CN207718231U - A kind of gesture identification remote controlled drone - Google Patents

Abstract

The utility model discloses a gesture recognition remote control drone, which comprises a drone, a signal receiver and a gesture recognition controller. The signal receiver is installed on the drone, and the signal receiver and the flight control system of the drone are electrically connected. Signal connection, the gesture recognition controller includes a gesture signal acquisition module, a gesture signal processing module and a wireless communication module, the gesture signal acquisition module includes an inertial sensor, the inertial sensor and the gesture signal processing module are connected by electrical signals, the gesture signal processing module and the wireless communication module connected by electrical signals. This device reduces the complexity of operating the UAV by the remote control and solves the problem of inconvenient operation of the remote control. At the same time, it avoids the interference caused by factors such as the intensity of external light on the UAV, so as to simplify the operation of the UAV and facilitate the user's operation. The effect is to improve the stability of the drone in flight with gesture recognition.

Description

A Gesture Recognition Remote Control Drone

technical field

The utility model designs a remote control device, in particular to a gesture recognition remote control drone.

Background technique

With the gradual deepening of China's reform and opening up and the rapid development of economic construction, the landforms of various regions have undergone tremendous changes. The existing aerial remote sensing technology can no longer meet the needs of economic development. The new remote sensing technology serves the growing economic construction and cultural undertakings. The technology of unmanned aircraft as the aerial remote sensing platform is a new type of applied technology developed to meet this need, which can better meet the needs of my country's aviation remote sensing business at the present stage, and carry out data analysis on old geographic data. Update and complete some aerial missions. UAV is an unmanned aircraft controlled by radio remote control equipment or onboard computer program control system. UAVs are simple in structure and low in cost of use. They can not only complete tasks performed by manned aircraft, but are also suitable for tasks that manned aircraft are not suitable for. It plays a great role in emergency response and early warning in emergencies.

Unmanned aircraft is referred to as "UAV" for short, and the English abbreviation is "UAV". It is an unmanned aircraft controlled by radio remote control equipment and its own program control device. UAV aerial photography technology uses low-speed unmanned aircraft as an aerial remote sensing platform, and uses color, black and white, infrared, and camera technologies to capture aerial image data; and uses computers to process image information. The whole system has outstanding features in terms of design and optimal combination, and is a new application technology integrating remote sensing, remote control, telemetry technology and computer technology. Unmanned aircraft is a kind of unmanned aircraft mainly controlled by radio remote control or by its own program. Compared with manned aircraft, the take-off and landing of unmanned aircraft is less restricted by the venue. It can take off and land on the ground, it has good stability and safety, and it is very easy to transition. It has the advantages of small size, low cost, convenient use, and more flexible use.

The existing UAVs on the market basically use the joystick remote control or the APP virtual remote control to control them in real time, which requires the UAV operator to have rich experience in UAV operation. If the operator lacks enough Inexperienced operating experience can easily lead to drone bombing. However, most users who buy drones are newbies to operating drones for the first time. They are not familiar with the flight operation of drones, and the operation of drones is complicated and inconvenient to use; Operating the UAV under certain circumstances makes the UAV collide with obstacles frequently, and the cost of repairing the UAV is expensive, which also brings a burden on the economic situation of the user. UAVs using visual gesture recognition technology rely on image processing, requiring UAV equipment to have strong image processing capabilities, and have strict requirements on the environment in which the equipment is used, such as the influence of light; if the operation process When the UAV is exposed to strong light from the outside, it will cause the UAV to fail to recognize gestures visually, making the UAV in a state of loss of control, which limits the application of visual gesture recognition methods in the field of UAVs.

Utility model content

(1) Technical problems to be solved

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to provide a gesture recognition remote-controlled drone, which aims to reduce the complexity of operating the drone with the remote controller in the past and solve the problem of inconvenient operation of the remote controller, while avoiding The interference caused by external light intensity and other factors to the UAV can simplify the operation of the UAV, facilitate the user's operation, and improve the stability of the UAV in gesture recognition flight.

(2) Technical solution

In order to solve the above-mentioned technical problems, the utility model provides such a gesture recognition remote control drone, which includes a drone, a signal receiver and a gesture recognition controller. The flight control system of the aircraft is connected by electrical signals. The gesture recognition controller includes a gesture signal acquisition module, a gesture signal processing module and a wireless communication module. The gesture signal acquisition module includes an inertial sensor. The inertial sensor and the gesture signal processing module are connected by electrical signals. The signal processing module is connected with the wireless communication module through electric signals, and the wireless communication module is connected with the signal receiver through wireless signals.

Preferably, the inertial sensor is an MPU6050 inertial sensor.

Preferably, the gesture signal processing module is an STM32 single-chip microcomputer.

Preferably, the wireless communication module is an NRF24L01 wireless communication module.

Working principle: When the device collects the user's gesture signal, it first collects the user's hand-held or wearable device through the inertial sensor in the gesture signal acquisition module, and then operates the gesture action of the drone, intercepts the gesture signal data and transmits it to the gesture signal processing module ; The gesture signal processing module is used to process the gesture signal data. Firstly, the feature quantity of the gesture signal is extracted to classify the gesture signal, and then the extracted gesture signal is compared with the gesture category to determine which gesture action the gesture signal belongs to. , if the gesture signal is determined to be flipping after comparison, then the gesture signal is flipping, and at the same time, it is determined which type of flipping action the flipping gesture is around the X, Y, and Z axes and whether the flipping direction is clockwise or counterclockwise. hour hand; on the contrary, the gesture signal is a shaking type, and at the same time it is determined that the gesture action is a vertical hook or a vertical circle, and then the gesture signal after determining the gesture category is transmitted to the wireless communication module; the wireless communication module is used to classify the gesture The signal is transmitted to the signal receiver, and the signal receiver is used to transmit the gesture signal to the UAV, so that the UAV can perform information interaction with the wireless communication module through the signal receiver, and perform corresponding actions according to the gesture signal transmitted by the wireless communication module. flight maneuvers.

Before using the device, the user needs to hold or wear the device, then turn on the device, and start the flight operation of the drone after the drone is successfully matched with the device. First of all, the user can control the drone to complete the take-off action through the vertical hook gesture, and then when the drone flies to a suitable height, the user can control the drone to perform the flip movement through the flip gesture. When the user wants the UAV to turn left and right (left and right yaw), just make a left and right turn (left and right yaw) with the hand holding or wearing the device, and the UAV can complete the left and right turning action; When the user wants the UAV to move up and down, just move the hand holding or wearing the device up and down to complete the up and down movement of the UAV; when the user wants the UAV to move left and right During the rolling operation, as long as the hand holding or wearing the device is rolled left and right, the drone can complete the left, right, left, and right roll movements. When it is necessary for the UAV to rise to the flying height, you only need to shake the hand holding or wearing the device up or down to adjust the flying height of the UAV, and then control the UAV’s ascent and descent . Finally, when the user wants to land the drone, the user only needs to make a vertical circle with the hand holding or wearing the device, so that the drone can land smoothly.

(3) Beneficial effects

Compared with the prior art, the utility model achieves the purpose of simplifying the operation of the drone by improving the remote control device of the drone, and at the same time facilitates the operation of the user, and improves the stability of the drone in gesture recognition flight. This device not only retains the advantages of long-distance control of the joystick, but also improves the disadvantages that users are more difficult to learn the operation of the joystick. It uses gesture control to enhance user experience, and gesture control is easy for users to learn and simplifies the complexity of operation. It enables users to feel the sense of substitution of gesture control and improves the human-computer interaction. This device uses the MPU6050 inertial sensor to analyze the data of the user's gestures, which not only ensures the stability and reliability of the drone's flight under the state of gesture recognition, but also avoids a series of environmental factors (such as: light intensity) from affecting the drone. The influence of gesture recognition operation prevents the unmanned aerial vehicle from being out of control due to the influence of external factors during operation; the use of STM32 microcontroller for gesture signal processing reduces the overall volume of the device and improves the accuracy of signal acquisition , At the same time, the error in the signal processing process is smaller and the stability is higher; the use of NRF24L01 wireless communication can effectively avoid the interference of external signals, complete the transmission of signal data, and ensure the stability of wireless signal transmission.

All in all, this device not only simplifies the operation process of the UAV, makes the gesture recognition method easy for users to learn, but also makes up for the defect that the existing gesture recognition is easily affected by environmental factors, effectively ensuring the flight accuracy of the UAV under the gesture recognition operation. Stability; at the same time, it indirectly reduces the phenomenon of bombing caused by improper traditional operation methods.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the present utility model, and those skilled in the art can obtain other drawings according to these drawings without any creative effort.

Fig. 1 is a work flow diagram of the utility model.

Figure 2 is a working principle diagram of the gesture recognition controller.

Figure 3 is a working flow diagram of the gesture recognition controller.

The marks in the drawings are: 1-signal receiver, 2-gesture recognition controller, 201-gesture signal acquisition module, 202-gesture signal processing module, 203-wireless communication module.

Detailed ways

In order to make the technical means, creative features, goals and effects of the utility model realized easy to understand, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the accompanying drawings, so as to further illustrate the utility model, obviously , the described embodiments are only some of the embodiments of the present utility model, but not all of them.

A kind of gesture recognition remote control unmanned aerial vehicle, as shown in Figure 1 is the work flow diagram of the present utility model, and Figure 2 is the working principle figure of gesture recognition controller, and Figure 3 is the work flow diagram of gesture recognition controller, including The drone, the signal receiver 1 and the gesture recognition controller 2, the drone is equipped with a signal receiver 1, the signal receiver 1 is connected with the flight control system of the drone through an electrical signal, and the gesture recognition controller 2 includes a gesture signal Acquisition module 201, gesture signal processing module 202 and wireless communication module 203, gesture signal acquisition module 201 includes inertial sensor, inertial sensor and gesture signal processing module 202 are connected by electric signal, gesture signal processing module 202 and wireless communication module 203 pass electric signal Connection, the wireless communication module 203 is connected with the signal receiver 1 through a wireless signal.

Among them, the signal receiver 1 can be the signal receiver of the UAV itself. Those skilled in the art only need to compile the program according to each component and import it into the signal receiver 1 to realize the signal reception. The relevant instructions for programming are as follows: The prior art will not be repeated here.

When the device collects user gesture signals, it first collects the user's hand-held or wearable device through the inertial sensor in the gesture signal acquisition module, then operates the gesture action of the drone, intercepts the gesture signal data and transmits it to the gesture signal processing module; the gesture signal The processing module is used to process the gesture signal data. First, extract the feature quantity of the gesture signal to classify the gesture signal, then compare the extracted gesture signal with the gesture category and determine which gesture action the gesture signal belongs to. After the signal is compared, it is determined to be a flipping type, then the gesture signal is a flipping type, and at the same time determine which type of flipping action the flipping gesture is around the X, Y, and Z axes, and determine whether the flipping direction is clockwise or counterclockwise; otherwise , the gesture signal is a shaking type, and at the same time determine that the gesture action is a vertical hook or a vertical circle, and then transmit the gesture signal after determining the gesture category to the wireless communication module; the wireless communication module is used to transmit the classified gesture signal to Signal receiver, and the signal receiver is used to transmit the gesture signal to the UAV, so that the UAV can perform information interaction with the wireless communication module through the signal receiver, and perform corresponding flight actions according to the gesture signal transmitted by the wireless communication module .

Before using the device, the user needs to hold or wear the device, then turn on the device, and start the flight operation of the drone after the drone is successfully matched with the device. First of all, the user can control the drone to complete the take-off action through the vertical hook gesture, and then when the drone flies to a suitable height, the user can control the drone to perform the flip movement through the flip gesture. When the user wants the UAV to turn left and right (left and right yaw), just make a left and right turn (left and right yaw) with the hand holding or wearing the device, and the UAV can complete the left and right turning action; When the user wants the UAV to move up and down, just move the hand holding or wearing the device up and down to complete the up and down movement of the UAV; when the user wants the UAV to move left and right During the rolling operation, as long as the hand holding or wearing the device is rolled left and right, the drone can complete the left, right, left, and right roll movements. When it is necessary for the UAV to rise to the flying height, the flying height of the UAV can be adjusted by simply moving the hand holding or wearing the device to vertically ascend or descend. Finally, when the user wants to land the drone, the user only needs to make a vertical circle with the hand holding or wearing the device, so that the drone can land smoothly.

The gesture signal acquisition module 201 uses the MPU6050 inertial sensor to analyze the data of the user's gestures, which can not only ensure the stability and reliability of the drone's flight under the gesture recognition state, but also avoid the impact of a series of environmental factors (such as: light intensity) The influence of the gesture recognition operation of the UAV can prevent the UAV from being out of control due to the influence of external factors during operation. In actual production applications, the MPU9250 inertial sensor can be used instead of the MPU6050 inertial sensor and installed on the gesture signal acquisition module 201; compared with the MPU6050 inertial sensor, the MPU9250 inertial sensor has lower energy consumption and faster operation speed, and supports both SPI/I2C Read and transmit data in various ways, improving work efficiency.

Gesture signal processing module 202 adopts STM32 microcontroller to process gesture signals, which not only reduces the overall size of the device, but also improves the accuracy of signal acquisition, and at the same time makes signal processing errors smaller and more stable. In practical applications, the gesture signal processing module 202 usually adopts the STM32F103RCT6 single-chip microcomputer to meet the work requirements, and can also use the STM32F767 single-chip microcomputer as the gesture signal processing module 202 according to the user's high performance requirements for the device, which not only improves the gesture signal processing. The running speed of the module 202 reduces the power consumption of the device, more peripherals can be connected, and the use is more flexible, which can meet the high-performance needs of drone "enthusiasts".

The wireless communication module 203 adopts NRF24L01 wireless communication, which can effectively avoid the interference of external signals, effectively complete the transmission of signal data, and ensure the stability of wireless signal transmission.

This device not only simplifies the operation process of the UAV, makes the gesture recognition method easy for users to learn, but also makes up for the defect that the existing gesture recognition is easily affected by environmental factors, effectively ensuring the flight stability of the UAV under the gesture recognition operation ; At the same time, it indirectly reduces the phenomenon of bombing caused by improper traditional operation methods. The device achieves the purpose of simplifying the operation of the drone, is convenient for the user to operate, and improves the stability of the drone in gesture recognition flight. This device not only retains the advantages of long-distance control of the joystick, but also improves the disadvantages that users are more difficult to learn the operation of the joystick. It uses gesture control to enhance user experience, and gesture control is easy for users to learn and simplifies the complexity of operation. It enables users to feel the sense of substitution of gesture control and improves the human-computer interaction.

The unmanned aerial vehicle, the signal receiver 1, the gesture signal acquisition module 201, the gesture signal processing module 202 and the wireless communication module 203 are general components of the prior art in the field, and their connection structures and working principles are existing mature technologies in the field. I won't repeat them here.

The main technical features, basic principles and related advantages of the present utility model have been described above. For those skilled in the art, it is obvious that the present utility model is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the concept or basic principles of the present utility model. In the case of features, the utility model can be realized in other specific forms. Therefore, no matter from all points of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, so it is intended to fall within the scope of the claims All changes within the meaning and range of equivalents of the required elements are included in the present invention.

In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (4)

1. a kind of gesture identification remote controlled drone, including unmanned plane, signal receiver (1) and gesture recognition controller (2), nobody Signal receiver (1) is installed, signal receiver (1) is connect with the flight control system of unmanned plane by electric signal, feature on machine It is, gesture recognition controller (2) includes hand signal acquisition module (201), hand signal processing module (202) and channel radio Believe that module (203), hand signal acquisition module (201) include inertial sensor, inertial sensor and hand signal processing module (202) it is connected by electric signal, hand signal processing module (202) is connect with wireless communication module (203) by electric signal, nothing Line communication module (203) is connect with signal receiver (1) by wireless signal.

2. according to a kind of gesture identification remote controlled drone described in claim 1, which is characterized in that inertial sensor is MPU6050 inertial sensors.

3. according to a kind of gesture identification remote controlled drone described in claim 1, which is characterized in that hand signal processing module (202) it is STM32 microcontrollers.

4. according to a kind of gesture identification remote controlled drone described in claim 1, which is characterized in that wireless communication module (203) it is NRF24L01 wireless communication modules.