WO2017166723A1 - 无人驾驶飞机***及其飞行控制方法 - Google Patents

无人驾驶飞机***及其飞行控制方法 Download PDF

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Publication number
WO2017166723A1
WO2017166723A1 PCT/CN2016/098079 CN2016098079W WO2017166723A1 WO 2017166723 A1 WO2017166723 A1 WO 2017166723A1 CN 2016098079 W CN2016098079 W CN 2016098079W WO 2017166723 A1 WO2017166723 A1 WO 2017166723A1
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flight
signal
control
motion
motion recognition
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PCT/CN2016/098079
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English (en)
French (fr)
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杨震
李大龙
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乐视控股（北京）有限公司
乐视体育文化产业发展（北京）有限公司
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Publication of WO2017166723A1 publication Critical patent/WO2017166723A1/zh

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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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device

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  • Embodiments of the present application relate to the field of unmanned aerial vehicles, for example, to an unmanned aircraft system and a flight control method thereof.
  • Unmanned Aerial Vehicle UAV
  • UAVs can be divided into: unmanned fixed-wing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned parachute aircraft, and so on.
  • the drone is a rapidly developing flight device.
  • the drone has the advantages of flexibility, quick response, no flight, and low operational requirements.
  • the UAV can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major fields of military, scientific research and civil use. In power, communications, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop estimation, anti-drug, border patrol, law and order The field of anti-terrorism and other fields are widely used.
  • the drone is a non-manned aircraft operated by a remote-controlled joystick-type radio remote control device and a self-contained program control device.
  • the radio remote control device has a remote control joystick, and the controller controls the flight and landing of the drone through the remote control joystick, and has strong professionalism.
  • the remote control joystick type radio remote control device is suitable for more professional players.
  • the player who just started it is difficult to control the flight of the drone by using the remote control joystick, and the controllability is poor.
  • the embodiment of the present application provides an unmanned aircraft system and a flight control method thereof, which improve the steerable performance of the drone and realize the somatosensory flight control of the drone.
  • an embodiment of the present application provides a flight control method for an unmanned aircraft system, including include:
  • a corresponding flight action command is issued to the flight component of the drone according to the flight control signal.
  • an embodiment of the present application provides a drone system, including:
  • a motion recognition unit configured to collect a motion recognition signal of a controller's control portion
  • a data processing unit configured to convert the motion recognition signal into a flight control signal according to a predetermined identification algorithm
  • a drone including a flight control component and a flight component, the flight control component for issuing a corresponding flight action command to the flight component based on the flight control signal.
  • an embodiment of the present application provides a non-transitory computer storage medium storing computer executable instructions for causing the computer to execute the foregoing method.
  • an electronic device including:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor to perform the method described above.
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the instructions are executed by the computer, the computer is caused to perform the method described above.
  • the unmanned aerial vehicle system and the flight control method thereof provided by the embodiments of the present application can control the flight of the drone after performing the corresponding action on the control part of the controller in the operation of the drone. Realizes the somatosensory flight control of the drone and improves the maneuverability.
  • FIG. 1 is a flow chart of an embodiment of a flight control method for a drone system provided by the present application
  • FIG. 2 is a schematic block diagram showing the structure of an embodiment of a drone system provided by the present application.
  • FIG. 3 is a schematic block diagram showing the structure of a motion recognition unit of an embodiment of a drone system provided by the present application;
  • FIG. 4 is a schematic diagram showing the hardware structure of an apparatus for performing a flight control method of an unmanned aerial vehicle system provided by the present application.
  • the embodiment of the present application provides a drone system and a flight control method thereof, which can control flight of an unmanned aircraft through a sense of body, and has high controllability.
  • the method and system are based on the same application concept. Since the principles of the method and the system for solving the problem are similar, the implementation of the method and the system can be referred to each other, and the repeated description is not repeated.
  • a flight control method for an unmanned aerial vehicle system includes the following steps.
  • step 110 a motion recognition signal of the operator's control portion is acquired.
  • the control part of the controller usually has a hand, but not only the hand, but also the head, the leg, the arm, etc.; the motion recognition signal is determined according to the motion track of the control part, for example,
  • the control part of the controller makes an upward movement trajectory, a downward movement trajectory, a leftward movement trajectory, and a rightward movement trajectory.
  • step 120 the motion recognition signal is converted to a flight control signal in accordance with a predetermined identification algorithm.
  • the predetermined identification algorithm may be determined according to actual requirements; such that each defined motion recognition signal corresponds to a different flight control signal; for example, the upward motion trajectory corresponds to the first flight control signal, and the downward motion trajectory is corresponding.
  • the second flight control signal corresponds to the third flight control signal to the left motion trajectory and the fourth flight control signal to the right motion trajectory.
  • a predetermined identification algorithm may be set, for example, setting the direction of the flight control signal to be the same as the direction of the motion recognition signal, setting the first flight control signal to the upward flight control signal, and setting the second flight control signal to the downward direction
  • the flight control signal sets the third flight control signal to a leftward flight control signal, and sets the fourth flight control signal to a rightward flight control signal.
  • the predetermined identification algorithm may have multiple settings, and the direction setting of the flight control signal may also be different from the direction of the motion recognition signal. Similarly, the embodiments of the present application are not listed one by one.
  • the flight control signal can then be wirelessly transmitted to the drone.
  • step 130 a corresponding flight action command is issued to the flight component of the drone according to the flight control signal.
  • the corresponding flight action command is an action command corresponding to the flight control signal.
  • the flying component may include at least one propeller, at least one driving motor that drives the rotation of the propeller, and controls the flying direction, flight speed and the like of the drone by controlling the rotation start, stop, and rotation speed of each driving motor;
  • the flight component receives a flight action command corresponding to the flight control signal for controlling the rotational start, stop, and rotational speed of the drive motor to control the flight of the drone; for example, the flight component receives the first flight
  • the flight action command corresponding to the control signal ie, the control signal flying to the left
  • the control signal flying to the left is then left to fly.
  • the motion recognition signal is obtained by acquiring the motion of the controller's control portion, thereby perceiving the information of the motion of the controller's control portion; and according to the predetermined recognition.
  • the algorithm converts the motion recognition signal into a flight control signal such that the drone flight can be controlled based on the flight control signal.
  • the drone's flight can be controlled, the drone's somatosensory flight control is realized, and the operability is improved.
  • the motion recognition signal of the control portion can be sensed by inertia, as described in step 101 above.
  • the motion recognition signal of the controller's control part is collected, including:
  • Synchronizing motion with the control portion of the controller obtaining inertial motion information of the controller's control portion from the information of the synchronized motion, and calculating the motion recognition signal according to the inertial motion information.
  • the synchronous movement with the control part of the controller may be performed to synchronize the inertial sensing component with the control part of the controller.
  • the inertial sensing component can be worn on the control part to synchronize the inertial sensing component with the control part; or the control part is the hand, the hand grips the inertial sensing component, and the inertial sensing component and the control part Synchronous movement.
  • the inertial sensing component is mainly based on inertial sensors, such as gravity sensors, gyroscopes and magnetic sensors to sense the physical parameters (inertial motion information) of the controller's control parts, namely acceleration, angular velocity and magnetic field, inertia sense.
  • the measuring component determines various actions (motion recognition signals) of the user in space according to the physical parameters.
  • the motion recognition signal of the control part can be optically sensed, and the motion recognition signal of the control part of the controller is collected in the foregoing step 101, including:
  • the control part of the controller is photographed, the motion track of the control part of the controller is obtained from the captured information, and the motion recognition signal is calculated according to the motion track.
  • control part of the controller is photographed, and the camera of the optical sensing component is photographed to the control part of the controller; and the image analyzing device of the optical sensing component obtains the manipulation from the captured information.
  • the motion trajectory of the operator's control unit calculates the motion recognition signal based on the motion trajectory.
  • the optical sensing component can use the laser and the camera (RGB) to obtain the 3D image information of the control part, which is not limited by the lighting environment.
  • converting the motion recognition signal into a flight control signal according to a predetermined identification algorithm in the foregoing step 102 includes:
  • the motion recognition signal includes a direction identification signal and an acceleration identification signal
  • An acceleration flight signal of the flight control signal is generated based on the acceleration identification signal.
  • the direction identification signal is: the upward motion trajectory corresponds to the upward motion direction, the downward motion trajectory corresponds to the downward motion direction, the leftward motion trajectory corresponds to the leftward motion direction, and the rightward motion trajectory corresponds to The direction of motion to the right;
  • the acceleration identification signal is: the instantaneous acceleration value of the acquired control part.
  • the direction identification signal is associated with the direction flight signal, and the flight control signal can be The direction flight signal is set in the same direction as the direction identification signal for easy manipulation.
  • the acceleration identification signal may be proportional to the acceleration flight signal of the flight control signal, and the proportional ratio may be determined according to requirements.
  • the control part that controls this is in a small acceleration movement, and the unmanned aircraft will increase the acceleration relative to the control part.
  • the acceleration identification signal may be the same as or smaller than the acceleration flight signal of the flight control signal.
  • a corresponding flight action instruction is issued to the flight component of the drone, which may be:
  • the direction flight signal is used to control the flight direction of the unmanned aircraft
  • An acceleration control flight command is issued to the flight component based on the acceleration flight signal.
  • the acceleration flight signal is used to control the flight acceleration of the drone.
  • an unmanned aerial vehicle system provided by the second embodiment of the present application includes: a motion recognition unit 21, a data processing unit 22, and a drone aircraft 23;
  • the motion recognition unit 21 is configured to collect a motion recognition signal of the controller's control portion
  • the data processing unit 22 is configured to convert the motion recognition signal into a flight control signal in accordance with a predetermined identification algorithm
  • the drone aircraft 23 includes a flight control component and a flight component for issuing a corresponding flight action command to the flight component based on the flight control signal.
  • the motion recognition signal is obtained by acquiring the motion of the controller's control portion, thereby perceiving the information of the motion of the controller's control portion; the motion is performed according to a predetermined recognition algorithm.
  • the identification signal is converted into a flight control signal so that the drone flight can be controlled based on the flight control signal.
  • the drone's flight can be controlled, the drone's somatosensory flight control is realized, and the operability is improved.
  • the data processing unit may further include a radio component configured to wirelessly transmit the flight control signal to a wireless receiving component of the drone.
  • the motion recognition unit may include a switch that controls the opening and closing of the recognition motion recognition signal. Need to start moving through When the identification unit controls the drone, pressing the switch activates the motion recognition function of the motion recognition unit; when it is not needed, the switch is turned on to turn off the motion recognition function of the motion recognition unit.
  • the motion recognition unit may further include an inertial sensing component 211.
  • the inertial sensing component 211 is configured to synchronously move with the control part of the controller, obtain inertial motion information of the controller's control part from the information of the synchronous motion, and calculate the motion recognition signal according to the inertial motion information. .
  • the inertial sensing component can be integrated with the data processing unit and disposed on the radio remote control device.
  • the radio remote control device can be provided with a handle or directly formed into a handle shape for easy grasping. Or, set the shape of the bracelet and armband to be worn on the hand or arm to control the drone.
  • the inertial sensing component may include a direction sensor and an acceleration sensor; the direction sensor measures the acceleration and gravity by sensing the magnitude of the inertial force in a certain direction, and feels the change posture by the force sensitive sensor. Judging by changes in the center of gravity.
  • An acceleration sensor is an electronic device that measures acceleration. Acceleration is the force that acts on an object during acceleration, just like gravity, or gravity. Acceleration can be a constant, such as g, or a variable.
  • the motion recognition unit may further include an optical sensing component 212;
  • the optical sensing component 212 is configured to capture a control portion of the controller, obtain a motion track of the controller of the controller from the captured information, and calculate the motion recognition signal according to the motion track.
  • the optical sensing component may include a camera and an image analyzing device; the camera is configured to capture a control portion of the controller; and the image analyzing device is configured to acquire a motion track of the controller of the controller from the captured information.
  • the motion recognition signal is calculated based on the motion trajectory.
  • the optical sensing component as a whole can be integrated with the data processing unit and disposed on the radio remote control device.
  • the camera of the optical sensing component and the image analyzing device may also be separately arranged, and the image analyzing device and the data processing unit are integrated into one body, set on the radio remote control device, and the camera and the radio remote control device are separately arranged, and the camera and the image are arranged. Analyze the device for wireless communication. In operation, the volume can be smaller The camera is placed separately for easy shooting.
  • a bracket can be disposed on the camera, and the bracket can be provided with a height adjustable structure for adjusting the height position of the camera.
  • the flight control component may further include a flight direction control unit and a flight acceleration control unit;
  • the motion recognition signal may include a direction identification signal and an acceleration identification signal
  • the data processing unit may be configured to generate a direction flight signal of the flight control signal according to the direction identification signal;
  • the flight direction control unit may be configured to issue a guiding flight instruction to the flight component according to the direction flight signal;
  • the flight acceleration control unit may be configured to issue an acceleration control flight command to the flight component based on the acceleration flight signal.
  • the embodiment of the present application further provides a non-transitory computer storage medium, where the computer storage medium stores computer executable instructions, which can execute the method in any of the foregoing method embodiments.
  • FIG. 4 is a schematic diagram showing the hardware structure of an apparatus for performing a flight control method of an unmanned aerial vehicle system provided by the present application. As shown in Figure 4, the device includes:
  • processors 410 and memory 420 One or more processors 410 and memory 420, one processor 410 is exemplified in FIG.
  • the device may also include an input device 430 and an output device 440.
  • the processor 410, the memory 420, the input device 430, and the output device 440 may be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 420 is used as a non-transitory computer readable storage medium, and can be used for storing a non-transitory software program, a non-transitory computer executable program, and a module, as in the flight control method of the drone system in the embodiment of the present application.
  • the processor 410 executes various functional applications and data processing of the server by running non-transitory software programs, instructions, and modules stored in the memory 420, that is, the flight control method of the unmanned aircraft system in the above method embodiment is implemented. .
  • the memory 420 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; and the storage data area may store data created according to use of the device played by the multi-stream video stream. Wait.
  • memory 420 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device.
  • memory 420 can optionally include memory remotely located relative to processor 410, which can be connected to a device that plays multiple streams of video over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 430 can receive input digital or character information and generate key signal inputs related to user settings and function control of the flight control system of the drone system.
  • Output device 440 can include a display device such as a display screen.
  • the one or more modules are stored in the memory 420, and when executed by the one or more processors 410, perform a flight control method of the drone system in any of the above method embodiments.
  • the drone system and the flight control method thereof provided by the embodiments of the present application improve the steerable performance of the drone and realize the somatosensory flight control of the drone.

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  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

一种无人驾驶飞机***及其飞行控制方法。无人驾驶飞机***包括：运动识别单元（21），设置为采集操控者操控部位的运动识别信号；数据处理单元（22），设置为根据预定的识别算法将所述运动识别信号转换为飞行控制信号；以及无人驾驶飞机（23），包括飞行控制部件以及飞行部件，飞行控制部件用于根据飞行控制信号对所述飞行部件下达相应的飞行动作指令。

Description

无人驾驶飞机***及其飞行控制方法
本申请要求在2016年3月30日提交中国专利局、申请号为201610191411.2、发明名称为“无人驾驶飞机***及其飞行控制方法”的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及无人驾驶飞机技术领域，例如涉及一种无人驾驶飞机***及其飞行控制方法。
背景技术
无人驾驶飞机(Unmanned Aerial Vehicle，UAV)，简称“无人机”。无人机具体可分为：无人固定翼机、无人飞艇、无人直升机、无人多旋翼飞行器、无人伞翼机等。无人驾驶飞机是一种处在迅速发展中的飞行装置，无人驾驶飞机具有机动灵活、反应快速、无人飞行、操作要求低的优点。无人机通过搭载多类传感器，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前，无人机的使用范围已经扩宽到军事、科研、民用三大领域，在电力、通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
无人机是利用遥控操纵杆式的无线电遥控设备和自备的程序控制装置操纵的不载人飞机。其中，无线电遥控设备上具有遥控操纵杆，操控者通过遥控操纵杆来控制无人机的飞行、降落等动作，专业性较强。
其中，遥控操纵杆式的无线电遥控设备适用于较为专业的玩家，对于刚刚起步的玩家而言，使用遥控操纵杆对无人驾驶飞机的飞行控制较为困难，可操控性能较差。
发明内容
本申请实施例提供一种无人驾驶飞机***及其飞行控制方法，提高了无人驾驶飞机的可操控性能，实现无人驾驶飞机的体感飞行控制。
第一方面，本申请实施例提供一种无人驾驶飞机***的飞行控制方法，包 括：
采集操控者操控部位的运动识别信号；
根据预定的识别算法将所述运动识别信号转换为飞行控制信号；以及
根据所述飞行控制信号对无人驾驶飞机的飞行部件下达相应的飞行动作指令。
第二方面，本申请实施例提供一种无人驾驶飞机***，包括：
运动识别单元，设置为采集操控者操控部位的运动识别信号；
数据处理单元，设置为根据预定的识别算法将所述运动识别信号转换为飞行控制信号；
无人驾驶飞机，包括飞行控制部件以及飞行部件，所述飞行控制部件用于根据所述飞行控制信号对所述飞行部件下达相应的飞行动作指令。
第三方面，本申请实施例提供了一种非暂态计算机存储介质，存储有计算机可执行指令，所述计算机可执行指令用于使所述计算机执行上述的方法。
第四方面，本申请实施例提供了一种电子设备，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器执行上述的方法。
第五方面，本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行上述的方法。
本申请实施例提供的无人驾驶飞机***及其飞行控制方法，在对无人驾驶飞机的操控中，操控者的操控部位作出相应的动作之后，便可对无人驾驶飞机的飞行进行操控，实现了无人驾驶飞机的体感飞行控制，提高了可操控性能。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本申请提供的无人驾驶飞机***的飞行控制方法实施例流程图；
图2为本申请提供的无人驾驶飞机***实施例的结构示意框图；以及
图3为本申请提供的无人驾驶飞机***实施例的运动识别单元的结构示意框图；以及
图4是本申请提供的执行无人驾驶飞机***的飞行控制方法的设备的硬件结构示意图。
具体实施方式
为使本申请实施例的技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。在不冲突的情况下，本申请实施例的特征可以任意组合。
本申请实施例提供一种无人驾驶飞机***及其飞行控制方法，能够通过体感对无人驾驶飞机进行飞行控制，可操控性能较高。其中，方法和***是基于同一申请构思的，由于方法及***解决问题的原理相似，因此方法与***的实施可以相互参见，重复之处不再赘述。
实施例一
如图1所示，本申请实施例一提供的一种无人驾驶飞机***的飞行控制方法，包括如下步骤。
在步骤110中，采集操控者操控部位的运动识别信号。
操控者的操控部位通常可选择手部，但不仅仅局限于手部，也可采用头部、腿部、胳膊等部位；运动识别信号为根据操控部位的运动轨迹而定，例如，操 控者的操控部位分别作出向上的运动轨迹、向下的运动轨迹、向左的运动轨迹、向右的运动轨迹。
在步骤120中，根据预定的识别算法将所述运动识别信号转换为飞行控制信号。
其中，预定的识别算法可根据实际需求而定；使得定义的每个运动识别信号分别对应不同的飞行控制信号；例如，将向上的运动轨迹对应第一飞行控制信号、将向下的运动轨迹对应第二飞行控制信号、将向左的运动轨迹对应第三飞行控制信号、将向右的运动轨迹对应第四飞行控制信号。可设定预定的识别算法，例如，将飞行控制信号的方向设置为与运动识别信号的方向相同，设定第一飞行控制信号为向上飞行的控制信号，设定第二飞行控制信号为向下飞行的控制信号，设定第三飞行控制信号为向左飞行的控制信号，设定第四飞行控制信号为向右飞行的控制信号。当然，预定的识别算法可有多种设定，飞行控制信号的方向设置也可与运动识别信号的方向不相同，同理，本申请实施例中不再一一列举。之后，可将所述飞行控制信号无线发送至无人驾驶飞机。
在步骤130中，根据所述飞行控制信号对无人驾驶飞机的飞行部件下达相应的飞行动作指令。
其中，相应的飞行动作指令即为与所述飞行控制信号对应的动作指令。飞行部件可包括有至少一个螺旋桨、驱动螺旋桨转动的至少一个驱动电机，通过控制每个驱动电机的转动启动、停止、转动速度，来控制无人驾驶飞机的飞行方向、飞行速度等因素；在飞行过程中，飞行部件会接收到与飞行控制信号对应的飞行动作指令，用来控制驱动电机的转动启动、停止、转动速度，从而控制无人驾驶飞机的飞行；例如，飞行部件接收到了第一飞行控制信号(即向左飞行的控制信号)对应的飞行动作指令，那么，无人机便进行向左飞行。
本申请实施例一提供的无人驾驶飞机***的飞行控制方法中，通过对操控者操控部位的运动进行采集，获得运动识别信号，从而感知操控者操控部位的运动的信息；以及根据预定的识别算法将所述运动识别信号转换为飞行控制信号，从而可根据飞行控制信号控制无人驾驶飞机飞行。在对无人驾驶飞机的操控中，操控者的操控部位作出相应的动作之后，便可对无人驾驶飞机的飞行进行操控，实现了无人驾驶飞机的体感飞行控制，提高了可操控性能。
可选的，可通过惯性感测操控部位的运动识别信号，上述步骤101中所述 采集操控者操控部位的运动识别信号，包括：
与所述操控者的操控部位同步运动，从同步运动的信息中获取操控者操控部位的惯性运动信息，根据所述惯性运动信息计算得出所述运动识别信号。
其中，与所述操控者的操控部位同步运动，可以为将惯性感测组件与所述操控者的操控部位同步运动。可采用将惯性感测组件佩戴在操控部位上，使惯性感测组件与操控部位同步运动；或是操控部位为手部，手部握持住惯性感测组件，使惯性感测组件与操控部位同步运动。惯性感测组件主要是以惯性传感器为主，例如用重力传感器，陀螺仪以及磁传感器等来感测操控者的操控部位的物理参数(惯性运动信息)，分别为加速度、角速度以及磁场，惯性感测组件根据此些物理参数来求得使用者在空间中的各种动作(运动识别信号)。
可选的，可通过光学感测操控部位的运动识别信号，上述步骤101中所述采集操控者操控部位的运动识别信号，包括：
对所述操控者的操控部位进行拍摄，从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。
其中，对所述操控者的操控部位进行拍摄，可以为将光学感测组件的摄像头对对所述操控者的操控部位进行拍摄；光学感测组件的图像分析器件从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。在实施过程中，光学感测组件可使用激光及摄像头(RGB)来获取操控部位3D影像信息，不受灯光环境限制。
在实施过程中，上述步骤102中所述根据预定的识别算法将所述运动识别信号转换为飞行控制信号，包括：
所述运动识别信号包括方向识别信号以及加速度识别信号；
根据所述方向识别信号生成所述飞行控制信号的方向飞行信号；以及
根据所述加速度识别信号生成所述飞行控制信号的加速度飞行信号。
其中，所述方向识别信号即为：向上的运动轨迹对应向上的运动方向、向下的运动轨迹对应向下的运动方向、向左的运动轨迹对应向左的运动方向、向右的运动轨迹对应向右的运动方向；所述加速度识别信号即为：获取的操控部位的瞬时加速度值。
所述方向识别信号与所述方向飞行信号相关联，可以将所述飞行控制信号 的方向飞行信号与所述方向识别信号设置为同向，便于操控。
所述加速度识别信号与所述飞行控制信号的加速度飞行信号可呈正比设置，正比的比例可根据需求而定。操控这的操控部位在做一个小的加速运动中，无人驾驶飞机会相对操控部位的加速度有所提升。或者，所述加速度识别信号与所述飞行控制信号的加速度飞行信号可相同，或减小。
上述步骤103中根据所述飞行控制信号对无人驾驶飞机的飞行部件下达相应的飞行动作指令，可以为：
根据所述方向飞行信号对所述飞行部件下达导向飞行指令；
所述方向飞行信号用于控制无人飞机的飞行方向；以及
根据所述加速度飞行信号对所述飞行部件下达加速度控制飞行指令。
所述加速度飞行信号用于控制无人机的飞行加速度。
实施例二
如图2所示，本申请实施例二提供的一种无人驾驶飞机***，包括：运动识别单元21、数据处理单元22以及无人驾驶飞机23；其中，
运动识别单元21设置为采集操控者操控部位的运动识别信号；
数据处理单元22设置为根据预定的识别算法将所述运动识别信号转换为飞行控制信号；以及
无人驾驶飞机23包括飞行控制部件以及飞行部件，所述飞行控制部件用于根据所述飞行控制信号对所述飞行部件下达相应的飞行动作指令。
本申请实施例二提供的无人驾驶飞机***中，通过对操控者操控部位的运动进行采集，获得运动识别信号，从而感知操控者操控部位的运动的信息；根据预定的识别算法将所述运动识别信号转换为飞行控制信号，从而可根据飞行控制信号控制无人驾驶飞机飞行。在对无人驾驶飞机的操控中，操控者的操控部位作出相应的动作之后，便可对无人驾驶飞机的飞行进行操控，实现了无人驾驶飞机的体感飞行控制，提高了可操控性能。
在实施过程中，所述数据处理单元中还可以包括无线电组件，无线电组件用于将所述飞行控制信号无线发送至无人驾驶飞机的无线接收组件。运动识别单元可以包括有控制开启、关闭识别运动识别信号的开关。需要开始通过运动 识别单元控制无人驾驶飞机时候，按下开关，开启运动识别单元的运动识别功能；不需要使用的时候，按下开关，关闭运动识别单元的运动识别功能。
如图3所示，本申请提供的一个实施例中，
所述运动识别单元还可以包括惯性感测组件211。
所述惯性感测组件211用于与所述操控者的操控部位同步运动，从同步运动的信息中获取操控者操控部位的惯性运动信息，根据所述惯性运动信息计算得出所述运动识别信号。
其中，惯性感测组件可与数据处理单元集成于一体，设置在无线电遥控设备上。无线电遥控设备可设置有手柄，或直接制成手柄状，可便于把握。或者，设置成手环、臂环的形状，可佩戴在手或胳膊上，对无人驾驶飞机进行操控。惯性感测组件中可包括有方向感应器、加速度传感器；方向感应器是藉由感应某个方向的惯性力大小来衡量其加速度与重力，通过对力敏感的传感器，感受自身在变换姿势时，重心的变化来判断。加速度传感器是一种能够测量加速力的电子设备。加速力就是当物体在加速过程中作用在物体上的力，就好比地球引力，也就是重力。加速力可以是个常量，比如g，也可以是变量。加速度传感器中加速度计有两种：一种是角加速度计，是由陀螺仪(角速度传感器)的改进的。另一种就是线加速度计。
本申请提供的另一个实施例中，
所述运动识别单元还可以包括光学感测组件212；
所述光学感测组件212用于对所述操控者的操控部位进行拍摄，从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。
其中，光学感测组件可包括摄像头以及图像分析器件；摄像头用于对对所述操控者的操控部位进行拍摄；图像分析器件用于从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。光学感测组件整体可与数据处理单元集成于一体，设置在无线电遥控设备上。也可将光学感测组件的摄像头与图像分析器件分体设置，将图像分析器件与数据处理单元集成于一体，设置在无线电遥控设备上，将摄像头与无线电遥控设备分体设置，将摄像头与图像分析器件进行无线通讯连接。操作中，可将体积较小 的摄像头单独的放置一个便于拍摄的位置上。可选的，在摄像头上还可配置一支架，支架可设有高度可调节的结构，用于调节摄像头的高度位置。
本申请提供的一个实施例中，
所述飞行控制部件还可以包括飞行方向控制单元以及飞行加速度控制单元；
所述运动识别信号可以包括方向识别信号以及加速度识别信号；
所述数据处理单元可以设置为根据所述方向识别信号生成所述飞行控制信号的方向飞行信号；
根据所述加速度识别信号生成所述飞行控制信号的加速度飞行信号；
所述飞行方向控制单元可以设置为根据所述方向飞行信号对所述飞行部件下达导向飞行指令；
所述飞行加速度控制单元可以设置为根据所述加速度飞行信号对所述飞行部件下达加速度控制飞行指令。
以上所描述的***实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到实施方式可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行实施例或者实施例的部分所述的方法。
实施例三
本申请实施例还提供了一种非暂态计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令可执行上述任意方法实施例中的方法。
实施例四
图4是本申请提供的执行无人驾驶飞机***的飞行控制方法的设备的硬件结构示意图。如图4所示，该设备包括：
一个或多个处理器410以及存储器420，图4中以一个处理器410为例。
该设备还可以包括：输入装置430和输出装置440。
处理器410、存储器420、输入装置430和输出装置440可以通过总线或者其他方式连接，图4中以通过总线连接为例。
存储器420作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本申请实施例中的无人驾驶飞机***的飞行控制方法对应的程序指令/模块。处理器410通过运行存储在存储器420中的非暂态软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例中的无人驾驶飞机***的飞行控制方法。
存储器420可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据多路视频流播放的装置的使用所创建的数据等。此外，存储器420可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器420可选包括相对于处理器410远程设置的存储器，这些远程存储器可以通过网络连接至多路视频流播放的装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置430可接收输入的数字或字符信息，以及产生与无人驾驶飞机***的飞行控制***的用户设置以及功能控制有关的键信号输入。输出装置440可包括显示屏等显示设备。
所述一个或者多个模块存储在所述存储器420中，当被所述一个或者多个处理器410执行时，执行上述任意方法实施例中的无人驾驶飞机***的飞行控制方法。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果，未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。
工业实用性
本申请实施例提供的无人驾驶飞机***及其飞行控制方法，提高了无人驾驶飞机的可操控性能，实现无人驾驶飞机的体感飞行控制。

Claims (11)

  1. 一种无人驾驶飞机***的飞行控制方法，包括：
    采集操控者操控部位的运动识别信号；
    根据预定的识别算法将所述运动识别信号转换为飞行控制信号；以及
    根据所述飞行控制信号对无人驾驶飞机的飞行部件下达相应的飞行动作指令。
  2. 根据权利要求1所述的方法，其中，
    所述采集操控者操控部位的运动识别信号，包括：
    与所述操控者的操控部位同步运动，从同步运动的信息中获取操控者操控部位的惯性运动信息，根据所述惯性运动信息计算得出所述运动识别信号。
  3. 根据权利要求1所述的方法，其中，
    所述采集操控者操控部位的运动识别信号，包括：
    对所述操控者的操控部位进行拍摄，从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。
  4. 根据权利要求1所述的方法，其中，
    所述根据预定的识别算法将所述运动识别信号转换为飞行控制信号，包括：
    所述运动识别信号包括方向识别信号以及加速度识别信号；
    根据所述方向识别信号生成所述飞行控制信号的方向飞行信号；以及
    根据所述加速度识别信号生成所述飞行控制信号的加速度飞行信号；
    根据所述飞行控制信号对无人驾驶飞机的飞行部件下达相应的飞行动作指令，包括：
    根据所述方向飞行信号对所述飞行部件下达导向飞行指令；以及
    根据所述加速度飞行信号对所述飞行部件下达加速度控制飞行指令。
  5. 一种无人驾驶飞机***，包括：
    运动识别单元，设置为采集操控者操控部位的运动识别信号；
    数据处理单元，设置为根据预定的识别算法将所述运动识别信号转换为飞行控制信号；以及
    无人驾驶飞机，包括飞行控制部件以及飞行部件，所述飞行控制部件设置为根据所述飞行控制信号对所述飞行部件下达相应的飞行动作指令。
  6. 根据权利要求5所述的***，其中，
    所述运动识别单元包括惯性感测组件；
    所述惯性感测组件设置为与所述操控者的操控部位同步运动，从同步运动的信息中获取操控者操控部位的惯性运动信息，根据所述惯性运动信息计算得出所述运动识别信号。
  7. 根据权利要求5所述的***，其中，
    所述运动识别单元包括光学感测组件；
    所述光学感测组件设置为对所述操控者的操控部位进行拍摄，从拍摄的信息中获取述操控者的操控部的运动轨迹，根据所述运动轨迹计算得出所述运动识别信号。
  8. 根据权利要求5所述的***，其中，
    所述飞行控制部件包括飞行方向控制单元以及飞行加速度控制单元；
    所述运动识别信号包括方向识别信号以及加速度识别信号；
    所述数据处理单元设置为根据所述方向识别信号生成所述飞行控制信号的方向飞行信号；以及
    根据所述加速度识别信号生成所述飞行控制信号的加速度飞行信号；
    所述飞行方向控制单元设置为根据所述方向飞行信号对所述飞行部件下达导向飞行指令；以及
    所述飞行加速度控制单元设置为根据所述加速度飞行信号对所述飞行部件下达加速度控制飞行指令。
  9. 一种非暂态计算机存储介质，存储有计算机可执行指令，所述计算机可执行指令用于使所述计算机执行如权利要求1-4任一项所述的方法。
  10. 一种电子设备，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器执行如权利要求1-4任一项所述的方法。
  11. 一种计算机程序产品，所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行权利要求1-4所述的方法。
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