Quadrotor gesture control device based on inertial sensor and control method thereof

Abstract

The invention relates to a spatial gesture control device for a quadrotor and a control method thereof. The gesture control device comprises a controller and an inertial sensor, wherein an inertial sensing node necessarily comprises a triaxial angular velocity meter and a triaxial accelerometer or a six-axis inertial sensor integrating the triaxial angular velocity meter and the triaxial accelerometer, and a triaxial magnetometer can be excluded; the inertial sensing node is fixed to the back of a second section of a finger, and a Y-axis positive direction points to a fingertip; a strap down inertial navigation algorithm is adopted for moving posture fusion; the controller is integrated with one six-axis inertial sensor used as a reference point, and the actual measurement angle of the finger is a relative angle between the inertial sensor for finger joints and the reference point. The process of the control method is divided into the following three steps according to acquisition and processing sequence: configuring the sensor, acquiring errors and computing a finger instruction. According to the control method, finger gestures are judged only by use of roll angles; accelerator gears are determined by use of a left hand gesture instruction according to stretching finger quantity; the front, rear, left and right flying directions of the quadrotor are determined by use of a right hand gesture instruction according to stretching and contraction of a thumb and other four fingers.

Description

technical field [0001] The invention relates to a gesture control device and method, in particular to a gesture control device and a control method for a quadcopter based on an inertial sensor. Background technique [0002] In recent years, quadcopters, as a special "selfie stick", have gradually gained popularity in the consumer market. However, for the control method of the quadcopter, the current commercial products are still mainly operated by the handle. Recently, some researchers have tried to use gestures to control quadcopters. The core part of gesture control is gesture recognition and gesture commands. [0003] At present, there are usually two ways of gesture recognition, one way is based on machine vision. That is, through the binocular camera, the depth information of the three-dimensional space captured is extracted, and then the gesture is reconstructed in three dimensions. Typical representatives are kinect and leapmotion. In this way, the biggest advantag...

AI Technical Summary

Problems solved by technology

[0005] There are three problems in the existing gesture control methods based on inertial sensors: (1) the recognition accuracy and speed cannot be balanced, and some use 9-axis inertial sensors and corresponding attitude calculation algorithms, which one-sidedly pursue the accuracy of attitude calculation. After the scheme is solved, the stable delay should reach tens or even hundreds of milliseconds; or only use the 3-axis inertial sensor without attitude calculation and fusion, an...

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