CN206133470U

CN206133470U - Four rotor crafts based on discernment is felt to leapMotion body

Info

Publication number: CN206133470U
Application number: CN201621066892.6U
Authority: CN
Inventors: 杨佺; 管瑛
Original assignee: Guizhou Education University
Current assignee: Guizhou Education University
Priority date: 2016-09-21
Filing date: 2016-09-21
Publication date: 2017-04-26
Anticipated expiration: 2026-09-21

Abstract

The utility model discloses a four rotor crafts based on discernment is felt to leapMotion body, this four rotor crafts based on discernment is felt to leapMotion body adopts leap motion body sense discernment to carry out the discernment of manual formula, catch the picture through built -in first camera and second camera from different angles, move through gesture analysis module analysis hand, compare with the gesture database, rebuild out the motion information of palm at true world three dimensions, the touchless module links to each other with the PC treater, hand movement embodies on PC's display screen, through udirc drone module control smart mobile phone, four rotor crafts have radiofrequency receiving module, can carry out data interchange with the wireless signal receiving and sending module of smart mobile phone, the gesture data pass to the singlechip, singlechip driving motor control module carries out the operation, according to the tracing identification to the gesture, the motion and the accurate of four rotor crafts of finally realizing user's both hands hand combine, can not lead to the harm to the aircraft because of the misoperation.

Description

A kind of quadrotor based on Leap Motion somatosensory recognitions

Technical field

This utility model is related to the technical field of flight control of quadrotor, specially a kind of to be based on Leap The quadrotor of Motion somatosensory recognitions.

Background technology

Quadrotor is also referred to as four-rotor helicopter, is that one kind has 4 propellers and propeller is in decussation Aircraft. with simple structure, the characteristics of fault rate is low and unit volume can produce greater lift.Four present rotors fly Row device is that have wireless controller to control, though in control also comprehensively, operation is upper not very convenient, if not understanding operation People, it is easy to because misoperation causes the infringement to aircraft.And state-of-the-art technology to the change of quadrotor also only Only be change on themselves he anti-interference and environment self-adaption ability, Dwell precision, power and energy source device holdup time, Flight speed etc., but to any improvement, control and its inconvenience are not done on the controlling soil moist of quadrotor.

Utility model content

The technical problems to be solved in the utility model is to overcome existing defect, there is provided a kind of to be based on Leap Motion bodies The other quadrotor of perception, carries out the identification of manual type using Leap Motion somatosensory recognitions and connects PC, then revolves to four Rotor aircraft is controlled, when your palm carries out up, down, left, right, before and after above Leap Motion to be moved, four rotations Rotor aircraft also up, down, left, right, before and after movement therewith, fully achieves by the movement of handss to control four rotor flying wing devices Flight, can be with the problem in effectively solving background technology.

For achieving the above object, this utility model provides following technical scheme：It is a kind of to be based on Leap Motion somatosensory recognitions Quadrotor, including Leap Motion, the Leap Motion include the first photographic head, second camera and gesture The outfan of data base, first photographic head and second camera is connected with the input of gesture analysis module respectively, described The outfan of gesture analysis module and gesture database is connected with the input of gesture comparing module respectively, and the gesture compares mould The outfan of block is connected with the input of gesture data transport module, the outfan and Touch of the gesture data transport module The input of less modules is connected, and the outfan of the Touch less modules is connected with the input of PC processors, the PC The outfan of processor is connected with the input of display screen, and the PC processors are two-way with smart mobile phone to be electrically connected.

Used as a kind of optimal technical scheme of the present utility model, the smart mobile phone includes Udirc drone modules, described Udirc drone modules are two-way with wireless signal transceiver module to be electrically connected.

Used as a kind of optimal technical scheme of the present utility model, the wireless signal transceiver module is double with Receiver Module To electrical connection, the Receiver Module is two-way with baseband signal processing module to be electrically connected, the baseband signal processing module with The two-way electrical connection of data processing module, the data processing module is two-way with single-chip microcomputer to be electrically connected, the single-chip microcomputer and motor control The two-way electrical connection of molding block, the input of the single-chip microcomputer are connected with the outfan of quadrotor institute charged.

Used as a kind of optimal technical scheme of the present utility model, the motor control module includes that parallel with one another first is electric Sub- speed regulator, the second electron speed regulator, the 3rd electron speed regulator and the 4th electron speed regulator.

As a kind of optimal technical scheme of the present utility model, first electron speed regulator, the second electron speed regulator, The outfan of three electron speed regulators and the 4th electron speed regulator is electric with the first motor, the second motor, the 3rd motor and the 4th respectively The input of machine is connected.

Compared with prior art, the beneficial effects of the utility model are：This four rotation based on Leap Motion somatosensory recognitions Rotor aircraft carries out the identification of manual type using Leap Motion somatosensory recognitions, is taken the photograph by the first built-in photographic head and second As head catches picture from different perspectives, by gesture analysis module analysis hand motion, compare with gesture database, rebuild Go out movable information of the palm in real world three dimensional space, be connected with PC processors by Touch less modules, hand activities It is embodied on the display screen of PC, and smart mobile phone is controlled by Udirc drone modules, quadrotor is provided with radio frequency and connects Module is received, data exchange can be carried out with the wireless signal transceiver module of smart mobile phone, gesture data passes to single-chip microcomputer, and single-chip microcomputer drives Dynamic motor control module performs operation, according to the Tracking Recognition to gesture, finally realizes the motion and four of the both hands hand of user The accurate combination of rotor craft, will not cause the infringement to aircraft because of misoperation.

Description of the drawings

Fig. 1 is this utility model principle schematic.

In figure：1Leap Motion, 2 first photographic head, 3 second cameras, 4 gesture analysis modules, 5 gestures compare mould Block, 6 gesture databases, 7 gesture data transport modules, 8Touch less modules, 9PC processors, 10 display screens, 11 intelligent handss Machine, 12Udirc drone modules, 13 wireless signal transceiver modules, 14 Receiver Modules, 15 baseband signal processing modules, 16 Data processing module, 17 single-chip microcomputers, 18 motor control modules, 181 first electron speed regulators, 182 second electron speed regulators, 183 3rd electron speed regulator, 184 the 4th electron speed regulators, 19 first motors, 20 second motors, 21 the 3rd motors, 22 the 4th motors.

Specific embodiment

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.

Fig. 1 is referred to, this utility model provides a kind of technical scheme：It is a kind of based on Leap Motion somatosensory recognitions four Rotor craft, including Leap Motion 1, Leap Motion 1 includes the first photographic head 2, second camera 3 and gesture number It is connected with the input of gesture analysis module 4 according to the outfan in storehouse 6, the first photographic head 2 and second camera 3 respectively, gesture point Analysis module 4 and the outfan of gesture database 6 are connected with the input of gesture comparing module 5 respectively, gesture comparing module 5 it is defeated Go out end to be connected with the input of gesture data transport module 7, by the first built-in photographic head 2 and second camera 3 from difference Angle catches picture, analyzes hand motion by gesture analysis module 4, compares with gesture database 6, reconstruct palm and exist The movable information in real world three dimensional space, the outfan of gesture data transport module 7 and the input of Touch less modules 8 It is connected, the outfan of Touch less modules 8 is connected with the input of PC processors 9, the outfan and display screen of PC processors 9 10 input is connected, and is connected with PC processors 9 by Touch less modules 8, and hand activities is embodied in the display screen 10 of PC On, PC processors 9 are two-way with smart mobile phone 11 to be electrically connected, and smart mobile phone 11 includes Udirc drone modules 12, by Udirc Drone modules 12 control smart mobile phone 11, and Udirc drone modules 12 are two-way with wireless signal transceiver module 13 to be electrically connected, nothing Line signal transmitting and receiving module 13 is two-way with Receiver Module 14 to be electrically connected, Receiver Module 14 and baseband signal processing module 15 Two-way electrical connection, baseband signal processing module 15 is two-way with data processing module 16 to be electrically connected, 15 He of baseband signal processing module The signal of 16 pairs of transmitting-receivings of data processing module is processed, and data processing module 16 is two-way with single-chip microcomputer 17 to be electrically connected, single-chip microcomputer 17 it is two-way with motor control module 18 electrically connect, the input of single-chip microcomputer 17 and the outfan phase of quadrotor institute charged Even, motor control module 18 includes that the first electron speed regulator 181 parallel with one another, the second electron speed regulator 182, the 3rd electronics are adjusted Fast device 183 and the 4th electron speed regulator 184, the first electron speed regulator 181, the second electron speed regulator 182, the 3rd electron speed regulator 183 and the 4th electron speed regulator 184 outfan it is electric with the first motor 19, the second motor 20, the 3rd motor 21 and the 4th respectively The input of machine 22 is connected, and quadrotor is provided with Receiver Module 14, can receive with the wireless signal of smart mobile phone 11 Sending out module 13 carries out data exchange, and gesture data passes to single-chip microcomputer 17, and 17 motor control module 18 of single-chip microcomputer performs operation, According to the Tracking Recognition to gesture, the motion and the accurate combination of quadrotor of the both hands hand of user are finally realized, is made The control method of quadrotor simplifies, and is easily controlled, will not cause the infringement to aircraft because of misoperation.

When in use：Leap Motion 1 are connected with PC processors 9 by data wire, by the first photographic head 2 and Two photographic head 3 are identified analysis to hand activity data, pass through smart mobile phone 11 by the process of Udirc drone modules 12 With 14 data exchange of Receiver Module of single-chip microcomputer 17, Synchronization Control motor control module 18, realize to quadrotor Control.

This utility model carries out the identification of manual type using 1 somatosensory recognitions of Leap Motion and connects PC processors 9, then Quadrotor is controlled, when your palm carries out up, down, left, right, before and after movement above Leap Motion 1 When, quadrotor also up, down, left, right, before and after movement therewith is fully achieved by the movement of handss winged to control four rotors The flight of row wing device, it is simple to operation.

While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art, Be appreciated that these embodiments can be carried out various changes in the case of without departing from principle of the present utility model and spirit, repair Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.

Claims

1. a kind of quadrotor based on Leap Motion somatosensory recognitions, including Leap Motion (1), its feature exist In：The Leap Motion (1) include the first photographic head (2), second camera (3) and gesture database (6), described first The outfan of photographic head (2) and second camera (3) is connected with the input of gesture analysis module (4) respectively, the gesture point The outfan of analysis module (4) and gesture database (6) is connected with the input of gesture comparing module (5) respectively, the gesture ratio The outfan of module (5) is connected with the input of gesture data transport module (7), the gesture data transport module (7) Outfan is connected with the input of Touch less modules (8), outfan and the PC processors of the Touch less modules (8) (9) input is connected, and the outfan of the PC processors (9) is connected with the input of display screen (10), the PC processors (9) it is two-way with smart mobile phone (11) to electrically connect.

2. a kind of quadrotor based on Leap Motion somatosensory recognitions according to claim 1, its feature exist In：The smart mobile phone (11) includes Udirc drone modules (12), the Udirc drone modules (12) and wireless signal The two-way electrical connection of transceiver module (13).

3. a kind of quadrotor based on Leap Motion somatosensory recognitions according to claim 2, its feature exist In：The wireless signal transceiver module (13) is two-way with Receiver Module (14) to be electrically connected, the Receiver Module (14) Two-way with baseband signal processing module (15) to electrically connect, the baseband signal processing module (15) is double with data processing module (16) To electrical connection, the data processing module (16) is two-way with single-chip microcomputer (17) to be electrically connected, the single-chip microcomputer (17) and motor control The two-way electrical connection of module (18), the input of the single-chip microcomputer (17) are connected with the outfan of quadrotor institute charged.

4. a kind of quadrotor based on Leap Motion somatosensory recognitions according to claim 3, its feature exist In：The motor control module (18) including the first electron speed regulator (181) parallel with one another, the second electron speed regulator (182), 3rd electron speed regulator (183) and the 4th electron speed regulator (184).

5. a kind of quadrotor based on Leap Motion somatosensory recognitions according to claim 4, its feature exist In：First electron speed regulator (181), the second electron speed regulator (182), the 3rd electron speed regulator (183) and the 4th electronics The outfan of speed regulator (184) respectively with the first motor (19), the second motor (20), the 3rd motor (21) and the 4th motor (22) Input be connected.