Method for controlling four-rotor aircraft system based on human-computer interaction technology

A four-rotor aircraft, human-computer interaction technology, applied in the direction of control start-up methods, instruments, automatic manipulation, etc., can solve complex problems, and achieve the effect of precise flight positioning operation and flexible control

Inactive Publication Date: 2011-10-19
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Spatial image processing has some well-formed solutions, but because of its complex algorith

Method used

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  • Method for controlling four-rotor aircraft system based on human-computer interaction technology
  • Method for controlling four-rotor aircraft system based on human-computer interaction technology
  • Method for controlling four-rotor aircraft system based on human-computer interaction technology

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Embodiment Construction

[0025] The first part realizes the method of controlling the spatial position of the quadrotor aircraft by moving the position of the hand

[0026] Step 1: By triggering the onboard ultrasonic ranging module 13 of the quadrotor aircraft, a pulse signal positively correlated with the time difference of the trigger signal and the height of the quadrotor aircraft is obtained, and is captured and measured by the onboard microcontroller MC9S12XS128 of the quadrotor aircraft This time difference obtains the altitude information of the quadrotor aircraft, and then is processed as a decimal number represented by ASCII code and transmitted to the computer through the ZigBee wireless communication module 14;

[0027] Step 2: Use the ambient infrared camera to capture the infrared light reflected by the two infrared reflective cloths 11 symmetrically arranged on the upper surface of the quadrotor aircraft (other wave bands are filtered by infrared filters), and convert this optical signal...

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Abstract

A method for controlling a four-rotor aircraft system based on the human-computer interaction technology, which belongs to the intelligent flying robot field, is characterized in that a manipulator can control the four-rotor aircraft by gestures. The flight attitude control is accomplished by the cooperative running of the four rotors which are arranged at geometrical vertexes of the four-rotor aircraft with three degrees of freedom being yaw angle, pitch angle and roll angle. The human-computer interaction technology mainly utilizes OpenCV and OpenGL. The system captures depth images of the manipulator hands through a depth camera; the depth images are analyzed and processed by the computer to obtain gesture information and generate control signals corresponding to the gesture information; and then the control signals are sent through a radio communication device to the aircraft for execution, so as to accomplish the mapping from the motion state of the manipulator hands to the motion state of the aircraft and complete the gesture control. With the help of far controlling distance and more visual gesture corresponding relation, the gesture control can be applied to danger experiments and industrial production processes with high execution difficulty.

Description

technical field [0001] The invention belongs to the field of intelligent flying robots, and in particular relates to a method for controlling a quadrotor aircraft by using a depth camera to capture gestures of a human body. technical background [0002] The quadrotor aircraft is the operation object of the present invention. It is an aircraft with four propellers, and the four propellers are in a cross-shaped cross structure, and the opposite two sets of quadrotors have the same rotation direction. In China, quadrotor aircraft is still in its infancy, and few relatively mature results have been released; however, quadrotor aircraft is more popular in the world. Many famous universities in the West have taken the lead in the control of quadrotor aircraft. Enthusiasts devote themselves to the production and research of quadrotor aircraft. The quadrotor aircraft has won the favor of the majority of aircraft enthusiasts with its advantages of small size, light weight and high f...

Claims

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Application Information

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IPC IPC(8): B64C13/16G06K9/00G06T7/00
Inventor 左国玉崔昊天沈京郭彤旭孙荣毅
Owner BEIJING UNIV OF TECH
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