when motion feature matches specifically includes: in the second motion feature phase
When matching, the flight control locking of unmanned plane is released, is taken off preparation with completing unmanned plane.
In conjunction with the third implementation of the third aspect, the present invention is described in the 6th kind of implementation of the third aspect
Implement control process to this unmanned plane during flying state when motion feature matches to specifically include: in third motion feature phase
Timing, control unmanned plane take off.
In conjunction with the third aspect, the present invention is in the 7th kind of implementation of the third aspect, the inspection of first exercise data
Survey process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of first detection unit；
The angular velocity data of the wearable device is detected by the gyro sensor of first detection unit；
The characterization wearable device is calculated according to the acceleration information of the first detection unit and angular velocity data
Motion feature the first exercise data.
In conjunction with the third aspect, the present invention further includes second detection unit in the 8th kind of implementation of the third aspect,
The detection process of second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of second detection unit；
The angular velocity data of the unmanned plane is detected by the gyro sensor of second detection unit；
The movement of characterization unmanned plane is calculated according to the acceleration information of the second detection unit and angular velocity data
Second exercise data of feature.
In conjunction with the third aspect or its first to the 8th any implementation, nine kind reality of the present invention in the third aspect
In existing mode, first exercise data further includes the location data of wearable device, and second exercise data further includes for nobody
The location data of machine；
Before control unit implements control to this unmanned plane during flying state, according to first exercise data or movement
Characteristic and second exercise data, which calculate, determines whether the unmanned plane and the wearable device are in pre-determined distance
It is interior, if implementing to control to this unmanned plane during flying state when motion feature matches in pre-determined distance；Otherwise stop
Control to this unmanned plane during flying state.
In conjunction with the third aspect, the present invention further includes the second communication unit in the tenth kind of implementation of the third aspect,
It is configured as:
The unmanned plane carries out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
Fourth aspect provides a kind of unmanned plane assisting in flying control dress for wearable device in the embodiment of the present invention
It sets, which is characterized in that include the following:
First detection unit is configured as the first exercise data of the motion feature of detection characterization wearable device；
Determination unit is sent, is configured to determine that scheduled data send condition whether it is satisfied；
Transmission unit is configured as being based on Trusted channel when meeting data transmission condition, to described in unmanned plane transmission
First exercise data or wearable device according to its detection the first exercise data and determination motion characteristic data so that nobody
Machine determines motion feature and nothing representated by the corresponding motion feature of first exercise data or the motion characteristic data
Whether motion feature corresponding to man-machine the second exercise data itself generated matches, to be applied to unmanned plane during flying shape
State implements control.
In conjunction with fourth aspect, the present invention is in the first implementation of fourth aspect, the inspection of first exercise data
Survey process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of first detection unit；
The angular velocity data of the wearable device is detected by the gyro sensor of first detection unit；
The characterization wearable device is calculated according to the acceleration information of the first detection unit and angular velocity data
Motion feature the first exercise data.
In conjunction with the first implementation of fourth aspect, the present invention is described in second of implementation of fourth aspect
The detection process of second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of second detection unit；
The angular velocity data of the unmanned plane is detected by the gyro sensor of second detection unit；
The movement of characterization unmanned plane is calculated according to the acceleration information of the second detection unit and angular velocity data
Second exercise data of feature.
In conjunction with fourth aspect or its first or second kind implementation, the present invention is in the third realization side of fourth aspect
In formula, first exercise data further includes the location data of wearable device, and second exercise data further includes unmanned plane
Location data；
Before implementing control to unmanned plane during flying state, the unmanned plane is according to first exercise data or fortune
Dynamic characteristic and second exercise data, which calculate, determines whether the unmanned plane and the wearable device are in pre-determined distance
It is interior, if implementing to control to unmanned plane during flying state when motion feature matches in pre-determined distance；Otherwise stopping pair
The control of unmanned plane during flying state.
In conjunction with fourth aspect, in the 4th kind of implementation of fourth aspect, the data send condition and include the present invention
At least one of:
Detect that wearable device and unmanned plane establish Trusted channel；
It is in the open state to detect that the data of wearable device send switch；
Receive the data requesting instructions of unmanned plane transmission.
In conjunction with fourth aspect, the present invention further includes the first communication unit in the 5th kind of implementation of fourth aspect,
It is configured as:
By communication connection, authentication request is sent to unmanned plane；
When authentication success, the wearable device and the unmanned plane establish Trusted channel.
In terms of 5th, a kind of Multifunctional controlling control equipment is provided in the embodiment of the present invention, which has
Realize the function of UAV Flight Control method in above-mentioned first aspect.The function can also be led to by hardware realization
It crosses hardware and executes corresponding software realization.The hardware or software include one or more units corresponding with above-mentioned function.
In a possible design, include: in the structure of Multifunctional controlling control equipment
Memory, for storing the program for supporting R-T unit to execute above-mentioned UAV Flight Control method；
Communication interface, the communication for above-mentioned unmanned plane and wearable device or other equipment or communication network；
One or more processors, for executing the program stored in the memory；
One or more application program, wherein one or more of application programs are stored in the memory simultaneously
It is configured as being executed by one or more of processors；
One or more of programs are for driving one or more of processors to be configured to execute the first party
The unit of UAV Flight Control method described in face or its any one implementation.
In terms of 6th, a kind of multi-functional wearable device is provided in the embodiment of the present invention, which has
Realize the function in above-mentioned second aspect for the unmanned plane assisting in flying control method of wearable device.The function can lead to
Hardware realization is crossed, corresponding software realization can also be executed by hardware.The hardware or software include it is one or more with it is upper
State the corresponding unit of function.
In a possible design, include: in the structure of multi-functional wearable device
Memory supports R-T unit execution is above-mentioned to be used for wearable device unmanned plane assisting in flying controlling party for storing
The program of method；
Communication interface, the communication for above-mentioned wearable device and unmanned plane or other equipment or communication network；
One or more processors, for executing the program stored in the memory；
One or more application program, wherein one or more of application programs are stored in the memory simultaneously
It is configured as being executed by one or more of processors；
One or more of programs are for driving one or more of processors to be configured to execute the second party
Unit described in face or its any one implementation for the unmanned plane assisting in flying control method of wearable device.
Compared with the existing technology, technical solution provided by the invention at least has the advantages that
Firstly, the present invention is special in the corresponding motion feature of the first exercise data for determining wearable device or the movement
Motion feature corresponding to the second exercise data that motion feature and this unmanned plane itself representated by sign data generate matches
When, this unmanned plane during flying state is implemented to control.It is matched by the motion feature to wearable device and unmanned machine equipment,
To control the state of flight of unmanned plane, the flight control process that unmanned plane takes off is simplified, the hand that can be realized unmanned plane is thrown
It takes off, while promoting safety and the user experience of unmanned plane takeoff operational.
Secondly, determining that the movement is special when the motion profile of wearable device and unmanned plane meets predetermined path of movement
Sign matches, and allows users to carry out unmanned plane enclave row control using the movement of wearable device glibly.Moreover, pre-
If different motion features, unmanned plane sensor and/or electric motors function detection are correspondingly carried out in its matching, releases nobody
The flight control locking of machine, control unmanned plane such as are taken off at the state of flights control, effectively simple compared to traditional unmanned plane mode of taking off
The flight control process that unmanned plane takes off is changed.
Finally, before implementing control to unmanned plane during flying state, according to the first exercise data and the second exercise data meter
It calculates and determines whether the unmanned plane and the wearable device are in pre-determined distance, if in pre-determined distance, it is special in movement
This unmanned plane during flying state is implemented to control when sign matches；Otherwise stop the control to this unmanned plane during flying state.So that working as
It when user and unmanned plane be not in pre-determined distance, be unable to control unmanned plane and take off, avoid maloperation bring security risk,
Further improve the safety of UAV Flight Control.
I have much more to say than I can write in this letter, and the additional aspect of the present invention and advantage will be set forth in part in the description, these will be from following
Description in become more straightforward, or practice through the invention is recognized.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, required in being described below to embodiment
The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those skilled in the art, without creative efforts, other be can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the device structure block diagram for UAV Flight Control method of one embodiment of the invention；
Fig. 2 is the flow diagram of the control method of the unmanned plane of one embodiment of the invention；
Fig. 3 is that the process of the unmanned plane assisting in flying control method for wearable device of one embodiment of the invention is shown
It is intended to；
Fig. 4 is the structural block diagram of the UAV Flight Control device of one embodiment of the invention；
Fig. 5 is the structural frames of the unmanned plane assisting in flying control device for wearable device of one embodiment of the invention
Figure；
Fig. 6 is the structure principle chart of the Multifunctional controlling control equipment of one embodiment of the invention；
Fig. 7 is the structure principle chart of the multi-functional wearable device of one embodiment of the invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
In some processes of the description in description and claims of this specification and above-mentioned attached drawing, contain by
According to multiple operations that particular order occurs, but it should be clearly understood that these operations can not be what appears in this article according to its
Sequence is executed or is executed parallel, and the serial number of operation such as S10, S11 etc. be only used for distinguishing each different operation, sequence
It number itself does not represent and any to execute sequence.In addition, these processes may include more or fewer operations, and these are grasped
Work can be executed in order or be executed parallel.It should be noted that the description such as " first " herein, " second ", is for area
Divide different message, equipment, module etc., does not represent sequencing, also do not limit " first " and " second " and be different type.
It will appreciated by the skilled person that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling.Used here as
Wording "and/or" include one or more associated wholes for listing item or any cell and all combinations.
It will appreciated by the skilled person that unless otherwise defined, all terms used herein (including technology
Term and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary, it should be understood that have and the context of the prior art
In the consistent meaning of meaning otherwise will not use idealization or too formal and unless by specific definitions as here
Meaning is explained.
It will appreciated by the skilled person that " control device " used herein above or " Multifunctional controlling control equipment "
Both included the equipment of wireless signal receiver, and only had the equipment of the wireless signal receiver of non-emissive ability, and including connecing
The equipment for receiving and emitting hardware has the reception that on bidirectional communication link, can carry out two-way communication and emits hardware
Equipment.This equipment may include: honeycomb or other communication equipments, with single line display or multi-line display or
There is no the honeycomb of multi-line display or other communication equipments；It is portable, can transport, be mounted on the vehicles (aviation, sea-freight
And/or land) in intelligent movable equipment, such as unmanned plane, wearable device.
It will appreciated by the skilled person that " wearable device " used herein above or " multi-functional wearable device "
Both included the equipment of wireless signal transmitter, and only had the equipment of the wireless signal transmitter without the ability of reception, and including connecing
The equipment for receiving and emitting hardware has the reception that on bidirectional communication link, can carry out two-way communication and emits hardware
Equipment.This equipment is designed to be suitable for being arranged on the person, especially arm part comprising intelligent bracelet, intelligent watch
With bangle etc..
The method of the invention is primarily adapted for use in the terminal that unmanned plane or wearable device etc. have communication function, unlimited
It is formed on the type of its operating system, can be the operating systems such as Android, IOS, WP, Saipan or embedded OS.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description in which the same or similar labels are throughly indicated same or similar element or has same or like function
The element of energy.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other reality obtained without creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In one embodiment of the invention, for device structure block diagram such as Fig. 1 institute of UAV Flight Control method
Show, overall structure includes processor 704, sensor module, controller, execution control terminal etc., and wherein sensor module includes used
Property sensor (Inertial measurement unit, abbreviation IMU, contain acceleration transducer, gyro sensor), magnetic strength
Meter, ultrasonic sensor, laser range sensor, alignment sensor (such as GPS sensor, Beidou sensor etc.), image pass
Sensor etc., for generating various sensing datas to which generation is for the posture information during characterizing unmanned plane during flying, movement
Data, altitude information, course data, image data, location data, range data etc., to reflect in unmanned plane during flying
Parameters do the adjustment of itself convenient for unmanned plane.Such as when unmanned plane during flying is by wind effect, utilize inertia sensing
The attitude data that device can detecte out unmanned plane changes, and unmanned plane adjusts itself posture after obtaining attitude data to guarantee
It flies according to manipulation instruction；When for another example some direction encounters barrier during unmanned plane during flying, Distance-sensing can use
Device detects at a distance from barrier, to make avoidance movement rapidly, to guarantee that fuselage does not damage, and works as unmanned plane
After having avoidance measure, so that it may the tasks such as space detection be individually performed；For another example when user wants that controlling unmanned plane takes off,
In one embodiment of the present of invention, as shown in Fig. 2, unmanned plane is based on Trusted channel, the motion feature of characterization wearable device is received
The first exercise data or wearable device according to its detection the first exercise data and determination motion characteristic data；Determine institute
State motion feature representated by the corresponding motion feature of the first exercise data or the motion characteristic data and this unmanned plane certainly
Whether motion feature corresponding to the second exercise data that body generates matches；When motion feature matches to this unmanned plane
State of flight implements control.
Processor 704 is to complete Data Integration, send control, execute the core that operation executes, and is receiving sensing
When the data that device module is sent, specific information is identified from data by a series of algorithm, thus according to these information
Judge operation to be executed, those skilled in that art are appreciated that processor 704 can complete sensing data incessantly
Integration and send instruction, other operations can also be carried out, in the present invention, processor 704 should have can complete it is any
UAV Flight Control method.Controller is the control device for controlling unmanned plane, generally, when remote control equipment is made
When controlling unmanned plane for controller, need to be arranged the control frequency of unmanned plane and controller, to guarantee that effectively control unmanned plane flies
Row.It executes control terminal and executes operational order for unmanned plane, execute control terminal and communicate with each other with processor 704, to guarantee nothing
It is man-machine to be executed according to operational order.
Referring to Fig. 2, in the embodiment of UAV Flight Control method of the invention comprising following steps:
Step S11 is based on Trusted channel, receives the first exercise data or wearing of the motion feature of characterization wearable device
Equipment motion characteristic data of determination according to the first exercise data that it is detected.
Unmanned plane and wearable device pass through communication connection usually to realize the transmission of data and instruction, it is however generally that, it uses
The connection type of wireless communication.Even, in some cases, distance is farther out or environment such as between unmanned plane and wearable device
Electromagnetic conditions complexity etc. can also be attached by signal amplifying apparatus such as signal repeaters.In one embodiment, it is
The accuracy and safety for guaranteeing human-computer interactive control, by the way of Trusted channel, so that only having passed through identity
(ID) unmanned plane and wearable device verified can just interact operation.
It should be pointed out that the first exercise data of the wearable device includes acceleration information, angular velocity data, side
To data, location data, attitude data, in altitude information any one or it is any a variety of, therefore, the first exercise data is
One generality noun when concrete application, can according to need and determine and select specific data listed herein.A kind of embodiment
In, the detection process of the first exercise data of wearable device includes: by wearing described in the detection of the acceleration transducer of wearable device
Wear the acceleration information of equipment；The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；Root
The of the motion feature of the characterization wearable device is calculated according to the acceleration information and angular velocity data of the wearable device
One exercise data.Wherein, acceleration transducer (accelerometer) is also referred to as accelerometer, gyro sensor
(gyroscope/ gyro) is also referred to as gyroscope.By acceleration information and angular velocity data described in analytical calculation, wearing is obtained
First exercise data of equipment, for characterizing the motion feature of wearable device.First exercise data can according to acceleration information and
Angular velocity data utilizes data anastomosing algorithm, obtains such as Kalman filtering algorithm, to improve precision, convenient for transmission.Accordingly
Ground, first exercise data can calculate acceleration information and angular velocity data.Alternatively, the first exercise data can also be packet
Data packet containing acceleration information and/or angular velocity data.
From the foregoing it will be appreciated that passing through the first exercise data, it may be determined that motion feature corresponding to the motion feature of wearable device
Data.Wearable device is based on Trusted channel, will characterize the first exercise data of its motion feature or according to the first fortune of its detection
The motion characteristic data of dynamic data and determination is sent to unmanned plane.
In a possible embodiment, the Trusted channel between unmanned plane and wearable device can be bluetooth Trusted channel, close
Any one or a few in communication connection, UBW Trusted channel, ZigBee Trusted channel or internet Trusted channel.Nobody
Machine is based on above-mentioned connection, and the first exercise data or wearable device for receiving the motion feature of characterization wearable device are according to its detection
The first exercise data and the motion characteristic data of determination.
Step S12 is determined representated by the corresponding motion feature of first exercise data or the motion characteristic data
Motion feature and this unmanned plane itself generate the second exercise data corresponding to motion feature whether match.
Similarly, the second exercise data of the unmanned plane includes acceleration information, angular velocity data, bearing data, is determined
Position data, attitude data, in altitude information any one or it is any a variety of, therefore, the second exercise data is a generality
Noun when concrete application, can according to need and determine and select specific data listed herein.In a kind of embodiment, unmanned plane
The detection process of two exercise datas includes: that the acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；According to the acceleration degree of the unmanned plane
According to the second exercise data of the motion feature that characterization unmanned plane is calculated with angular velocity data.Wherein, acceleration transducer
(accelerometer) it is also referred to as accelerometer, gyro sensor (gyroscope/gyro) is also referred to as gyroscope.Pass through analysis
The acceleration information and angular velocity data are calculated, the second exercise data of unmanned plane is obtained, for characterizing the fortune of unmanned plane
Dynamic feature.Second exercise data can utilize data anastomosing algorithm, such as Kalman filtering according to acceleration information and angular velocity data
Algorithm and obtain, to improve precision.Correspondingly, second exercise data can calculate acceleration information and angular velocity data.
Alternatively, the second exercise data can also be the data packet comprising acceleration information and/or angular velocity data.
Since the first exercise data corresponds to the motion feature of wearable device, the motion characteristic data represents wearable device
Motion feature；And the second exercise data corresponds to the motion feature of unmanned plane.Therefore unmanned plane can be according to the wearable device
The second exercise data that first exercise data or the motion characteristic data and unmanned plane itself generate, determines wearable device
Whether the motion feature of motion feature and unmanned plane matches.
In a kind of embodiment, the motion feature of the wearable device includes that user gesture acts the first movement rail to be formed
Mark；The motion feature of described unmanned plane includes that this unmanned plane moves the second motion profile to be formed；When the first movement rail
When mark and second motion profile meet desired trajectory, determine that the motion feature matches.For example, wearable device and
When unmanned plane synchronizes the motion profile to be formed and meets predetermined path of movement, the movement of wearable device Yu the unmanned plane is determined
Feature matches.
First motion profile and second motion profile are respectively by above-mentioned first exercise data and the second movement number
It is obtained according to correspondence.In a kind of embodiment, the trace graphics of the first motion profile are calculated by first exercise data, and
The trace graphics are analyzed afterwards to extract track characteristic data, which may include the trace graphics
Graphic feature and the characteristic coordinates in the trace graphics acceleration, and then by extracted track characteristic data and pre-
The feature of fixed track describes data and is matched, and when successful match, determines that first motion profile meets the predetermined movement
Track.Wherein, the matching that the track characteristic data and the feature of desired trajectory describe data can be based on template matching,
Based on clustering algorithm, based on hidden Markov model (HMM) or based on the methods of neural network.Similarly, it may be determined that described
Whether two motion profiles meet the predetermined path of movement.When first motion profile and second motion profile meet
When desired trajectory, determine that the corresponding motion feature of the desired trajectory matches.
Specifically, the i.e. motion profile of wearable device can characterize use since wearable device is configured in user hand wrist
The motion profile of family hand, in a possible embodiment, in the flight control that progress unmanned plane takes off, the wrist of user is matched
The hand rest of wearable device/hold unmanned plane is equipped with to be moved along scheduled motion profile, such as " drawing circle in the horizontal direction ",
" moving along zigzag track ", " first pulling back downwards, rear to accelerate to move upwards " etc., that is, can determine that first motion profile and institute
It states the second motion profile and meets desired trajectory, and then determine that the motion feature of wearable device and the unmanned plane matches, from
And it carries out unmanned plane and the UAV Flight Controls such as takes off.
Maloperation in order to prevent, based on another above one embodiment of embodiment, when forming first motion profile
It is poor to be less than the predetermined time with the time difference of second motion profile, and first motion profile and described second moves rail
When mark meets desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature does not match that.Consider
To Unmanned Aerial Vehicle Data transmission process when extend to redundancy, predetermined time difference is usually less than 1.5s.Form first motion profile
It should be less than that the predetermined time is poor with the time difference of the second motion profile, just can determine that the movement of wearable device and the unmanned plane is special
Sign matches, with prevent user during UAV Flight Control except make unintentionally wearable device formed motion profile lead
Cause the change of unmanned plane during flying state.
Further, it is formed due to there may be user and unmanned planes not at same place wearable device with unmanned plane
Motion profile meet desired trajectory just, lead to the change of unmanned plane during flying state and cause the situation of security risk.Cause
This, in a possible embodiment, first exercise data may also include the location data of wearable device, second movement
Data further include the location data of unmanned plane；Before implementing the step of controlling to this unmanned plane during flying state, according to described the
One exercise data or motion characteristic data and second exercise data calculate the determining unmanned plane and the wearable device is
It is no to be in pre-determined distance, if implementing when motion feature matches to this unmanned plane during flying state in pre-determined distance
Control；Otherwise stop the control to this unmanned plane during flying state.
Wherein, the location data of first exercise data can characterize the latitude and longitude coordinates of wearable device, the second movement number
According to location data can characterize the latitude and longitude coordinates of unmanned plane, latitude and longitude coordinates can be obtained by the locating module that wearable device is installed
It takes, the positioning function of locating module is realized based on global position system connected to it, the satellite system being connected with locating module
Including but not limited to: GPS positioning system, BEI-DOU position system, Ge Luonasi positioning system or GALILEO positioning system.Pass through
Above-mentioned technological means, since wearable device is arranged in user, therefore user at a distance from unmanned plane can approximation be equal to and wear
Equipment is worn at a distance from unmanned plane, so that only when user and unmanned plane are in pre-determined distance, just in wearable device and nothing
This unmanned plane during flying state is implemented to control when man-machine motion feature matches, is further reduced security risk.Moreover, also
Settable lesser pre-determined distance, or corresponding induction identification device is configured on wearable device and unmanned plane, as radio frequency is known
Not (Radio Frequency Identification, abbreviation RFID) device etc. is used for identification and/or safety verification,
So that just thinking that user, could be to this unmanned plane during flying state when hand configures the wearable device and hand rest/hand-held unmanned plane
Implement control, such as hand is thrown winged, while promoting user experience, ensure that safety.
Step S13 implements to control when motion feature matches to this unmanned plane during flying state.
When motion feature matches, corresponding flight control instruction or mode are triggered, it is real to this unmanned plane during flying state
Apply control.Specifically, the process for implementing control to this unmanned plane during flying state when motion feature matches may also include that root
According to the motion feature to match, corresponding control is implemented to this unmanned plane during flying state.
By taking the flight control that unmanned plane takes off as an example, take off to control unmanned plane with allowing users to safe and convenient, in advance
If " the first motion feature ", " the second motion feature ", " third might as well be named as by the corresponding motion feature of predetermined path of movement
Motion feature " etc., predetermined path of movement here are not particularly limited, and predetermined path of movement above-mentioned or other fortune can be used
Dynamic rail mark；Similarly, it is also possible to which the first exercise data and other forms of motion of the second exercise data characterization are special to correspond to movement
Sign.Corresponding control when the motion feature of wearable device and unmanned plane matches, to the state of flight implementation of unmanned plane
System can flexibly select at least one following scheme:
First, control unmanned plane during flying state is self-test state, for carrying out to unmanned plane sensor and/or motor
Function detection.
Second, the flight for releasing unmanned plane controls locking, taken off preparation with completing unmanned plane.
Third, control unmanned plane takes off.
Above scheme can successively be implemented respectively in different motion characteristic matching, can also a kind of motion feature match when,
Successively implement.For example, various sensor received signals are in unmanned plane sense aircraft in the self-test state of unmanned plane
No stabilization is normal, acquires gyro data to compensate correction to null offset, can also preheat to battery, motor
And Function detection；And UAV Flight Control locks settable delay and releases, to be thrown in take-off process in hand, so that unmanned plane
Restart propeller after user is dished out, guarantees user security；It, can basis after the flight control locking for releasing unmanned plane
Application scenarios control unmanned plane that is preset or detecting takes off.
Other state of flight control processes of unmanned plane can refer to unmanned plane and take off control process, and therefore not to repeat here.
In certain embodiments of the present invention, in order to improve the accuracy and safety of unmanned aerial vehicle (UAV) control, the present invention nobody
Machine flight control method further includes following previous step: unmanned plane carries out authentication to wearable device by communication connection；When
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
By the previous step, so that only could be built with unmanned plane by the wearable device that identity (ID) is verified
Vertical Trusted channel, and then be just able to achieve interactive operation prevents the erroneous judgement of identification equipment or other people malicious interferences, it is accurate to improve system
Property and safety.
It could be aware that by the announcement to UAV Flight Control method of the invention, implementation of the invention can simplify
User promotes safety and the user experience of unmanned plane takeoff operational to UAV Flight Control process.
Referring to Fig. 3, in the embodiment for the unmanned plane assisting in flying control method of wearable device of the invention,
Include the following steps:
Step S21, the first exercise data of the motion feature of detection characterization wearable device.
It should be pointed out that the first exercise data of the wearable device includes acceleration information, angular velocity data, side
To data, location data, attitude data, in altitude information any one or it is any a variety of, therefore, the first exercise data is
One generality noun when concrete application, can according to need and determine and select specific data listed herein.A kind of embodiment
In, the detection process of the first exercise data of wearable device includes: by wearing described in the detection of the acceleration transducer of wearable device
Wear the acceleration information of equipment；The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；Root
The of the motion feature of the characterization wearable device is calculated according to the acceleration information and angular velocity data of the wearable device
One exercise data.Wherein, acceleration transducer (accelerometer) is also referred to as accelerometer, gyro sensor
(gyroscope/ gyro) is also referred to as gyroscope.By acceleration information and angular velocity data described in analytical calculation, wearing is obtained
First exercise data of equipment, for characterizing the motion feature of wearable device.First exercise data can according to acceleration information and
Angular velocity data utilizes data anastomosing algorithm, obtains such as Kalman filtering algorithm, to improve precision, convenient for transmission.Accordingly
Ground, first exercise data can calculate acceleration information and angular velocity data.Alternatively, the first exercise data can also be packet
Data packet containing acceleration information and/or angular velocity data.Pass through the first exercise data, it may be determined that the movement of wearable device is special
The corresponding motion characteristic data of sign.
Step S22 determines that scheduled data send condition whether it is satisfied.
In order to simplify user to UAV Flight Control process, while promoting the safety and use of unmanned plane takeoff operational
Family experience.Scheduled data, which send condition, flexibly to select at least one following scheme according to actual needs:
First, detecting that wearable device and unmanned plane establish Trusted channel.Wearable device is designed to be suitable for wearing
It is worn over the arm part of user, when wearable device establishes Trusted channel with unmanned plane, determines that scheduled data send condition quilt
Meet, by the data, including first exercise data and/or wearable device according to the first exercise data of its detection and
Determining motion characteristic data is sent to unmanned plane, ensure that user carries out the real-time of flight control to unmanned plane, improves
Manipulate efficiency.
Second, it is in the open state to detect that the data of wearable device send switch.Data can be set on wearable device
Switch or key are sent, and virtual or entity form can be set as according to the configuration of wearable device, when data send switch or press
When key is in the open state, wearable device determines that scheduled data send condition and are satisfied.The program can make data sending function
In normally open or normally closed state, the certainty of user's operation is improved.
Third, receiving the data requesting instructions of unmanned plane transmission.In certain embodiments, it is suitable for when unmanned plane is in
Fly control state when, to wearable device send data requesting instructions with obtain the first exercise data and/or wearable device according to
The motion characteristic data of determination according to the first exercise data of its detection, wearable device receive the data requesting instructions of unmanned plane
Afterwards, determine that scheduled data send condition and are satisfied.The program can according to unmanned plane need to send in time data without
The direct operation for wanting user, improves the simplicity of human-computer interaction.
Step S23 is based on Trusted channel when meeting data transmission condition, sends the first movement number to unmanned plane
According to or wearable device according to its detection the first exercise data and determination motion characteristic data so that unmanned plane determine described in
Motion feature representated by the corresponding motion feature of first exercise data or the motion characteristic data and unmanned plane itself produce
Whether motion feature corresponding to the second raw exercise data matches, to be applied to implement to control to unmanned plane during flying state.
Unmanned plane and wearable device pass through communication connection usually to realize the transmission of data and instruction, it is however generally that, it uses
The connection type of wireless communication.Even, in some cases, distance is farther out or environment such as between unmanned plane and wearable device
Electromagnetic conditions complexity etc. can also be attached by signal amplifying apparatus such as signal repeaters.In one embodiment, it is
The accuracy and safety for guaranteeing human-computer interactive control, by the way of Trusted channel, so that only having passed through identity
(ID) unmanned plane and wearable device verified can just interact operation, improve the safety of unmanned aerial vehicle (UAV) control.
In a possible embodiment, the Trusted channel between unmanned plane and wearable device can be bluetooth Trusted channel, close
Any one or a few in communication connection, UBW Trusted channel, ZigBee Trusted channel or internet Trusted channel.When wearing
When wearing equipment and determining that scheduled data send condition and are satisfied, it is based on above-mentioned connection, sends the first exercise data to unmanned plane
And/or wearable device according to its detection the first exercise data and determination motion characteristic data, be applied to unmanned plane fly
Row state implements control.
Similarly, the second exercise data of the unmanned plane includes acceleration information, angular velocity data, bearing data, is determined
Position data, attitude data, in altitude information any one or it is any a variety of, therefore, the second exercise data is a generality
Noun when concrete application, can according to need and determine and select specific data listed herein.In a kind of embodiment, unmanned plane
The detection process of two exercise datas includes: that the acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；According to the acceleration degree of the unmanned plane
According to the second exercise data of the motion feature that characterization unmanned plane is calculated with angular velocity data.Wherein, acceleration transducer
(accelerometer) it is also referred to as accelerometer, gyro sensor (gyroscope/gyro) is also referred to as gyroscope.Pass through analysis
The acceleration information and angular velocity data are calculated, the second exercise data of unmanned plane is obtained, for characterizing the fortune of unmanned plane
Dynamic feature.Second exercise data can utilize data anastomosing algorithm, such as Kalman filtering according to acceleration information and angular velocity data
Algorithm and obtain, to improve precision.Correspondingly, second exercise data can calculate acceleration information and angular velocity data.
Alternatively, the second exercise data can also be the data packet comprising acceleration information and/or angular velocity data.
Since the first exercise data corresponds to the motion feature of wearable device, the motion characteristic data represents wearable device
Motion feature；And the second exercise data corresponds to the motion feature of unmanned plane.Therefore unmanned plane can be according to the wearable device
The second exercise data that first exercise data or the motion characteristic data and unmanned plane itself generate, determines wearable device
Whether the motion feature of motion feature and unmanned plane matches.
In a kind of embodiment, the motion feature of the wearable device includes that user gesture acts the first movement rail to be formed
Mark；The motion feature of described unmanned plane includes that this unmanned plane moves the second motion profile to be formed；When the first movement rail
When mark and second motion profile meet desired trajectory, determine that the motion feature matches.For example, wearable device and
When unmanned plane synchronizes the motion profile to be formed and meets predetermined path of movement, the movement of wearable device Yu the unmanned plane is determined
Feature matches.
First motion profile and second motion profile are respectively by above-mentioned first exercise data and the second movement number
It is obtained according to correspondence.In a kind of embodiment, the trace graphics of the first motion profile are calculated by first exercise data, and
The trace graphics are analyzed afterwards to extract track characteristic data, which may include the trace graphics
Graphic feature and the characteristic coordinates in the trace graphics acceleration, and then by extracted track characteristic data and pre-
The feature of fixed track describes data and is matched, and when successful match, determines that first motion profile meets the predetermined movement
Track.Wherein, the matching that the track characteristic data and the feature of desired trajectory describe data can be based on template matching,
Based on clustering algorithm, based on hidden Markov model (HMM) or based on the methods of neural network.Similarly, it may be determined that described
Whether two motion profiles meet the predetermined path of movement.When first motion profile and second motion profile meet
When desired trajectory, determine that the corresponding motion feature of the desired trajectory matches.
Specifically, the i.e. motion profile of wearable device can characterize use since wearable device is configured in user hand wrist
The motion profile of family hand, in a possible embodiment, in the flight control that progress unmanned plane takes off, the wrist of user is matched
The hand rest of wearable device/hold unmanned plane is equipped with to be moved along scheduled motion profile, such as " drawing circle in the horizontal direction ",
" moving along zigzag track ", " first pulling back downwards, rear to accelerate to move upwards " etc., that is, can determine that first motion profile and institute
It states the second motion profile and meets desired trajectory, and then determine that the motion feature of wearable device and the unmanned plane matches, from
And it carries out unmanned plane and the UAV Flight Controls such as takes off.
Maloperation in order to prevent, based on another above one embodiment of embodiment, when forming first motion profile
It is poor to be less than the predetermined time with the time difference of second motion profile, and first motion profile and described second moves rail
When mark meets desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature does not match that.Consider
To Unmanned Aerial Vehicle Data transmission process when extend to redundancy, predetermined time difference is usually less than 1.5s.Form first motion profile
It should be less than that the predetermined time is poor with the time difference of the second motion profile, just can determine that the movement of wearable device and the unmanned plane is special
Sign matches, with prevent user during UAV Flight Control except make unintentionally wearable device formed motion profile lead
Cause the change of unmanned plane during flying state.
Further, it is formed due to there may be user and unmanned planes not at same place wearable device with unmanned plane
Motion profile meet desired trajectory just, lead to the change of unmanned plane during flying state and cause the situation of security risk.Cause
This, in a possible embodiment, first exercise data may also include the location data of wearable device, second movement
Data further include the location data of unmanned plane；Before implementing the step of controlling to this unmanned plane during flying state, according to described the
One exercise data or motion characteristic data and second exercise data calculate the determining unmanned plane and the wearable device is
It is no to be in pre-determined distance, if implementing when motion feature matches to this unmanned plane during flying state in pre-determined distance
Control；Otherwise stop the control to this unmanned plane during flying state.
Wherein, the location data of first exercise data can characterize the latitude and longitude coordinates of wearable device, the second movement number
According to location data can characterize the latitude and longitude coordinates of unmanned plane, latitude and longitude coordinates can be obtained by the locating module that wearable device is installed
It takes, the positioning function of locating module is realized based on global position system connected to it, the satellite system being connected with locating module
Including but not limited to: GPS positioning system, BEI-DOU position system, Ge Luonasi positioning system or GALILEO positioning system.Pass through
Above-mentioned technological means, since wearable device is arranged in user, therefore user at a distance from unmanned plane can approximation be equal to and wear
Equipment is worn at a distance from unmanned plane, so that only when user and unmanned plane are in pre-determined distance, just in wearable device and nothing
This unmanned plane during flying state is implemented to control when man-machine motion feature matches, is further reduced security risk.Moreover, also
Settable lesser pre-determined distance, or corresponding induction identification device is configured on wearable device and unmanned plane, as radio frequency is known
Not (Radio Frequency Identification, abbreviation RFID) device etc. is used for identification and/or safety verification,
So that just thinking that user, could be to this unmanned plane during flying state when hand configures the wearable device and hand rest/hand-held unmanned plane
Implement control, such as hand is thrown winged, while promoting user experience, ensure that safety.
When motion feature matches, corresponding flight control instruction or mode are triggered, it is real to this unmanned plane during flying state
Apply control.Specifically, the process for implementing control to this unmanned plane during flying state when motion feature matches may also include that root
According to the motion feature to match, corresponding control is implemented to this unmanned plane during flying state.
By taking the flight control that unmanned plane takes off as an example, take off to control unmanned plane with allowing users to safe and convenient, in advance
If " the first motion feature ", " the second motion feature ", " third might as well be named as by the corresponding motion feature of predetermined path of movement
Motion feature " etc., predetermined path of movement here are not particularly limited, and predetermined path of movement above-mentioned or other fortune can be used
Dynamic rail mark；Similarly, it is also possible to which the first exercise data and other forms of motion of the second exercise data characterization are special to correspond to movement
Sign.Corresponding control when the motion feature of wearable device and unmanned plane matches, to the state of flight implementation of unmanned plane
System can flexibly select at least one following scheme:
First, control unmanned plane during flying state is self-test state, for carrying out to unmanned plane sensor and/or motor
Function detection.
Second, the flight for releasing unmanned plane controls locking, taken off preparation with completing unmanned plane.
Third, control unmanned plane takes off.
Above scheme can successively be implemented respectively in different motion characteristic matching, can also a kind of motion feature match when,
Successively implement.For example, various sensor received signals are in unmanned plane sense aircraft in the self-test state of unmanned plane
No stabilization is normal, acquires gyro data to compensate correction to null offset, can also preheat to battery, motor
And Function detection；And UAV Flight Control locks settable delay and releases, to be thrown in take-off process in hand, so that unmanned plane
Restart propeller after user is dished out, guarantees user security；It, can basis after the flight control locking for releasing unmanned plane
Application scenarios control unmanned plane that is preset or detecting takes off.
Other state of flight control processes of unmanned plane can refer to unmanned plane and take off control process, and therefore not to repeat here.
In certain embodiments of the present invention, in order to improve the accuracy and safety of unmanned aerial vehicle (UAV) control, the present invention nobody
Machine flight control method further includes following previous step: unmanned plane carries out authentication to wearable device by communication connection；When
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
By the previous step, so that only could be built with unmanned plane by the wearable device that identity (ID) is verified
Vertical Trusted channel, and then be just able to achieve interactive operation prevents the erroneous judgement of identification equipment or other people malicious interferences, it is accurate to improve system
Property and safety.
It could be aware that by the announcement to the unmanned plane assisting in flying control method for wearable device of the invention, this
The implementation of invention can simplify user to UAV Flight Control process, promote safety and the user of unmanned plane takeoff operational
Experience.
According to modularized design thinking, the present invention on the basis of above-mentioned UAV Flight Control method, it is further proposed that
A kind of UAV Flight Control device.
Referring to Fig. 4, in the embodiment of UAV Flight Control device of the invention comprising the first receiving unit 11,
Determination unit 12, control unit 13 are matched, the function that each unit is realized specifically is explained below:
First receiving unit 11 is configured as receiving the first of the motion feature of characterization wearable device based on Trusted channel
Exercise data or wearable device according to its detection the first exercise data and determination motion characteristic data.
Unmanned plane and wearable device pass through communication connection usually to realize the transmission of data and instruction, it is however generally that, it uses
The connection type of wireless communication.Even, in some cases, distance is farther out or environment such as between unmanned plane and wearable device
Electromagnetic conditions complexity etc. can also be attached by signal amplifying apparatus such as signal repeaters.In one embodiment, it is
The accuracy and safety for guaranteeing human-computer interactive control, by the way of Trusted channel, so that only having passed through identity
(ID) unmanned plane and wearable device verified can just interact operation.
It should be pointed out that the first exercise data of the wearable device includes acceleration information, angular velocity data, side
To data, location data, attitude data, in altitude information any one or it is any a variety of, therefore, the first exercise data is
One generality noun when concrete application, can according to need and determine and select specific data listed herein.A kind of embodiment
In, the detection process of the first exercise data of wearable device includes: by wearing described in the detection of the acceleration transducer of wearable device
Wear the acceleration information of equipment；The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；Root
The of the motion feature of the characterization wearable device is calculated according to the acceleration information and angular velocity data of the wearable device
One exercise data.Wherein, acceleration transducer (accelerometer) is also referred to as accelerometer, gyro sensor
(gyroscope/ gyro) is also referred to as gyroscope.By acceleration information and angular velocity data described in analytical calculation, wearing is obtained
First exercise data of equipment, for characterizing the motion feature of wearable device.First exercise data can according to acceleration information and
Angular velocity data utilizes data anastomosing algorithm, obtains such as Kalman filtering algorithm, to improve precision, convenient for transmission.Accordingly
Ground, first exercise data can calculate acceleration information and angular velocity data.Alternatively, the first exercise data can also be packet
Data packet containing acceleration information and/or angular velocity data.
From the foregoing it will be appreciated that passing through the first exercise data, it may be determined that motion feature corresponding to the motion feature of wearable device
Data.Wearable device is based on Trusted channel, will characterize the first exercise data of its motion feature or according to the first fortune of its detection
The motion characteristic data of dynamic data and determination is sent to unmanned plane.
In a possible embodiment, the Trusted channel between unmanned plane and wearable device can be bluetooth Trusted channel, close
Any one or a few in communication connection, UBW Trusted channel, ZigBee Trusted channel or internet Trusted channel.Nobody
First receiving unit 11 of machine is based on above-mentioned connection, receives the first exercise data of the motion feature of characterization wearable device or wears
Wear equipment according to its detection the first exercise data and determination motion characteristic data.
Determination unit 12 is matched, is configured to determine that the corresponding motion feature of first exercise data or the fortune
Moving motion feature corresponding to the second exercise data that motion feature and this unmanned plane itself representated by characteristic generate is
It is no to match.
Similarly, the second exercise data of the unmanned plane includes acceleration information, angular velocity data, bearing data, is determined
Position data, attitude data, in altitude information any one or it is any a variety of, therefore, the second exercise data is a generality
Noun when concrete application, can according to need and determine and select specific data listed herein.In a kind of embodiment, unmanned plane
The detection process of two exercise datas includes: that the acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；According to the acceleration degree of the unmanned plane
According to the second exercise data of the motion feature that characterization unmanned plane is calculated with angular velocity data.Wherein, acceleration transducer
(accelerometer) it is also referred to as accelerometer, gyro sensor (gyroscope/gyro) is also referred to as gyroscope.Pass through analysis
The acceleration information and angular velocity data are calculated, the second exercise data of unmanned plane is obtained, for characterizing the fortune of unmanned plane
Dynamic feature.Second exercise data can utilize data anastomosing algorithm, such as Kalman filtering according to acceleration information and angular velocity data
Algorithm and obtain, to improve precision.Correspondingly, second exercise data can calculate acceleration information and angular velocity data.
Alternatively, the second exercise data can also be the data packet comprising acceleration information and/or angular velocity data.
Since the first exercise data corresponds to the motion feature of wearable device, the motion characteristic data represents wearable device
Motion feature；And the second exercise data corresponds to the motion feature of unmanned plane.Therefore unmanned plane can be according to the wearable device
The second exercise data that first exercise data or the motion characteristic data and unmanned plane itself generate, determines wearable device
Whether the motion feature of motion feature and unmanned plane matches.
In a kind of embodiment, the motion feature of the wearable device includes that user gesture acts the first movement rail to be formed
Mark；The motion feature of described unmanned plane includes that this unmanned plane moves the second motion profile to be formed；Match 12 quilt of determination unit
It is configured to determine the motion feature when first motion profile meets desired trajectory with second motion profile
Match.For example, wearable device and unmanned plane synchronize the motion profile that is formed when meeting predetermined path of movement, determine wearing
Equipment and the motion feature of the unmanned plane match.
First motion profile and second motion profile are respectively by above-mentioned first exercise data and the second movement number
It is obtained according to correspondence.In a kind of embodiment, the trace graphics of the first motion profile are calculated by first exercise data, and
The trace graphics are analyzed afterwards to extract track characteristic data, which may include the trace graphics
Graphic feature and the characteristic coordinates in the trace graphics acceleration, and then by extracted track characteristic data and pre-
The feature of fixed track describes data and is matched, and when successful match, determines that first motion profile meets the predetermined movement
Track.Wherein, the matching that the track characteristic data and the feature of desired trajectory describe data can be based on template matching,
Based on clustering algorithm, based on hidden Markov model (HMM) or based on the methods of neural network.Similarly, it may be determined that described
Whether two motion profiles meet the predetermined path of movement.When first motion profile and second motion profile meet
When desired trajectory, determine that the corresponding motion feature of the desired trajectory matches.
Specifically, the i.e. motion profile of wearable device can characterize use since wearable device is configured in user hand wrist
The motion profile of family hand, in a possible embodiment, in the flight control that progress unmanned plane takes off, the wrist of user is matched
The hand rest of wearable device/hold unmanned plane is equipped with to be moved along scheduled motion profile, such as " drawing circle in the horizontal direction ",
" moving along zigzag track ", " first pulling back downwards, rear to accelerate to move upwards " etc., that is, can determine that first motion profile and institute
It states the second motion profile and meets desired trajectory, and then determine that the motion feature of wearable device and the unmanned plane matches, from
And it carries out unmanned plane and the UAV Flight Controls such as takes off.
Maloperation in order to prevent, based on another above one embodiment of embodiment, when forming first motion profile
It is poor to be less than the predetermined time with the time difference of second motion profile, and first motion profile and described second moves rail
When mark meets desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature does not match that.Consider
To Unmanned Aerial Vehicle Data transmission process when extend to redundancy, predetermined time difference is usually less than 1.5s.Form first motion profile
It should be less than that the predetermined time is poor with the time difference of the second motion profile, just can determine that the movement of wearable device and the unmanned plane is special
Sign matches, with prevent user during UAV Flight Control except make unintentionally wearable device formed motion profile lead
Cause the change of unmanned plane during flying state.
Further, it is formed due to there may be user and unmanned planes not at same place wearable device with unmanned plane
Motion profile meet desired trajectory just, lead to the change of unmanned plane during flying state and cause the situation of security risk.Cause
This, in a possible embodiment, first exercise data may also include the location data of wearable device, second movement
Data further include the location data of unmanned plane；Before implementing the step of controlling to this unmanned plane during flying state, according to described the
One exercise data or motion characteristic data and second exercise data calculate the determining unmanned plane and the wearable device is
It is no to be in pre-determined distance, if implementing when motion feature matches to this unmanned plane during flying state in pre-determined distance
Control；Otherwise stop the control to this unmanned plane during flying state.
Wherein, the location data of first exercise data can characterize the latitude and longitude coordinates of wearable device, the second movement number
According to location data can characterize the latitude and longitude coordinates of unmanned plane, latitude and longitude coordinates can be obtained by the locating module that wearable device is installed
It takes, the positioning function of locating module is realized based on global position system connected to it, the satellite system being connected with locating module
Including but not limited to: GPS positioning system, BEI-DOU position system, Ge Luonasi positioning system or GALILEO positioning system.Pass through
Above-mentioned technological means, since wearable device is arranged in user, therefore user at a distance from unmanned plane can approximation be equal to and wear
Equipment is worn at a distance from unmanned plane, so that only when user and unmanned plane are in pre-determined distance, just in wearable device and nothing
This unmanned plane during flying state is implemented to control when man-machine motion feature matches, is further reduced security risk.Moreover, also
Settable lesser pre-determined distance, or corresponding induction identification device is configured on wearable device and unmanned plane, as radio frequency is known
Not (Radio Frequency Identification, abbreviation RFID) device etc. is used for identification and/or safety verification,
So that just thinking that user, could be to this unmanned plane during flying state when hand configures the wearable device and hand rest/hand-held unmanned plane
Implement control, such as hand is thrown winged, while promoting user experience, ensure that safety.
Control unit 13 is configured as implementing to control to this unmanned plane during flying state when motion feature matches.
When motion feature matches, corresponding flight control instruction or mode are triggered, it is real to this unmanned plane during flying state
Apply control.Specifically, the process for implementing control to this unmanned plane during flying state when motion feature matches may also include that root
According to the motion feature to match, corresponding control is implemented to this unmanned plane during flying state.
By taking the flight control that unmanned plane takes off as an example, take off to control unmanned plane with allowing users to safe and convenient, in advance
If " the first motion feature ", " the second motion feature ", " third might as well be named as by the corresponding motion feature of predetermined path of movement
Motion feature " etc., predetermined path of movement here are not particularly limited, and predetermined path of movement above-mentioned or other fortune can be used
Dynamic rail mark；Similarly, it is also possible to which the first exercise data and other forms of motion of the second exercise data characterization are special to correspond to movement
Sign.Corresponding control when the motion feature of wearable device and unmanned plane matches, to the state of flight implementation of unmanned plane
System can flexibly select at least one following scheme:
First, control unmanned plane during flying state is self-test state, for carrying out to unmanned plane sensor and/or motor
Function detection.
Second, the flight for releasing unmanned plane controls locking, taken off preparation with completing unmanned plane.
Third, control unmanned plane takes off.
Above scheme can successively be implemented respectively in different motion characteristic matching, can also a kind of motion feature match when,
Successively implement.For example, various sensor received signals are in unmanned plane sense aircraft in the self-test state of unmanned plane
No stabilization is normal, acquires gyro data to compensate correction to null offset, can also preheat to battery, motor
And Function detection；And UAV Flight Control locks settable delay and releases, to be thrown in take-off process in hand, so that unmanned plane
Restart propeller after user is dished out, guarantees user security；It, can basis after the flight control locking for releasing unmanned plane
Application scenarios control unmanned plane that is preset or detecting takes off.
Other state of flight control processes of the control unit 13 of unmanned plane can refer to unmanned plane and take off control process,
This is not repeated.
In certain embodiments of the present invention, in order to improve the accuracy and safety of unmanned aerial vehicle (UAV) control, the present invention nobody
Machine flight control assemblies further include the second communication unit, are configured as carrying out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
By second communication unit, so that there was only the wearable device ability for having passed through identity (ID) verifying and nobody
Machine establishes Trusted channel, and then is just able to achieve interactive operation, prevents the erroneous judgement of identification equipment or other people malicious interferences, improves system
Accuracy and safety.
It could be aware that by the announcement to UAV Flight Control device of the invention, implementation of the invention can simplify
User promotes safety and the user experience of unmanned plane takeoff operational to UAV Flight Control process.
According to modularized design thinking, the present invention is in the above-mentioned unmanned plane assisting in flying control method for wearable device
On the basis of, it is further proposed that a kind of unmanned plane assisting in flying control device for wearable device.
Referring to Fig. 5, in the embodiment for the unmanned plane assisting in flying control device of wearable device of the invention,
Including first detection unit 21, determination unit 22, transmission unit 23 are sent, the function that each unit is realized specifically is explained below:
First detection unit 21 is configured as the first exercise data of the motion feature of detection characterization wearable device.
It should be pointed out that the first exercise data of the wearable device includes acceleration information, angular velocity data, side
To data, location data, attitude data, in altitude information any one or it is any a variety of, therefore, the first exercise data is
One generality noun when concrete application, can according to need and determine and select specific data listed herein.A kind of embodiment
In, the detection process of the first exercise data of wearable device includes: by wearing described in the detection of the acceleration transducer of wearable device
Wear the acceleration information of equipment；The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；Root
The of the motion feature of the characterization wearable device is calculated according to the acceleration information and angular velocity data of the wearable device
One exercise data.Wherein, acceleration transducer (accelerometer) is also referred to as accelerometer, gyro sensor
(gyroscope/ gyro) is also referred to as gyroscope.By acceleration information and angular velocity data described in analytical calculation, wearing is obtained
First exercise data of equipment, for characterizing the motion feature of wearable device.First exercise data can according to acceleration information and
Angular velocity data utilizes data anastomosing algorithm, obtains such as Kalman filtering algorithm, to improve precision, convenient for transmission.Accordingly
Ground, first exercise data can calculate acceleration information and angular velocity data.Alternatively, the first exercise data can also be packet
Data packet containing acceleration information and/or angular velocity data.Pass through the first exercise data, it may be determined that the movement of wearable device is special
The corresponding motion characteristic data of sign.
Determination unit 22 is sent, is configured to determine that scheduled data send condition whether it is satisfied.
In order to simplify user to UAV Flight Control process, while promoting the safety and use of unmanned plane takeoff operational
Family experience.Scheduled data, which send condition, flexibly to select at least one following scheme according to actual needs:
First, detecting that wearable device and unmanned plane establish Trusted channel.Wearable device is designed to be suitable for wearing
It is worn over the arm part of user, when wearable device establishes Trusted channel with unmanned plane, determines that scheduled data send condition quilt
Meet, by the data, including first exercise data and/or wearable device according to the first exercise data of its detection and
Determining motion characteristic data is sent to unmanned plane, ensure that user carries out the real-time of flight control to unmanned plane, improves
Manipulate efficiency.
Second, it is in the open state to detect that the data of wearable device send switch.Data can be set on wearable device
Switch or key are sent, and virtual or entity form can be set as according to the configuration of wearable device, when data send switch or press
When key is in the open state, wearable device determines that scheduled data send condition and are satisfied.The program can make data sending function
In normally open or normally closed state, the certainty of user's operation is improved.
Third, receiving the data requesting instructions of unmanned plane transmission.In certain embodiments, it is suitable for when unmanned plane is in
Fly control state when, to wearable device send data requesting instructions with obtain the first exercise data and/or wearable device according to
The motion characteristic data of determination according to the first exercise data of its detection, wearable device receive the data requesting instructions of unmanned plane
Afterwards, determine that scheduled data send condition and are satisfied.The program can according to unmanned plane need to send in time data without
The direct operation for wanting user, improves the simplicity of human-computer interaction.
Transmission unit 23 is configured as being based on Trusted channel when meeting data transmission condition, sending institute to unmanned plane
State the first exercise data or wearable device according to its detection the first exercise data and determination motion characteristic data so that nothing
Motion feature representated by the corresponding motion feature of man-machine determination first exercise data or the motion characteristic data with
Whether motion feature corresponding to the second exercise data that unmanned plane itself generates matches, to be applied to unmanned plane during flying
State implements control.
Unmanned plane and wearable device pass through communication connection usually to realize the transmission of data and instruction, it is however generally that, it uses
The connection type of wireless communication.Even, in some cases, distance is farther out or environment such as between unmanned plane and wearable device
Electromagnetic conditions complexity etc. can also be attached by signal amplifying apparatus such as signal repeaters.In one embodiment, it is
The accuracy and safety for guaranteeing human-computer interactive control, by the way of Trusted channel, so that only having passed through identity
(ID) unmanned plane and wearable device verified can just interact operation, improve the safety of unmanned aerial vehicle (UAV) control.
In a possible embodiment, the Trusted channel between unmanned plane and wearable device can be bluetooth Trusted channel, close
Any one or a few in communication connection, UBW Trusted channel, ZigBee Trusted channel or internet Trusted channel.When wearing
When wearing equipment and determining that scheduled data send condition and are satisfied, it is based on above-mentioned connection, sends the first exercise data to unmanned plane
And/or wearable device according to its detection the first exercise data and determination motion characteristic data, be applied to unmanned plane fly
Row state implements control.
Similarly, the second exercise data of the unmanned plane includes acceleration information, angular velocity data, bearing data, is determined
Position data, attitude data, in altitude information any one or it is any a variety of, therefore, the second exercise data is a generality
Noun when concrete application, can according to need and determine and select specific data listed herein.In a kind of embodiment, unmanned plane
The detection process of two exercise datas includes: that the acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；According to the acceleration degree of the unmanned plane
According to the second exercise data of the motion feature that characterization unmanned plane is calculated with angular velocity data.Wherein, acceleration transducer
(accelerometer) it is also referred to as accelerometer, gyro sensor (gyroscope/gyro) is also referred to as gyroscope.Pass through analysis
The acceleration information and angular velocity data are calculated, the second exercise data of unmanned plane is obtained, for characterizing the fortune of unmanned plane
Dynamic feature.Second exercise data can utilize data anastomosing algorithm, such as Kalman filtering according to acceleration information and angular velocity data
Algorithm and obtain, to improve precision.Correspondingly, second exercise data can calculate acceleration information and angular velocity data.
Alternatively, the second exercise data can also be the data packet comprising acceleration information and/or angular velocity data.
Since the first exercise data corresponds to the motion feature of wearable device, the motion characteristic data represents wearable device
Motion feature；And the second exercise data corresponds to the motion feature of unmanned plane.Therefore unmanned plane can be according to the wearable device
The second exercise data that first exercise data or the motion characteristic data and unmanned plane itself generate, determines wearable device
Whether the motion feature of motion feature and unmanned plane matches.
In a kind of embodiment, the motion feature of the wearable device includes that user gesture acts the first movement rail to be formed
Mark；The motion feature of described unmanned plane includes that this unmanned plane moves the second motion profile to be formed；When the first movement rail
When mark and second motion profile meet desired trajectory, determine that the motion feature matches.For example, wearable device and
When unmanned plane synchronizes the motion profile to be formed and meets predetermined path of movement, the movement of wearable device Yu the unmanned plane is determined
Feature matches.
First motion profile and second motion profile are respectively by above-mentioned first exercise data and the second movement number
It is obtained according to correspondence.In a kind of embodiment, the trace graphics of the first motion profile are calculated by first exercise data, and
The trace graphics are analyzed afterwards to extract track characteristic data, which may include the trace graphics
Graphic feature and the characteristic coordinates in the trace graphics acceleration, and then by extracted track characteristic data and pre-
The feature of fixed track describes data and is matched, and when successful match, determines that first motion profile meets the predetermined movement
Track.Wherein, the matching that the track characteristic data and the feature of desired trajectory describe data can be based on template matching,
Based on clustering algorithm, based on hidden Markov model (HMM) or based on the methods of neural network.Similarly, it may be determined that described
Whether two motion profiles meet the predetermined path of movement.When first motion profile and second motion profile meet
When desired trajectory, determine that the corresponding motion feature of the desired trajectory matches.
Specifically, the i.e. motion profile of wearable device can characterize use since wearable device is configured in user hand wrist
The motion profile of family hand, in a possible embodiment, in the flight control that progress unmanned plane takes off, the wrist of user is matched
The hand rest of wearable device/hold unmanned plane is equipped with to be moved along scheduled motion profile, such as " drawing circle in the horizontal direction ",
" moving along zigzag track ", " first pulling back downwards, rear to accelerate to move upwards " etc., that is, can determine that first motion profile and institute
It states the second motion profile and meets desired trajectory, and then determine that the motion feature of wearable device and the unmanned plane matches, from
And it carries out unmanned plane and the UAV Flight Controls such as takes off.
Maloperation in order to prevent, based on another above one embodiment of embodiment, when forming first motion profile
It is poor to be less than the predetermined time with the time difference of second motion profile, and first motion profile and described second moves rail
When mark meets desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature does not match that.Consider
To Unmanned Aerial Vehicle Data transmission process when extend to redundancy, predetermined time difference is usually less than 1.5s.Form first motion profile
It should be less than that the predetermined time is poor with the time difference of the second motion profile, just can determine that the movement of wearable device and the unmanned plane is special
Sign matches, with prevent user during UAV Flight Control except make unintentionally wearable device formed motion profile lead
Cause the change of unmanned plane during flying state.
Further, it is formed due to there may be user and unmanned planes not at same place wearable device with unmanned plane
Motion profile meet desired trajectory just, lead to the change of unmanned plane during flying state and cause the situation of security risk.Cause
This, in a possible embodiment, first exercise data may also include the location data of wearable device, second movement
Data further include the location data of unmanned plane；Before implementing the step of controlling to this unmanned plane during flying state, according to described the
One exercise data or motion characteristic data and second exercise data calculate the determining unmanned plane and the wearable device is
It is no to be in pre-determined distance, if implementing when motion feature matches to this unmanned plane during flying state in pre-determined distance
Control；Otherwise stop the control to this unmanned plane during flying state.
Wherein, the location data of first exercise data can characterize the latitude and longitude coordinates of wearable device, the second movement number
According to location data can characterize the latitude and longitude coordinates of unmanned plane, latitude and longitude coordinates can be obtained by the locating module that wearable device is installed
It takes, the positioning function of locating module is realized based on global position system connected to it, the satellite system being connected with locating module
Including but not limited to: GPS positioning system, BEI-DOU position system, Ge Luonasi positioning system or GALILEO positioning system.Pass through
Above-mentioned technological means, since wearable device is arranged in user, therefore user at a distance from unmanned plane can approximation be equal to and wear
Equipment is worn at a distance from unmanned plane, so that only when user and unmanned plane are in pre-determined distance, just in wearable device and nothing
This unmanned plane during flying state is implemented to control when man-machine motion feature matches, is further reduced security risk.Moreover, also
Settable lesser pre-determined distance, or corresponding induction identification device is configured on wearable device and unmanned plane, as radio frequency is known
Not (Radio Frequency Identification, abbreviation RFID) device etc. is used for identification and/or safety verification,
So that just thinking that user, could be to this unmanned plane during flying state when hand configures the wearable device and hand rest/hand-held unmanned plane
Implement control, such as hand is thrown winged, while promoting user experience, ensure that safety.
When motion feature matches, corresponding flight control instruction or mode are triggered, it is real to this unmanned plane during flying state
Apply control.Specifically, the process for implementing control to this unmanned plane during flying state when motion feature matches may also include that root
According to the motion feature to match, corresponding control is implemented to this unmanned plane during flying state.
By taking the flight control that unmanned plane takes off as an example, take off to control unmanned plane with allowing users to safe and convenient, in advance
If " the first motion feature ", " the second motion feature ", " third might as well be named as by the corresponding motion feature of predetermined path of movement
Motion feature " etc., predetermined path of movement here are not particularly limited, and predetermined path of movement above-mentioned or other fortune can be used
Dynamic rail mark；Similarly, it is also possible to which the first exercise data and other forms of motion of the second exercise data characterization are special to correspond to movement
Sign.Corresponding control when the motion feature of wearable device and unmanned plane matches, to the state of flight implementation of unmanned plane
System can flexibly select at least one following scheme:
First, control unmanned plane during flying state is self-test state, for carrying out to unmanned plane sensor and/or motor
Function detection.
Second, the flight for releasing unmanned plane controls locking, taken off preparation with completing unmanned plane.
Third, control unmanned plane takes off.
Above scheme can successively be implemented respectively in different motion characteristic matching, can also a kind of motion feature match when,
Successively implement.For example, various sensor received signals are in unmanned plane sense aircraft in the self-test state of unmanned plane
No stabilization is normal, acquires gyro data to compensate correction to null offset, can also preheat to battery, motor
And Function detection；And UAV Flight Control locks settable delay and releases, to be thrown in take-off process in hand, so that unmanned plane
Restart propeller after user is dished out, guarantees user security；It, can basis after the flight control locking for releasing unmanned plane
Application scenarios control unmanned plane that is preset or detecting takes off.
Other state of flight control processes of unmanned plane can refer to unmanned plane and take off control process, and therefore not to repeat here.
In certain embodiments of the present invention, in order to improve the accuracy and safety of unmanned aerial vehicle (UAV) control, the present invention nobody
Machine flight control assemblies further include the first communication unit, are configured as carrying out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
By first communication unit, so that there was only the wearable device ability for having passed through identity (ID) verifying and nobody
Machine establishes Trusted channel, and then is just able to achieve interactive operation, prevents the erroneous judgement of identification equipment or other people malicious interferences, improves system
Accuracy and safety.
It could be aware that by the announcement to the unmanned plane assisting in flying control device for wearable device of the invention, this
The implementation of invention can simplify user to UAV Flight Control process, promote safety and the user of unmanned plane takeoff operational
Experience.
Referring to Fig. 6, further providing a kind of Multifunctional controlling control equipment in another embodiment of the present invention, this is multi-functional
Control equipment has the function of realizing above-mentioned UAV Flight Control method.The function can be by hardware realization, can also be with
Corresponding software realization is executed by hardware.The hardware or software include one or more lists corresponding with above-mentioned function
Member.
In a possible design, include: in the structure of Multifunctional controlling control equipment
Memory 702, for storing the program for supporting R-T unit to execute above-mentioned UAV Flight Control method；
Communication interface 703, the communication for above-mentioned unmanned plane and wearable device or other equipment or communication network；
One or more processors 704, for executing the program stored in the memory 703；
One or more application program 705, wherein one or more of application programs 705 are stored in the storage
In device 702 and it is configured as being executed by one or more of processors 704；
One or more of programs 705 for drive one or more of processors 704 be configured to execute it is above-mentioned
The unit of the control method of any one unmanned plane.
Fig. 6 shows unmanned plane part knot relevant to UAV Flight Control device provided in an embodiment of the present invention
The block diagram of structure.It include: memory 702, communication interface 703, one or more processors 704, one or more application program
The components such as 705 and power supply 706.It will be understood by those skilled in the art that structure shown in Fig. 6 is not constituted to unmanned plane
Restriction, may include perhaps combining certain components or different component layouts than illustrating more or fewer components.
It is specifically introduced below with reference to each component parts of the Fig. 6 to unmanned plane:
Memory 702 can be used for storing software program and module, and processor 704 is stored in memory 702 by operation
Software program and module, thereby executing the various function application and data processing of unmanned plane.Memory 702 can be main
Including storing program area and storage data area, wherein storing program area can be needed for storage program area, at least one function
Application program 705 etc.；Storage data area, which can be stored, uses created data etc. according to unmanned plane.In addition, memory 702
It may include high random access memory block 702, can also include nonvolatile storage 702, a for example, at least disk is deposited
Memory device, flush memory device or other volatile solid-state parts.
Communication interface 703, it is logical for unmanned plane in above-mentioned control process and wearable device and other equipment or communication network
Letter.Communication interface 703 is the interface that processor 704 is communicated with extraneous subsystem, is used for processor 704 and ambient systems
Between information transmission, to achieve the purpose that control subsystem.
Processor 704 is the control centre of unmanned plane, utilizes various communication interfaces 703 and the entire unmanned plane of connection
The various pieces of flight control assemblies, by running or executing the software program and/or module that are stored in memory block 702, with
And call the data that are stored in memory block 702, execute the various functions and processing data of unmanned plane, thus to unmanned plane into
Row integral monitoring.Optionally, processor 704 may include one or more processing units；Preferably, processor 704 can be integrated and be answered
With processor and modem processor, wherein the main processing operation system of application processor, user interface and application program
705 etc., modem processor mainly handles wireless communication.It is understood that above-mentioned modem processor can not also
It is integrated into processor 704.
One or more application program 705, it is preferable that these application programs 705 are stored in the memory block 702
In and be configured as being executed by one or more of processors 704, one or more of programs be configured as unmanned plane fly
The function that any embodiment of row control method is realized.
The power supply 706 (such as battery) powered to all parts, it is preferred that power supply 706 can pass through power-supply management system
It is logically contiguous with processor 704, to realize management charging, electric discharge and power managed etc. by 706 management system of power supply
Function.
Furthermore unmanned plane may also include one or more cameras 707, these cameras 707 are connect simultaneously with processor 704
It is controlled by processor 704, the image that camera 707 obtains can be stored in memory 702.
Although being not shown, unmanned plane can also be including bluetooth module etc., and details are not described herein.
In embodiments of the present invention, processor 704 included by the unmanned plane is also with the following functions:
Based on Trusted channel, the first exercise data or wearable device foundation of the motion feature of characterization wearable device are received
Its detect the first exercise data and determination motion characteristic data；
Determine the spy of movement representated by the corresponding motion feature of first exercise data or the motion characteristic data
Levy whether motion feature corresponding to the second exercise data generated with this unmanned plane itself matches；
This unmanned plane during flying state is implemented to control when motion feature matches.
A kind of computer storage medium is additionally provided in the embodiment of the present invention, for being stored as above-mentioned unmanned plane during flying control
Computer software instructions used in device processed, it includes above-mentioned for program designed by the identification equipment for executing.
Referring to Fig. 7, further providing a kind of multi-functional wearable device in another embodiment of the present invention, this is multi-functional
Control equipment has the function of realizing among the above for wearable device unmanned plane assisting in flying control method.The function can be with
By hardware realization, corresponding software realization can also be executed by hardware.The hardware or software include it is one or more with
The corresponding unit of above-mentioned function.
In a possible design, include: in the structure of Multifunctional controlling control equipment
Memory 702 supports R-T unit to execute the above-mentioned wearable device unmanned plane assisting in flying that is used for and control for storing
The program of method；
Communication interface 703, the communication for above-mentioned wearable device and unmanned plane or other equipment or communication network；
One or more processors 704, for executing the program stored in the memory 702；
One or more application program 705, wherein one or more of application programs 705 are stored in the storage
It in device 702 and is configured as being executed by one or more of processors 704, one or more of programs 705 are for driving
One or more of processors 704 are configured to execute above-mentioned any one wearable device unmanned plane assisting in flying controlling party
The unit of method.
Fig. 7 shows that the part of Intelligent bracelet relevant to multi-functional wearable device provided in an embodiment of the present invention is tied
The block diagram of structure.It include: memory 702, communication interface 703, one or more processors 704, one or more application program
The components such as 705 and power supply 706.It will be understood by those skilled in the art that structure shown in Fig. 7 is not constituted to bracelet
It limits, may include perhaps combining certain components or different component layouts than illustrating more or fewer components.
It is specifically introduced below with reference to each component parts of the Fig. 7 to Intelligent bracelet:
Wherein, memory 702 can be used for storing software program and module, and processor 704 is stored in storage by operation
The software program and module of device 702, thereby executing the various function application and data processing of wearable device.Memory 702
It can mainly include storing program area and storage data area, wherein storing program area can storage program area, at least one function
Required application program 705 etc.；Storage data area, which can be stored, uses created data etc. according to wearable device.In addition, depositing
Reservoir 702 may include high random access memory block 702, can also include nonvolatile storage 702, for example, at least one
A disk memory, flush memory device or other volatile solid-state parts.
Communication interface 703, for Intelligent bracelet in above-mentioned control process and UAV Flight Control device and other equipment
Or communication.Communication interface 703 is the interface that processor 704 is communicated with extraneous subsystem, is used for processor
The transmission of information between 704 and ambient systems, to achieve the purpose that control subsystem.
Processor 704 is the control centre of Intelligent bracelet, is entirely dressed using various communication interfaces 703 and connection
The various pieces of equipment by running or execute the software program and/or module that are stored in memory block 702, and are called and are deposited
The data in memory block 702 are stored up, the various functions and processing data of wearable device are executed, to carry out to wearable device whole
Body monitoring.Optionally, processor 704 may include one or more processing units；Preferably, processor 704 can integrate at
Manage device and modem processor, wherein the main processing operation system of application processor, user interface and application program 705
Deng modem processor mainly handles wireless communication.It is understood that above-mentioned modem processor can not also collect
At into processor 704.
One or more application program 705, it is preferable that these application programs 705 are stored in the memory block 702
In and be configured as being executed by one or more of processors 704, one or more of programs are configurable for executing
The function that any embodiment of gesture identification auxiliary control method for wearable device is realized.
In embodiments of the present invention, processor 704 included by the wearable device is also with the following functions:
First exercise data of the motion feature of detection characterization wearable device；
Determine that scheduled data send condition whether it is satisfied；
When meeting data transmission condition, it is based on Trusted channel, sends first exercise data or wearing to unmanned plane
Equipment motion characteristic data of determination according to the first exercise data that it is detected, so that unmanned plane determines first movement
Motion feature representated by the corresponding motion feature of data or the motion characteristic data and the second of unmanned plane itself generation
Whether motion feature corresponding to exercise data matches, to be applied to implement to control to unmanned plane during flying state.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description is
System, the specific work process of device and unit can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, those skilled in that art are appreciated that disclosed system,
Device and method may be implemented in other ways.For example, the apparatus embodiments described above are merely exemplary,
For example, the division of the unit, only a kind of logical function partition, there may be another division manner in actual implementation, example
As multiple units or components can be combined or can be integrated into another system, or some features can be ignored, or does not hold
Row.Another point, shown or discussed mutual coupling, direct-coupling or communication connection can be to be connect by some
Mouthful, the indirect coupling or communication connection of device or unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, as unit
The component of display may or may not be physical unit, it can and it is in one place, or may be distributed over more
In a network unit.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with controlling relevant hardware by program instruction, which can be stored in a computer readable storage medium,
Storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
UAV Flight Control method and device provided by the present invention is described in detail above, for ability
The those skilled in the art in domain, thought according to an embodiment of the present invention have change in specific embodiments and applications
Place, in conclusion the contents of this specification are not to be construed as limiting the invention.
Claims (34)
1. a kind of UAV Flight Control method, which comprises the steps of:
Based on Trusted channel, the first exercise data or wearable device for receiving the motion feature of characterization wearable device are according to its detection
The first exercise data and the motion characteristic data of determination；
Determine motion feature representated by the corresponding motion feature of first exercise data or the motion characteristic data with
Whether motion feature corresponding to the second exercise data that this unmanned plane itself generates matches；
This unmanned plane during flying state is implemented to control when motion feature matches；Wherein, the motion feature of the wearable device
The first motion profile to be formed is acted including user gesture；The motion feature of described unmanned plane includes that this unmanned plane moves to be formed
The second motion profile；When first motion profile and second motion profile meet desired trajectory, described in determination
Motion feature matches.
2. UAV Flight Control method according to claim 1, which is characterized in that when formation first motion profile
It is poor less than the predetermined time with the time difference of second motion profile, and first motion profile and second motion profile
When meeting desired trajectory, determine that the motion feature matches；Otherwise, it determines the motion feature does not match that.
3. UAV Flight Control method according to claim 1, which is characterized in that when motion feature matches to this
The process that unmanned plane during flying state implements control includes: the motion feature to match according to, to this unmanned plane during flying state
Implement corresponding control.
4. UAV Flight Control method according to claim 3, which is characterized in that described when motion feature matches
The process for implementing control to this unmanned plane during flying state specifically includes: when the first motion feature matches, control unmanned plane flies
Row state is self-test state, for carrying out Function detection to unmanned plane sensor and/or motor；First motion feature is
It presets by the corresponding motion feature of the first predetermined path of movement.
5. UAV Flight Control method according to claim 3, which is characterized in that described when motion feature matches
The process for implementing control to this unmanned plane during flying state specifically includes: when the second motion feature matches, releasing unmanned plane
Flight control locking, is taken off preparation with completing unmanned plane；Second motion feature is default by the second predetermined path of movement pair
The motion feature answered.
6. UAV Flight Control method according to claim 3, which is characterized in that described when motion feature matches
Implement control process to this unmanned plane during flying state to specifically include: when third motion feature matches, control unmanned plane takes off；
The third motion feature is default by the corresponding motion feature of third predetermined path of movement.
7. UAV Flight Control method according to claim 1, which is characterized in that the detection of first exercise data
Process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of wearable device；
The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；
The movement that the characterization wearable device is calculated according to the acceleration information of the wearable device and angular velocity data is special
First exercise data of sign.
8. UAV Flight Control method according to claim 1, which is characterized in that the detection of second exercise data
Process includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；
The second of the motion feature of characterization unmanned plane is calculated according to the acceleration information of the unmanned plane and angular velocity data
Exercise data.
9. UAV Flight Control method according to claim 1-8, which is characterized in that the first movement number
According to the location data for further including wearable device, second exercise data further includes the location data of unmanned plane；
Before implementing the step of controlling to this unmanned plane during flying state, according to first exercise data or motion characteristic data
It is calculated with second exercise data and determines whether the unmanned plane and the wearable device are in pre-determined distance, if in pre-
If then implementing to control to this unmanned plane during flying state when motion feature matches apart from interior；Otherwise stop flying this unmanned plane
The control of row state.
10. UAV Flight Control method according to claim 1, which is characterized in that further include following previous step:
The unmanned plane carries out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
11. a kind of unmanned plane assisting in flying control method for wearable device, which comprises the steps of:
First exercise data of the motion feature of detection characterization wearable device；
Determine that scheduled data send condition whether it is satisfied；
When meeting data transmission condition, it is based on Trusted channel, sends first exercise data or wearable device to unmanned plane
The motion characteristic data of determination according to the first exercise data that it is detected, so that unmanned plane determines the first exercise data phase
The second movement number that motion feature representated by corresponding motion feature or the motion characteristic data and unmanned plane itself generate
Whether match according to corresponding motion feature, to be applied to implement to control to unmanned plane during flying state；Wherein, the wearing is set
Standby motion feature includes that user gesture acts the first motion profile to be formed；The second movement number that the unmanned plane itself generates
It include that unmanned plane moves the second motion profile to be formed according to corresponding motion feature；When first motion profile and described the
When two motion profiles meet desired trajectory, determine that motion feature matches.
12. the unmanned plane assisting in flying control method according to claim 11 for wearable device, which is characterized in that institute
The detection process for stating the first exercise data includes:
The acceleration information of the wearable device is detected by the acceleration transducer of wearable device；
The angular velocity data of the wearable device is detected by the gyro sensor of wearable device；
The movement that the characterization wearable device is calculated according to the acceleration information of the wearable device and angular velocity data is special
First exercise data of sign.
13. the unmanned plane assisting in flying control method according to claim 12 for wearable device, which is characterized in that institute
The detection process for stating the second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of unmanned plane；
The angular velocity data of the unmanned plane is detected by the gyro sensor of unmanned plane；
The second of the motion feature of characterization unmanned plane is calculated according to the acceleration information of the unmanned plane and angular velocity data
Exercise data.
14. the described in any item unmanned plane assisting in flying control methods for wearable device of 1-13 according to claim 1, special
Sign is that first exercise data further includes the location data of wearable device, and second exercise data further includes unmanned plane
Location data；
Before implementing control to unmanned plane during flying state, unmanned plane is according to first exercise data or motion characteristic data
It is calculated with second exercise data and determines whether the unmanned plane and the wearable device are in pre-determined distance, if in pre-
If then implementing to control to unmanned plane during flying state when motion feature matches apart from interior；Otherwise stop to unmanned plane during flying shape
The control of state.
15. the unmanned plane assisting in flying control method according to claim 11 for wearable device, which is characterized in that institute
Stating data and sending condition includes at least one of:
Detect that wearable device and unmanned plane establish Trusted channel；
It is in the open state to detect that the data of wearable device send switch；
Receive the data requesting instructions of unmanned plane transmission.
16. the unmanned plane assisting in flying control method according to claim 11 for wearable device, which is characterized in that also
Including following previous step:
By communication connection, authentication request is sent to unmanned plane；
When authentication success, the wearable device and the unmanned plane establish Trusted channel.
17. a kind of UAV Flight Control device characterized by comprising
Receiving unit, be configured as receiving based on Trusted channel the first exercise data of the motion feature of characterization wearable device or
Wearable device motion characteristic data of determination according to the first exercise data that it is detected；
Determination unit is matched, is configured to determine that the corresponding motion feature of first exercise data or the motion feature number
Whether motion feature corresponding to the second exercise data generated according to representative motion feature and this unmanned plane itself matches；
Control unit is configured as implementing to control to this unmanned plane during flying state when motion feature matches；Wherein, described to wear
The motion feature for wearing equipment includes that user gesture acts the first motion profile to be formed；The motion feature of described unmanned plane includes
This unmanned plane moves the second motion profile to be formed；When first motion profile meet with second motion profile it is predetermined
When track, determine that the motion feature matches.
18. UAV Flight Control device according to claim 17, which is characterized in that the matching determination unit also by
It is poor less than the predetermined time when the time difference that form first motion profile and second motion profile to be configured to, and described the
It when one motion profile and second motion profile meet desired trajectory, determines, the motion feature matches；Otherwise, really
The fixed motion feature does not match that.
19. UAV Flight Control device according to claim 17, which is characterized in that described to match in motion feature
When to implement the process of control to this unmanned plane during flying state include: the motion feature to match according to, it is winged to this unmanned plane
Row state implements corresponding control.
20. UAV Flight Control device according to claim 19, which is characterized in that described to match in motion feature
When to this unmanned plane during flying state implement control process specifically include: when the first motion feature matches, control unmanned plane
State of flight is self-test state, for carrying out Function detection to unmanned plane sensor and/or motor.
21. UAV Flight Control device according to claim 18, which is characterized in that described to match in motion feature
When to this unmanned plane during flying state implement control process specifically include: when the second motion feature matches, release unmanned plane
Flight control locking, taken off preparation with completing unmanned plane.
22. UAV Flight Control device according to claim 19, which is characterized in that described to match in motion feature
When to this unmanned plane during flying state implement control process specifically include: when third motion feature matches, control unmanned plane rise
Fly.
23. UAV Flight Control device according to claim 17, which is characterized in that the inspection of first exercise data
Survey process includes:
The acceleration information of the wearable device is detected by the acceleration transducer of first detection unit；
The angular velocity data of the wearable device is detected by the gyro sensor of first detection unit；
The fortune of the characterization wearable device is calculated according to the acceleration information of the first detection unit and angular velocity data
First exercise data of dynamic feature.
24. UAV Flight Control device according to claim 17, which is characterized in that it further include second detection unit,
The detection process of second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of second detection unit；
The angular velocity data of the unmanned plane is detected by the gyro sensor of second detection unit；
The motion feature of characterization unmanned plane is calculated according to the acceleration information of the second detection unit and angular velocity data
The second exercise data.
25. the described in any item UAV Flight Control devices of 7-24 according to claim 1, which is characterized in that first fortune
Dynamic data further include the location data of wearable device, and second exercise data further includes the location data of unmanned plane；
Before control unit implements control to this unmanned plane during flying state, according to first exercise data or motion feature number
Determine whether the unmanned plane and the wearable device are in pre-determined distance according to calculating with second exercise data, if being in
In pre-determined distance, then this unmanned plane during flying state is implemented to control when motion feature matches；Otherwise stop to this unmanned plane
The control of state of flight.
26. UAV Flight Control device according to claim 17, which is characterized in that it further include the second communication unit,
It is configured as:
The unmanned plane carries out authentication to wearable device by communication connection；
When authentication success, the unmanned plane and the wearable device establish Trusted channel.
27. a kind of unmanned plane assisting in flying control device for wearable device characterized by comprising
First detection unit is configured as the first exercise data of the motion feature of detection characterization wearable device；
Determination unit is sent, is configured to determine that scheduled data send condition whether it is satisfied；
Transmission unit is configured as being based on Trusted channel when meeting data transmission condition, sends first fortune to unmanned plane
Dynamic data or wearable device according to its detection the first exercise data and determination motion characteristic data so that unmanned plane determines institute
State motion feature representated by the corresponding motion feature of the first exercise data or the motion characteristic data and unmanned plane itself
Whether motion feature corresponding to the second exercise data generated matches, to be applied to implement to control to unmanned plane during flying state
System；Wherein, the motion feature of the wearable device includes that user gesture acts the first motion profile to be formed；The unmanned plane is certainly
Motion feature corresponding to the second exercise data that body generates includes that unmanned plane moves the second motion profile to be formed；When described
When one motion profile and second motion profile meet desired trajectory, determine that motion feature matches.
28. the unmanned plane assisting in flying control device according to claim 27 for wearable device, which is characterized in that institute
The detection process for stating the first exercise data includes:
The acceleration information of the wearable device is detected by the acceleration transducer of first detection unit；
The angular velocity data of the wearable device is detected by the gyro sensor of first detection unit；
The fortune of the characterization wearable device is calculated according to the acceleration information of the first detection unit and angular velocity data
First exercise data of dynamic feature.
29. the unmanned plane assisting in flying control device according to claim 28 for wearable device, which is characterized in that institute
The detection process for stating the second exercise data includes:
The acceleration information of the unmanned plane is detected by the acceleration transducer of second detection unit；
The angular velocity data of the unmanned plane is detected by the gyro sensor of second detection unit；
The motion feature of characterization unmanned plane is calculated according to the acceleration information of the second detection unit and angular velocity data
The second exercise data.
30. special according to the described in any item unmanned plane assisting in flying control devices for wearable device of claim 27-29
Sign is that first exercise data further includes the location data of wearable device, and second exercise data further includes unmanned plane
Location data；
Before implementing control to unmanned plane during flying state, the unmanned plane is according to first exercise data or motion feature
Data and second exercise data, which calculate, determines whether the unmanned plane and the wearable device are in pre-determined distance, if place
In in pre-determined distance, then unmanned plane during flying state is implemented to control when motion feature matches；Otherwise stop flying unmanned plane
The control of row state.
31. the unmanned plane assisting in flying control device according to claim 27 for wearable device, which is characterized in that institute
Stating data and sending condition includes at least one of:
Detect that wearable device and unmanned plane establish Trusted channel；
It is in the open state to detect that the data of wearable device send switch；
Receive the data requesting instructions of unmanned plane transmission.
32. the unmanned plane assisting in flying control device according to claim 27 for wearable device, which is characterized in that also
Including the first communication unit, it is configured as:
By communication connection, authentication request is sent to unmanned plane；
When authentication success, the wearable device and the unmanned plane establish Trusted channel.
33. a kind of Multifunctional controlling control equipment characterized by comprising
Memory supports R-T unit to execute unmanned plane during flying described in any one of the claims 1-10 for storing
The program of control method；
Communication interface, for unmanned plane described in any one of the claims 1-10 and wearable device or other equipment or
The communication of communication network；
One or more processors, for executing the program stored in the memory；
One or more application program, wherein one or more of application programs are stored in the memory and are configured
To be executed by one or more of processors；
One or more of programs require in 1 to 10 for driving one or more of processors to be configured to perform claim
The unit of UAV Flight Control method described in any one.
34. a kind of multi-functional wearable device characterized by comprising
Memory supports R-T unit to execute described in any one of the claims 11-16 for dressing for storing
The program of equipment unmanned plane assisting in flying control method；
Communication interface, for wearable device described in any one of the claims 11-16 and unmanned plane or other equipment
Or the communication of communication network；
One or more processors, for executing the program stored in the memory；
One or more application program, wherein one or more of application programs are stored in the memory and are configured
To be executed by one or more of processors；
One or more of programs require 11 to 16 for driving one or more of processors to be configured to perform claim
Any one of described in the unmanned plane assisting in flying control method for wearable device unit.
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| CN108257145B (en) * | 2017-12-13 | 2021-07-02 | 北京华航无线电测量研究所 | Intelligent unmanned aerial vehicle reconnaissance processing system and method based on AR technology |
| CN109257178A (en) * | 2018-08-15 | 2019-01-22 | 沈阳航空航天大学 | Unmanned plane real-name authentication system based on RFID |
| CN111866361A (en) * | 2019-04-24 | 2020-10-30 | 奇酷互联网络科技（深圳）有限公司 | Unmanned aerial vehicle shooting method, unmanned aerial vehicle, intelligent wearable device and storage device |
| CN112154679A (en) * | 2019-07-19 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Communication interference suppression method, apparatus, and computer-readable storage medium |
| CN113994292A (en) * | 2020-05-26 | 2022-01-28 | 深圳市大疆创新科技有限公司 | Control method and device for unmanned aerial vehicle |
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