CN106293103A - Four-axle aircraft gesture control device based on inertial sensor and control method - Google Patents

Abstract

The invention relates to a somatosensory gesture control device and a control method of a four-axis aircraft. The gesture control device includes: a controller and an inertial sensor. The inertial sensing node must include a three-axis angular velocity meter and a three-axis accelerometer, or a six-axis inertial sensor integrating the two, and the three-axis magnetometer may not be included. The inertial sensing node is fixed on the back of the second knuckle of the finger and the positive direction of the Y-axis points to the fingertip. The fusion of motion and attitude adopts a strapdown navigation algorithm. A six-axis inertial sensor is integrated on the controller as a reference point, and the actual measurement angle of the finger is the relative angle between the inertial sensor of the finger joint and the reference point. In the control method, according to the order of collection and processing, the process can be divided into three steps: sensor configuration, error collection and finger instruction calculation. The control method only uses the roll angle to judge the gesture of the finger. In the left-hand gesture command, the throttle gear is determined according to the index of the extended hand. The right-hand gesture command determines the forward, backward, left and right flight directions of the aircraft according to the stretching and retracting of the thumb and the remaining four fingers.

Description

Gesture control device and control method for quadcopter based on inertial sensor

technical field

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

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.

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 advantage is that it can be operated with bare hands, which is the most ideal way of manipulation. However, the disadvantage is that the requirements for ambient light are relatively harsh, and the intensity and uniformity of light have a great impact on the recognition rate. In addition, image-based gesture recognition algorithms are all second-order vector operations, which require a dedicated graphics processor to accelerate. The delay and power consumption of the entire processing process are large, and they are usually used on the host device.

Another way is based on sensor technology, that is, using various sensors attached to the finger joints to detect finger movements. Among them, the most important type of sensor is the inertial sensor. This inertial sensor usually includes a three-axis gyroscope, a three-axis accelerometer (some products also include a three-axis magnetometer). The biggest advantage of this gesture recognition method is that the measured data is direct, fast, low power consumption and less affected by the environment. It is suitable for scenes with high real-time requirements, especially suitable for controlling quadcopters outdoors.

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, and directly use the original data for judgment. Accuracy is greatly affected. (2) The robustness of gesture recognition is not enough, only when the palm maintains a certain posture, the recognition rate is higher, for example, when the hand is tilted, the recognition rate drops sharply. (3) The difference of gesture commands is not obvious enough. For example, when rotating the wrist and swinging the arm, a slight rotation will also occur when swinging, which is prone to misuse.

Contents of the invention

The problem to be solved by the invention

The technical problem to be solved by the present invention is how to balance the accuracy and speed of gesture recognition, improve the robustness of gesture recognition, and propose a set of gesture action instructions with obvious differences that facilitate stable recognition.

solutions to problems

In view of this, the present invention proposes a quadcopter gesture control device and control method based on an inertial sensor, and proposes a solution to the above problems.

On the one hand, a gesture control device is proposed, including: a controller and an inertial sensor node. Wherein, the controller is fixed on the back of the hand, and the inertial sensing node is fixed at the second knuckle of the finger. The inertial sensor is used to collect the motion attitude angle information of the finger and output it to the controller, and the controller is used to collect the output data of the sensor and send a control command to the quadcopter.

The inertial sensing node must include a three-axis angular velocity meter and a three-axis accelerometer, and the three-axis magnetometer may not be included.

The inertial sensing node is fixed on the back of the second knuckle of the finger and the positive direction of the Y-axis points to the fingertip.

The fusion of motion attitude adopts strapdown navigation algorithm, and the measurement range of the pitch angle after fusion is -80°～+80°; the measurement range of roll angle is -180°～180°; measurement results.

In the control method, only the roll angle is used to judge the gesture of the finger.

An inertial sensor is integrated on the controller, which is used as a reference point, and the actual measurement angle of the finger is the relative angle between the inertial sensor of the finger joint and the reference point.

On the other hand, a control method is proposed, and the specific implementation steps are as follows:

Step 1: Configuring sensors and collecting error values refers to configuring sensors according to certain requirements and collecting error values of angular velocity and acceleration.

Step 2: Collect finger information and calculate the degree of bending of the fingers, which refers to collecting the acceleration and angular velocity of each finger, and calculating the degree of bending of each finger relative to the back of the hand.

Step 3: Calculate the current gesture and send the corresponding control command, which refers to calculating the current gesture according to the bending degree of the fingers of both hands, and sending the corresponding gesture control command to the quadcopter.

The left-hand control instruction is specifically:

Accelerator first gear: With the palm facing the ground, stretch the index finger flat, and curl the rest of the fingers. The gesture takes the index finger as an example, and may also be a stretching motion of any other finger.

Accelerator gear two: palms facing the ground, stretch out the index finger and middle finger, and curl the rest of the fingers. The gestures take the index finger and the middle finger as an example, and may also be the stretching motion of any other two fingers.

The third gear of the accelerator: palms facing the ground, stretch out the index finger, middle finger and ring finger, and curl the rest of the fingers. The gestures take the index finger, middle finger and ring finger as an example, and may also be the stretching motion of any other three fingers.

Accelerator gear 4: With the palm facing the ground, stretch out the index finger, middle finger, ring finger and little finger, and curl the thumb. The gestures take the index finger, middle finger, ring finger and little finger as an example, and may also be the stretching motion of any other four fingers.

Accelerator gear 5: It means that the palm of the hand is facing the ground and five fingers are stretched out.

The right-hand gesture instruction is specifically:

Fly forward: palms up, thumbs curled up, and the remaining four fingers stretched out.

Fly backwards: palms facing the sky, thumbs curled, and the other four fingers curled and pressed against the thumbs.

Fly to the left: palms facing the ground, thumbs stretched out to the left, and the other four fingers curled up.

Flying to the right: With the palm facing the sky, the thumb is stretched flat to the right, and the other four fingers are curled up.

Description of drawings

Figure 1: is a schematic diagram of the left gesture command of the control device of the present invention;

Figure 2: is a schematic diagram of the right gesture command of the control device of the present invention;

Fig. 3: is the schematic structural diagram of the control device of the present invention;

Fig. 4: is the control flowchart of the present invention;

detailed description

Various exemplary embodiments, features, and aspects of the invention will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

In addition, in order to better illustrate the present invention, numerous specific details are given in the specific embodiments below. It will be understood by those skilled in the art that the present invention may be practiced without certain of the specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail in order to highlight the gist of the present invention.

FIG. 1 shows a schematic diagram of left gesture commands of a control device according to an embodiment of the present invention. In the figure, finger numbers 101 to 105 represent the thumb, index finger, middle finger, ring finger, and thumb of the left hand respectively. The left hand controls the throttle of the quadcopter, and the gestures 106-110 indicate that the control throttle is divided into five gears from low to high.

Left Gesture 106: Indicates that the palm of the hand is facing the ground, the index finger is stretched out, and the rest of the fingers are curled up. This gesture controls the accelerator to the first gear. The gesture takes the index finger as an example, and may also be a stretching motion of any other finger.

Left hand gesture 107: Indicates that the palm is facing the ground, the index finger and middle finger are extended flat, and the rest of the fingers are curled up. This gesture controls the accelerator to the second gear. The gestures take the index finger and the middle finger as an example, and may also be the stretching motion of any other two fingers.

Left hand gesture 108: Indicates that the palm is facing the ground, the index finger, middle finger and ring finger are stretched out, and the rest of the fingers are curled up. This gesture controls the throttle to the third gear. The gestures take the index finger, middle finger and ring finger as an example, and may also be the stretching motion of any other three fingers.

Left gesture 109: Indicates that the palm is facing the ground, the index finger, middle finger, ring finger and little finger are stretched out, and the thumb is curled up. This gesture controls the accelerator to four gears. The gestures take the index finger, middle finger, ring finger and little finger as an example, and may also be the stretching motion of any other four fingers.

Left Gesture 110: Indicates that the palm of the hand faces the ground and five fingers are stretched out. This gesture controls the accelerator to five gears.

Fig. 2 shows a schematic structure diagram of a right gesture command of a control device according to an embodiment of the present invention, in which finger numbers 201-205 respectively represent the thumb, index finger, middle finger, ring finger, and thumb of the right hand in turn. The right gestures 206-209 represent to control the quadcopter to fly forward, backward, left, and right respectively, and the so-called front, rear, left, and right directions here are relative to the initial position of the quadcopter.

Right hand gesture 206: means the palm is facing the sky, the thumb is curled up, and the other four fingers are stretched out. This gesture controls the aircraft to fly forward.

Right hand gesture 207: means the palm is facing the sky, the thumb is curled up, and the other four fingers are curled up and pressed on the thumb. This gesture controls the aircraft to fly backward.

Right hand gesture 208: means the palm is facing the ground, the thumb is extended to the left, and the other four fingers are curled up. This gesture controls the aircraft to fly to the left.

Right Gesture 209: Indicates that the palm is facing the sky, the thumb is extended to the right, and the other four fingers are curled up. This gesture controls the aircraft to fly to the right.

Fig. 3 shows a schematic diagram of a control device 300, a connection line 309 and a knuckle detection device 310 of an example of the present invention. As shown in the figure, the control device includes a microcontroller 301, an inertial sensor 302, and a wireless transmission module (1) 303 , a wireless transmission module (2) 304 , a power supply module 305 , and other peripheral modules 306 such as LEDs. The detection device includes a wiring port 307 and an inertial sensor 308 . Wherein, the microcontroller 301 is respectively connected to the inertial sensor module 302, the wireless transmission module (1) 303, the wireless transmission module (2) 304, and the wiring port 307 through SPI communication. The interface line 307 is directly connected to the inertial sensor 308 . The control device 300 is fixed on the back of the hand and the positive direction of the Y-axis of the inertial sensor 302 points to the four fingers. The detection device 310 is fixed on the back of the second knuckle of the finger and the positive direction of the Y-axis of the inertial sensor 308 points to the nail cap.

Fig. 4 shows a control method of a quadcopter provided by the present invention. The specific implementation steps are as follows:

Step 1: Configure the sensor and collect the error value

In a possible implementation, the controller configures the inertial sensor according to certain requirements and controls the inertial sensor to collect the angular velocity Gyro and acceleration Acc of the finger at a certain speed, and reads the two data into the controller to calculate the angular velocity errors e_gyro and Acceleration error e_acc. Among them, angular velocity and acceleration are three-dimensional vectors.

In a specific embodiment:

Put your hands and five fingers together and place them horizontally with the back of your hands facing up and keep them in a static state, collect acceleration and angular velocity values and record the number of acquisitions num.

Acquisition of angular velocity: Gyro(i)=Gyro_Correct()

The size of the collected acceleration: Acc(i)=Acc_Correct()

Calculate the angular velocity error:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Calculate the acceleration error:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}\underset{\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 1</span>}}{\overset{\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; u</span>}\mathrm{<span\; class="notranslate">\; m</span>}}{<span\; class="notranslate">\; \&Sigma;</span>}}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Step 2: Collect finger information and calculate the degree of bending of the finger

In a possible implementation manner, the angular velocity Gyro(i) and the acceleration Acc(i) are collected and the strapdown inertial navigation algorithm (IMU) is used to calculate the finger attitude and calculate the bending degree of the finger.

In a specific embodiment:

(1) Calibrate the collected Gyro(i) and Acc(i) first

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; G</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; g</span>}\mathrm{<span\; class="notranslate">\; the\; y</span>}\mathrm{<span\; class="notranslate">\; r</span>}\mathrm{<span\; class="notranslate">\; o</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

and

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; x</span>}\\ \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Y</span>}\\ \mathrm{<span\; class="notranslate">\; f</span>}\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; no</span>}\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; l</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; i</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; e</span>}<span\; class="notranslate">\; \_</span>\mathrm{<span\; class="notranslate">\; a</span>}\mathrm{<span\; class="notranslate">\; c</span>}\mathrm{<span\; class="notranslate">\; c</span>}<span\; class="notranslate">\; .</span>\mathrm{<span\; class="notranslate">\; Z</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

Among them, Final.Gyro(i).X, Final.Gyro(i).Y, Final.Gyro(i).Z, Final.Acc(i).XFinal.Acc(i).Y, Final.Acc(i ).Z respectively represent the calibrated angular velocity and acceleration of each axis.

(2) Unitize the calibrated acceleration and angular velocity to get FN.Gyro(i).X, FN.Gyro(i).Y, FN.Gyro(i).Z, FN.Acc(i).X , FN.Acc(i).Y, FN.Acc(i).Z.

(3) The gravitational acceleration vector in the geographic coordinate system Through the pose transformation matrix Convert to a vector in the vector coordinate system So

$\mathrm{<span\; class="notranslate">\; V</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}^{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; R</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; )</span>$

in, by the quaternion The matrix formed and the initial value of the quaternion

(4) In the carrier coordinate system, calculate the error between the acceleration FN.Acc(i) measured by the inertial sensor and the acceleration V transformed by the attitude matrix, denoted as e.

e=FN.Acc(i)×V (6)

(5) The angular velocity is corrected by proportional and integral, the correction amount δ and the corrected angular velocity w are respectively:

δ＝K _p e+K _i ∫e (7)

w=FN.Gyro(i)+δ (8)

(6) Use the corrected angular velocity to update the quaternion

From the quaternion differential equation:

$\left[\begin{array}{c}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}}\\ \stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}\\ \stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}}\\ \stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}}\end{array}\right]<span\; class="notranslate">\; =</span>\left[\begin{array}{cccc}\mathrm{<span\; class="notranslate">\; 0</span>}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}\\ {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}\\ {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}& {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}\\ {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}& {\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}& <span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; w</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}& \mathrm{<span\; class="notranslate">\; 0</span>}\end{array}\right]\left[\begin{array}{c}{\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\mathrm{<span\; class="notranslate">\; q</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\end{array}\right]<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 9</span>}<span\; class="notranslate">\; )</span>$

in are the components of the updated quaternion

(7) Use the updated quaternion to find the Euler angle

Heading:

Pitch angle: pitch＝arcsin(2(q ₀ q ₂ -q ₁ q ₃ ))

Roll Angle:

The roll angle is the angle at which the inertial sensor rotates around the X axis, denoted as D ₀ , so the angle D 0 at which the inertial sensor 302 on the back of the hand rotates around the X axis and the rotation angle D ₀ of the inertial sensor 308 on each finger (except the thumb) around the X axis are calculated. The angle D _i of axis rotation is the bending angle DT i of each finger (except the thumb) relative to the back of the hand DT _i =D _i −D ₀ .

Step 3: Calculate the current gesture and send the corresponding control command

In a possible implementation manner, when the five fingers are put together and the back of the hand is kept still, D ₀ is between C ₁ and C ₂ . For example, after many repeated experiments, it is measured that -3° to +3° is a stable state. The rotation angles D ₂ , D ₃ , D ₄ , and D ₅ of the inertial sensors on the index finger, middle finger, ring finger, and little finger around the X axis are between C ₃ and C ₄ . The angle displayed is between -3° and +5° when straightened and held steady. The rotation angle D ₁ of the inertial sensor on the thumb around the X axis is between C ₅ and C ₆ , for example, after repeated experiments, it is measured that the stable state is between 30° and 40°.

When the back of the hand is held horizontally with the second knuckles of the four fingers and the thumb is extended perpendicular to the four fingers, D ₂ , D ₃ , D ₄ , and D ₅ are all between C ₇ and C ₈ , for example, after many times Repeat the experiment, the measured data shows that it is stable between 75° and +93°. D ₁ is between C ₉ and C ₁₀ , for example, the data is stable between 70° and 87° after repeated experiments.

It is generally known that when DT _i (i=2, 3, 4, 5) is between 0° and (C ₄ -C ₁ +ε)°, for example, between 0° and +10°, it is considered that DT The finger corresponding to _i is in a straight state relative to the back of the hand; when D ₁ is between 0° and (C ₆ +ε), for example, between 0° and +40°, the thumb is considered to be in a closed state. where ε represents a small angular margin.

When DT _i (i=2, 3, 4, 5) is greater than (C ₇ +ε), for example, greater than 65°, it is considered that the finger corresponding to DT _i is in a tight grip relative to the back of the hand; when D ₁ is greater than (C ₉ +ε), for example, greater than 70°, the thumb is considered to be in an open state.

Therefore, it can be determined which gesture is currently in according to the number of fingers opened or clenched, and finally the command corresponding to the gesture is sent to the quadcopter.

Claims (9)

1. The gesture control device is characterized in that it comprises: a controller and an inertial sensing node, wherein the controller is fixed on the back of the hand, and the inertial sensing node is fixed at the second knuckle of the finger; the inertial sensor It is used to collect the movement attitude angle information of the finger and output it to the controller, and the controller is used to collect the output data of the sensor and send a control instruction to the quadcopter. 2. The gesture control device according to claim 1, wherein the inertial sensing node must include a three-axis angular velocity meter and a three-axis accelerometer, or a six-axis inertial sensor integrated with the two, a three-axis magnetometer May not be included. 3 . The gesture control device according to claim 1 , wherein the inertial sensing node is fixed on the back of the second knuckle of the finger and the positive direction of the Y-axis points to the fingertip. 4 . 4. The gesture control device according to claim 1, wherein the fusion of the motion posture adopts a strapdown navigation algorithm, and the measurement range of the pitch angle after fusion is -90°～+90°; the measurement range of the roll angle is -180°~180°; the geomagnetism causes the yaw angle to drift continuously, and there is no accurate measurement result. 5. The gesture control device according to claim 1, wherein a six-axis inertial sensor is integrated on the controller as a reference point, and the actual measurement angle of the finger is the relative distance between the inertial sensor of the finger joint and the reference point angle. 6. On the other hand, a control method is proposed, characterized in that, The control method can divide the process into three steps according to the order of collection and processing: Step 1: Configure the sensor and collect the error value, which refers to configuring the sensor according to certain requirements and collecting the error value of angular velocity and acceleration; Step 2: Collect finger information and calculate the degree of bending of the fingers, which refers to collecting the acceleration and angular velocity of each finger, and calculating the degree of bending of each finger relative to the back of the hand; Step 3: Calculate the current gesture and send the corresponding control command, which refers to calculating the current gesture according to the bending degree of the fingers of both hands, and sending the corresponding gesture control command to the quadcopter. 7 . The gesture control method according to claim 6 , wherein in the control method, only the roll angle is used to judge the gesture of the finger. 8. The gesture control method according to claim 6, wherein the left-hand control command is specifically: Accelerator gear 1: With the palm facing the ground, extend the index finger flat, and curl the rest of the fingers; the above gestures take the index finger as an example, and it can also be the flat extension movement of any other finger; Accelerator gear 2: With the palm facing the ground, stretch the index finger and middle finger, and curl the rest of the fingers; the above gestures take the index finger and middle finger as an example, and can also be the stretching motion of any other two fingers; Accelerator gear three: With the palm facing the ground, stretch out the index finger, middle finger and ring finger, and curl the rest of the fingers; the above gestures take the index finger, middle finger and ring finger as an example, and can also be the flat stretching movement of any other three fingers; Accelerator gear four: With the palm facing the ground, stretch out the index finger, middle finger, ring finger and little finger, and curl the thumb; the above gestures take the index finger, middle finger, ring finger and little finger as an example, and can also be the flat stretching movements of any other four fingers; Accelerator gear 5: It means that the palm of the hand is facing the ground and five fingers are stretched out. 9. The gesture control method according to claim 6, characterized in that, The right-hand gesture instruction is specifically: Fly forward: palms facing the sky, thumbs curled up, and the other four fingers stretched out; Flying backwards: with the palm facing the sky, the thumb is curled up, and the other four fingers are curled up and pressed against the thumb; Flying to the left: palms facing the ground, thumb stretched to the left, and the other four fingers curled; Flying to the right: With the palm facing the sky, the thumb is stretched flat to the right, and the other four fingers are curled up.