Wearable unmanned aerial vehicle hand control device, gesture control method, equipment and medium

Abstract

The invention relates to a wearable unmanned aerial vehicle hand control device, which is used for sleeving a single hand to wirelessly control an unmanned aerial vehicle, and is characterized in that a device main body is of a glove type structure, and a microprocessor, a power supply module for supplying power to the microprocessor and a wireless communication module for communicating with the unmanned aerial vehicle are embedded in the device main body; the first direction sensor corresponds to the back of the palm; the second direction sensor corresponds to the back of the finger; the membrane switch corresponds to the pulp of any finger except the thumb; the microprocessor is in circuit connection with the first direction sensor, the second direction sensor and the membrane switch and used for outputting an unmanned aerial vehicle motion control instruction according to the state of the membrane switch and the combined information of the finger direction and the palm direction obtained from the first direction sensor and the second direction sensor. And the control instruction is sent to the unmanned aerial vehicle through the wireless communication module. Compared with the prior art, the method has the advantage of being convenient to control by one hand.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to a wearable unmanned aerial vehicle hand control device, a gesture control method, equipment and a medium. Background Art

[0002] With the development of drone technology, drones are playing an increasingly important role in the civil and military fields, such as spraying pesticides, delivering meals, taking photos, and conducting reconnaissance. How to reduce the difficulty of operating drones has become a prominent issue that needs to be solved urgently.

[0003] The drone hand control device controls the flight of the drone through hand movements or gestures, which can effectively improve the convenience and flexibility of drone operation and enable the operator to control the flight of the drone more naturally.

[0004] However, existing drone gesture control devices generally require two-handed operation and are complex to operate, especially for issuing some complex drone motion commands. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a wearable drone hand control device, gesture control method, equipment and medium.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] According to a first aspect of the present invention, there is provided a wearable drone hand control device, which is used to be mounted on a single hand to wirelessly control the drone, wherein the device body is a glove-like structure, on which is embedded a microprocessor, a power module for powering the microprocessor, a wireless communication module for communicating with the drone, and a first direction sensor corresponding to the back of the palm, a second direction sensor corresponding to the back of the finger, and a membrane switch corresponding to the pad of any finger except the thumb;

[0008] The microprocessor is connected to the first direction sensor, the second direction sensor and the membrane switch respectively, and is used to output the UAV motion control instruction according to the state of the membrane switch and the combined information of the palm direction and the finger direction obtained from the first direction sensor and the second direction sensor, and send the control instruction to the UAV through the wireless communication module.

[0009] Preferably, the first direction sensor is arranged at a position corresponding to the back of the middle finger, and the membrane switch is arranged at a position corresponding to the pulp of any other finger except the thumb and the middle finger.

[0010] Preferably, sending the control instruction to the drone via the wireless communication module includes: sending the control instruction to the airborne drone controller via the wireless communication module; and / or first sending the control instruction to the handheld drone controller and then to the airborne drone controller.

[0011] Preferably, the membrane switch includes a first membrane switch for starting and stopping the drone, a second membrane switch for throwing objects from the drone, and a third membrane switch for starting and stopping cruise control.

[0012] According to a second aspect of the present invention, a gesture operation method for the wearable drone hand control device is provided, the method comprising:

[0013] The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend;

[0014] The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers;

[0015] When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward;

[0016] If the drone is off, press the membrane switch with your thumb to start the drone;

[0017] If the drone is powered on and the flight altitude is zero, pressing the membrane switch with your thumb will shut down the drone and stop the propellers.

[0018] Preferably, the bending angle between the palm direction and the finger direction is greater than 80 degrees, which is considered to be a fisting state.

[0019] According to a third aspect of the present invention, a gesture operation method for the wearable drone hand control device is provided, the method comprising:

[0020] The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend;

[0021] The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers;

[0022] When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward;

[0023] If the drone is in the off state, the drone is started by pressing the first membrane switch with the thumb;

[0024] If the drone is powered on and the flight altitude is zero, the drone is turned off and the propellers are stopped by pressing the first membrane switch with the thumb;

[0025] The drone is in the power-on state. Press the third membrane switch with your thumb to set the control command to cruise control. The previous state is maintained and is no longer affected by the direction sensor state of the finger and palm. Press the third membrane switch with your thumb again to exit the cruise control state.

[0026] The drone is in the on state, and by pressing the second membrane switch with the thumb, a command to throw an object is sent to the drone.

[0027] Preferably, in the cruise control mode, pressing the first membrane switch again sends a return instruction.

[0028] According to a fourth aspect of the present invention, there is provided an electronic device, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the program, any one of the methods described above is implemented.

[0029] According to a fifth aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, any one of the methods described above is implemented.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) The wearable drone hand control device designed by the present invention generates drone motion control instructions according to the state of the membrane switch and the combined information of the palm direction and the finger direction obtained from the direction sensor. Sensor devices such as the direction sensor and the membrane switch are designed and installed on the fingers and the back of the palm. The drone motion control can be achieved by single-handed operation, which further reduces the difficulty of operating the drone.

[0032] (2) By pressing the third membrane switch and making a fist gesture, the drone can be operated to cruise or spin without affecting other objects in the hands, freeing both hands to complete other tasks.

[0033] (3) The gesture control logic setting of the present invention is in line with actual hand operation. Through simple one-hand gesture operation, the drone can realize functions such as rising / descending, moving forward / backward, accelerating / decelerating, spinning, cruising, throwing objects, turning on and off, and returning. The functions are more comprehensive and the control is more convenient.

[0034] (4) The wearable drone hand control device can communicate and operate with the controller on the drone through wireless communication, or it can communicate and operate with the controller on the drone through a ground station or a handheld drone controller. It can be selected according to the actual operation scenario, which is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of the wearable drone hand control device of the present invention;

[0036] Figure 2 This is a schematic diagram of the installation position of the direction sensor and the membrane switch in the embodiment;

[0037] Figure 3 Schematic diagram of palm direction. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] Example

[0040] like Figure 1 As shown, this embodiment provides a wearable drone hand control device, which is used to be put on a single hand to wirelessly control the drone. The device body is a glove-type structure, on which a microprocessor, a power module for powering the microprocessor, a wireless communication module for communicating with the drone, and a first direction sensor corresponding to the back of the palm, a second direction sensor corresponding to the back of the finger, and a membrane switch corresponding to the pulp of any finger except the thumb are embedded;

[0041] The microprocessor is connected to the first direction sensor, the second direction sensor and the membrane switch respectively, and is used to output the UAV motion control instruction according to the state of the membrane switch and the combination information of the palm direction and the finger direction obtained from the first direction sensor and the second direction sensor, and send the control instruction to the UAV through the wireless communication module. Specifically, the finger direction and the palm direction are obtained through the direction sensor, and the gesture control instruction is designed through the combination of the finger direction and the palm direction; the bending angle between the finger and the palm is obtained through the direction sensor to realize the flight speed control of the UAV.

[0042] As a preferred embodiment, the first direction sensor is arranged at the corresponding position of the back of the middle finger, and the membrane switch is arranged at the corresponding position of the pulp of any other finger except the thumb and the middle finger, which is more in line with human hand operation. Specifically, the membrane switch can be arranged at the corresponding position of the pulp of the index finger (such as Figure 2 shown).

[0043] Specifically, the wearable drone hand control device in this embodiment can communicate and operate with the onboard drone controller through a wireless communication module such as 4G\5G, and can also communicate with the controller on the drone through a ground station or a handheld drone controller.

[0044] The direction sensor in this embodiment includes a gyroscope, an accelerometer, a main clock, an ASIC for processing signals, and a micro-machined silicon sensor. By working together, the rotation state and direction change of the hand can be accurately detected and measured. Specifically:

[0045] Gyroscopes and accelerometers: used to measure angular velocity and acceleration. Gyroscopes determine the rotation state and direction of the device by detecting changes in the speed and direction of the rotor, while accelerometers provide motion information by measuring the acceleration of the device in each axis.

[0046] Master clock: used to provide a time reference to ensure the accuracy and synchronization of measurement data.

[0047] Application-specific integrated circuit ASIC: Responsible for sensing and processing the signals from the gyroscope and accelerometer, converting them into digital signals for easy processing and use by the device.

[0048] Micro-machined silicon sensor: It constitutes the mechanical part and produces offsets in the X, Y and Z axes through physical effects such as Coriolis force, which can further enhance the sensitivity to directional changes and measurement accuracy.

[0049] In this embodiment, the model of the selected direction sensor is the gyroscope ic I467P gravity sensor ic LGA14 6-axis motion sensor chip equipped in Honor X40, BF-16SMD-6-pin 2D four-way gravity sensor for mobile phones, Huawei Honor Magic4Pro gravity sensor sensing cable Magic 4Pro mobile phone LGE-AN10, gyroscope MEMS motion sensor IC chip, MPU-6050 6-axis accelerometer gyroscope patch QFN24 motion sensor MPU6050, MPU-9250 silk screen MP92 patch QFN249-axis motion sensor MPU9250, SILAN / Silan Micro SC7A20TR silk screen 1S high-precision digital three-axis acceleration motion sensor, ICM-42607-PLGA14 focuses on original 6-axis motion tracking gyroscope sensor silk screen I467P.

[0050] The wearable drone hand control device in this embodiment generates drone motion control instructions according to the state of the membrane switch and the combined information of the palm direction and finger direction obtained from the direction sensor. The sensor devices such as the direction sensor and the membrane switch are designed and installed with the fingers and the back of the palm. The drone motion control can be achieved by single-handed operation, which makes the drone motion control more flexible and convenient. For example, it can be used for single-handed control of individual combat and free both hands to operate other objects when needed. In combination with the drone's camera display, it can be installed on the helmet and worn to observe the long-range view of the drone reconnaissance in real time.

[0051] This embodiment also provides a gesture operation method for a wearable drone hand control device, the method comprising:

[0052] The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend;

[0053] The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers;

[0054] When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward;

[0055] If the drone is in the off state and the membrane switch button is detected to be pressed, the drone will be started;

[0056] If the drone is powered on and the flight altitude is zero, and the membrane switch button is detected to be pressed, the drone will be controlled to shut down and stop the propellers.

[0057] Specifically, if the bending angle between the palm direction and the finger direction is greater than 80 degrees, it is determined to be in a fist state.

[0058] As a preferred embodiment, the first direction sensor is arranged at the position corresponding to the back of the middle finger, and the membrane switch is arranged at the position corresponding to the pulp of any other finger except the thumb and the middle finger, which is more in line with human gesture operation.

[0059] The electronic device of the present invention includes a central processing unit (CPU), which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) or loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0060] Multiple components in the device are connected to the I / O interface, including: input units, such as keyboards, mice, etc.; output units, such as various types of displays, speakers, etc.; storage units, such as disks, optical disks, etc.; and communication units, such as network cards, modems, wireless communication transceivers, etc. The communication unit allows the device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunication networks.

[0061] The processing unit performs the various methods and processes described above. For example, in some embodiments, the method can be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit. In some embodiments, part or all of the computer program can be loaded and / or installed on the device via a ROM and / or a communication unit. When the computer program is loaded into RAM and executed by the CPU, the method described above can be executed. Alternatively, in other embodiments, the CPU can be configured to execute the method in any other appropriate manner (e.g., by means of firmware).

[0062] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), load programmable logic devices (CPLDs), and the like.

[0063] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0064] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0065] Example 2

[0066] In this embodiment, the membrane switch includes a first membrane switch for starting and stopping the drone, a second membrane switch for throwing objects from the drone, and a third membrane switch for starting and stopping cruise control.

[0067] The gesture operation method for the wearable drone hand control device provided in this embodiment specifically includes:

[0068] The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend;

[0069] The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers;

[0070] When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward;

[0071] If the drone is in the off state, the drone is started by pressing the first membrane switch with the thumb;

[0072] If the drone is powered on and the flight altitude is zero, the drone is turned off and the propellers are stopped by pressing the first membrane switch with the thumb;

[0073] The drone is in the power-on state. Press the third membrane switch with your thumb, and the control command is the cruise control state. The previous state is maintained and is no longer affected by the direction sensor state of the finger and palm. Press the third membrane switch with your thumb again to exit the cruise control state. In the cruise control mode, if you press the first membrane switch again, the return command is sent.

[0074] The drone is in the on state, and by pressing the second membrane switch with the thumb, a command to throw an object is sent to the drone.

[0075] The other settings in this embodiment are the same as those in Embodiment 1.

[0076] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A wearable drone hand control device, which is used to be mounted on one hand to wirelessly control the drone, characterized in that: The device body is a glove-like structure, on which a microprocessor, a power module for powering the microprocessor, a wireless communication module for communicating with a drone, a first direction sensor corresponding to the back of the palm, a second direction sensor corresponding to the back of the finger, and a membrane switch corresponding to the pad of any finger except the thumb are embedded; The microprocessor is connected to the first direction sensor, the second direction sensor and the membrane switch respectively, and is used to output the UAV motion control instruction according to the state of the membrane switch and the combined information of the palm direction and the finger direction obtained from the first direction sensor and the second direction sensor, and send the control instruction to the UAV through the wireless communication module.

2. A wearable drone hand control device according to claim 1, characterized in that: The first direction sensor is arranged at a position corresponding to the back of the middle finger, and the membrane switch is arranged at a position corresponding to the pulp of any other finger except the thumb and the middle finger.

3. A wearable drone hand control device according to claim 1, characterized in that: The method of sending the control command to the drone via the wireless communication module includes: sending the control command to the airborne drone controller via the wireless communication module; and / or first sending the control command to the handheld drone controller and then to the airborne drone controller.

4. A wearable drone hand control device according to claim 1, characterized in that: The membrane switch includes a first membrane switch for starting and stopping the drone, a second membrane switch for throwing objects from the drone, and a third membrane switch for starting and stopping cruise control.

5. A gesture operation method for the wearable drone hand control device according to any one of claims 1 to 3, the method comprising: The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend; The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers; When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward; If the drone is off, press the membrane switch with your thumb to start the drone; If the drone is powered on and the flight altitude is zero, pressing the membrane switch with your thumb will shut down the drone and stop the propellers.

6. The method according to claim 5, characterized in that If the bending angle between the palm and the fingers is greater than 80 degrees, it is considered to be in a fist state.

7. A gesture operation method for the wearable drone hand control device according to claim 4, the method comprising: The palm facing down controls the drone to descend, and the palm facing up controls the drone to ascend; The speed of the drone's descent or ascent is controlled according to the bending angle of the fingers, and the following conditions are met: the larger the bending angle of the fingers, the smaller the speed, until the drone hovers; When the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left, and the fingers are bent and clenched into a fist. The control command is to control the drone to hover; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces left and the fingers are spread forward. The control command is to control the drone to move forward; when the right hand wears it, the palm faces left or when the left hand wears it, the palm faces right and the fingers are spread backward. The control command is to control the drone to move backward; If the drone is in the off state, the drone is started by pressing the first membrane switch with the thumb; If the drone is powered on and the flight altitude is zero, the drone is turned off and the propellers are stopped by pressing the first membrane switch with the thumb; The drone is in the power-on state. Press the third membrane switch with your thumb to set the control command to cruise control. The previous state is maintained and is no longer affected by the direction sensor state of the finger and palm. Press the third membrane switch with your thumb again to exit the cruise control state. The drone is in the on state, and by pressing the second membrane switch with the thumb, a command to throw an object is sent to the drone.

8. The method according to claim 7, characterized in that In the cruise control mode, pressing the first membrane switch again will send a return instruction.

9. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 5 to 8 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 5 to 8 is implemented.

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