CN107305470A - Unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal - Google Patents
Unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal Download PDFInfo
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- CN107305470A CN107305470A CN201610261858.2A CN201610261858A CN107305470A CN 107305470 A CN107305470 A CN 107305470A CN 201610261858 A CN201610261858 A CN 201610261858A CN 107305470 A CN107305470 A CN 107305470A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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Abstract
The invention discloses a kind of unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal, it the described method comprises the following steps：Detect the touch pressure that touch action and the touch action are produced；The touch action and the touch pressure according to detecting determine athletic performance and the action parameter of the unmanned plane, and are sent to the unmanned plane according to the athletic performance and action parameter generation control instruction.Because touch operation is very convenient quick, and can flexibly change touch pressure when touching, user can follow one's bent by once in operation, the athletic posture of unmanned plane can be adjusted with action parameters such as any angle, speed, height, realize and pass through flexible, accurate manipulation of the mobile terminal to unmanned plane, so that user is more friendly with interacting for unmanned plane, the intelligence degree of unmanned plane is improved, Consumer's Experience is greatly improved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of unmanned aerial vehicle (UAV) control method based on mobile terminal and
Device.
Background technology
With developing rapidly for unmanned air vehicle technique, unmanned plane is gradually applied to every field, including agricultural, film and television
The fields such as acute shooting, logistics express delivery, food and drink food delivery, insurance survey, police execution.Unmanned plane is described as " air-robot ", must
Daily life will be gradually entered into, the various aspects applied to production and living.
At present, the mode of people and unmanned plane interaction mainly has remote control, voice, body-sensing etc..Speech recognition can only be recognized at present
A part of voice command, also has great difficulty, body-sensing then needs more sensing datas for the semantic understanding of natural language
And the support of complicated algorithm, and remote control mode is then relatively simple, reliable, and control instruction is sent directly to unmanned plane.
The mode of remotely pilotless machine is varied, such as can by computor-keyboard, game paddle, mobile terminal remote control
Unmanned plane.At present, the unmanned aerial vehicle (UAV) control mode based on mobile terminal is installed in an application (APP), the control interface of application
There are four control buttons up and down, control unmanned plane to perform corresponding athletic performance, example by pressing four control buttons
Such as, key in pressing, unmanned plane advances, and presses left button, and unmanned plane is moved to left etc., but the action parameter such as speed, the angle of unmanned plane
It is then fixed, user can not adjust and control in real time.
Therefore, the existing unmanned aerial vehicle (UAV) control method based on mobile terminal, control mode is more dull mechanical, it is impossible to realize
Flexibly accurately unmanned plane is manipulated, Consumer's Experience is not good.
The content of the invention
The main purpose of the embodiment of the present invention is a kind of unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal of offer,
It is intended to improve flexibility and the accuracy for controlling unmanned plane by mobile terminal.
To achieve these objectives, a kind of unmanned aerial vehicle (UAV) control method based on mobile terminal is on the one hand proposed, is comprised the following steps：
Detect the touch pressure that touch action and the touch action are produced；
The touch action and the touch pressure according to detecting determine the athletic performance and action of the unmanned plane
Parameter；
The unmanned plane is sent to according to the athletic performance and action parameter generation control instruction.
Further, there are mapping relations, different touch actions pair between the touch action and the athletic performance
Answer different athletic performances.For example：When touch action is linear slide, camber line slip or Continued depression, corresponding motion is moved
It is used as tumbling action, spinning movement or lifting action.
Further, the touch action and the touch pressure that the basis is detected determine the fortune of the unmanned plane
Action and action parameter, including：
When the touch action is linear slide, the athletic performance for determining the unmanned plane is tumbling action, and according to
Glide direction determines rolling direction, and rolling angle is determined according to sliding distance, is determined to perform according to the size of the touch pressure
The speed during tumbling action.
Further, the rolling angle is calculated by below equation：
Wherein, l represents the actually detected sliding distance arrived, lmaxRepresent the maximum sliding distance of setting, DmaxRepresent setting
Maximum rolling angle, D represents the rolling angle finally calculated.
Further, the touch action and the touch pressure that the basis is detected determine the fortune of the unmanned plane
Action and action parameter, including：
When the touch action is that camber line is slided, the athletic performance for determining the unmanned plane is spinning movement, and according to
Glide direction determines direction of rotation, and the anglec of rotation is determined according to slip angle, is determined to perform the rotation according to the touch pressure
Rotate speed when making.
Further, the speed is calculated by below equation：
Wherein, P represents the actually detected touch pressure arrived, PmaxRepresent the maximum touch pressure of setting, PminRepresent setting
Minimum touch pressure, PdegreeP is mapped to 0 °~90 ° of value by expression, and α represents the proportionality coefficient of setting, SαRepresent final meter
The speed calculated.
Further, the touch action and the touch pressure that the basis is detected determine the fortune of the unmanned plane
Action and action parameter, including：
When the touch action is that Continued depression is acted, the athletic performance for determining the unmanned plane is lifting action, and
Adjustable height is determined according to the touch pressure.
Further, the adjustable height is calculated by below equation：
Wherein, P represents the actually detected touch pressure arrived, PmaxRepresent the maximum touch pressure of setting, PminRepresent setting
Minimum touch pressure, HmaxRepresent the maximum adjustable height of setting, HminThe minimum adjustable height of setting is represented, H represents final
The adjustable height calculated.
Further, the athletic performance and action parameter are constituted into a packet and plus data packet head, calculates school
Test and be sent to the unmanned plane together as control instruction by the verification and together with the packet.
On the other hand, a kind of unmanned aerial vehicle (UAV) control device based on mobile terminal is proposed, including：
Touch-screen, for detecting touch action；
Pressure sensor, for detecting the touch pressure that the touch action is produced；
Processing module, the fortune for determining the unmanned plane according to the touch action and the touch pressure that detect
Action and action parameter, and the unmanned plane is sent to according to the athletic performance and action parameter generation control instruction.
Further, the processing module is used for：
When the touch action is linear slide, the athletic performance for determining the unmanned plane is tumbling action, and according to
Glide direction determines rolling direction, and rolling angle is determined according to sliding distance, is determined to perform according to the size of the touch pressure
The speed during tumbling action.
Further, the processing module is used for：
When the touch action is that camber line is slided, the athletic performance for determining the unmanned plane is spinning movement, and according to
Glide direction determines direction of rotation, and the anglec of rotation is determined according to slip angle, is determined to perform the rotation according to the touch pressure
Rotate speed when making.
Further, the processing module is used for：
When the touch action is that Continued depression is acted, the athletic performance for determining the unmanned plane is lifting action, and
Adjustable height is determined according to the touch pressure.
Further, in addition to communication module, the communication module is used for：Pass through bluetooth, wireless network or mobile communication
Network is set up with the unmanned plane and communicated to connect.
A kind of unmanned aerial vehicle (UAV) control method based on mobile terminal that the embodiment of the present invention is provided, by detecting that user is touching
Touch the touch action and touch pressure on screen, to determine athletic performance and the action parameter of unmanned plane, and then control unmanned plane according to
Corresponding athletic performance is performed according to the action parameter.Can spirit because touch operation is very convenient quick, and when touching
Change touch pressure living, user can follow one's bent by once in operation, can be with any angle, speed, height etc.
Action parameter adjusts the athletic posture of unmanned plane, realizes and passes through flexible, accurate manipulation of the mobile terminal to unmanned plane so that use
Family is more friendly with interacting for unmanned plane, improves the intelligence degree of unmanned plane.Using the technical scheme of the embodiment of the present invention,
User can be allowed to possess control UAV Attitude, speed, the real-time control experience of height in real time, allow unmanned plane to follow user
Finger slide and move, be greatly improved Consumer's Experience.
Brief description of the drawings
Fig. 1 is the flow chart of the unmanned aerial vehicle (UAV) control method first embodiment of the invention based on mobile terminal；
Fig. 2 is the flow chart of the unmanned aerial vehicle (UAV) control method second embodiment of the invention based on mobile terminal；
Fig. 3 is the structural representation of a unmanned plane in the embodiment of the present invention；
Fig. 4 is the module diagram of the unmanned plane shown in Fig. 3；
Fig. 5 is the module diagram of the unmanned aerial vehicle (UAV) control device of the invention based on mobile terminal.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, the unmanned aerial vehicle (UAV) control method first embodiment of the invention based on mobile terminal is proposed, methods described includes
Following steps：
S11, mobile terminal and unmanned plane, which are set up, to be communicated to connect.
Mobile terminal and unmanned plane can pass through bluetooth, wireless network (such as wifi network), mobile communications network (i.e. honeycomb
Network) etc. set up communication connection.
For example, mobile terminal has bluetooth module (short-range communications module) with unmanned plane, the two is set up by bluetooth module
Short-haul connections is connected；And for example, mobile terminal has wifi module (remote communication module) with unmanned plane, and the two passes through wifi module
Wireless network is accessed, setting up telecommunication by wireless network connects；For another example, mobile terminal has cellular radio mould with unmanned plane
Block (remote communication module), the two sets up remote by cellular radio module accessing mobile communication network by mobile communications network
Journey is communicated to connect.
Communicated to connect in addition, mobile terminal can also be set up with unmanned plane by other short ranges or remote communication module,
This will not enumerate.
Set up after communication connection, mobile terminal can initialize touch action and be closed with athletic performance and the mapping of action parameter
The mapping relations of system, touch pressure and action parameter, and relevant parameter.Mapping relations can dispatch from the factory it is preset, can also by with
Family is self-defined to be set.
Touch action is operational motion of the user's finger on the touch-screen of mobile terminal, including linear slide is (such as forward,
Backward, to the right or to the left linear slide), camber line slide (as slided clockwise or counterclockwise), Continued depression (or long-press, i.e.,
According to not sliding) etc..
Athletic performance is the athletic postures such as tumbling action, spinning movement, lifting action that unmanned plane is performed.Wherein, roll
Action including pitching (diving forward and obduction forward) and roll including toward any direction rolling, such as (can to the left turn over
Rolling and to the right rolling)；Spinning movement can include left-handed and dextrorotation, and lifting action can include straight line rise and straight line declines.
It is alternatively possible to set up touch action and athletic performance and the following mapping relations of action parameter：
Linear slide correspondence tumbling action, the different rolling direction of different glide direction correspondences or mode (are such as dived, faced upward
Rush, roll left, right rolling), the different rolling angles (such as luffing angle, roll angle) of different sliding distances correspondences；Camber line is slided
Act corresponding rotation to act, the different direction of rotation (such as left-handed, dextrorotation, or dextrorotation, derotation) of different glide direction correspondences,
The different anglec of rotation of different slip angle correspondences；Continued depression correspondence lifting action.Wherein, rolling direction, rolling angle,
Direction of rotation can be understood as action parameter, or rolling angle is interpreted as into action parameter, rolling direction and direction of rotation reason
Solve as specific athletic performance.
It is alternatively possible to set up the following mapping relations of touch pressure and action parameter：
The different speed of different touch pressure correspondences or adjustable height, when speed refers to execution tumbling action, spinning movement
Speed, adjustable height refer to perform lifting action when from the plane of reference (such as ground) height.
It will be understood by those skilled in the art that in addition to the touch action of aforementioned list and athletic performance, can also be similarly
Other touch actions and athletic performance are set；Touch action and touch pressure and athletic performance and action except aforementioned list
Outside the mapping relations of parameter, other mapping relations can also be similarly set.It will not enumerate herein.
The touch pressure that S12, mobile terminal detection touch action and the touch action are produced.
Mobile terminal detects touch action by touch-screen, should by the pressure sensor detection below the touch-screen
The touch pressure that touch action is produced.
S13, mobile terminal determine the athletic performance and action of unmanned plane according to the touch action and touch pressure that detect
Parameter.
Mobile terminal is detected after touch action and touch pressure, according to touch action and athletic performance and action parameter
Mapping relations, and touch pressure and action parameter mapping relations, it is determined that it is corresponding with touch action and touch pressure motion
Action and kinematic parameter.
For example：
When touch action is linear slide, the athletic performance for determining unmanned plane is tumbling action, and according to glide direction
It is determined that rolling direction, rolling angle is determined according to sliding distance, when determining to perform tumbling action according to the size of touch pressure
Speed；When touch action is that camber line is slided, the athletic performance for determining unmanned plane is spinning movement, and is determined according to glide direction
Direction of rotation, speed when determining to perform spinning movement according to the size of touch pressure；When touch action is Continued depression, really
The athletic performance for determining unmanned plane is lifting action, and determines adjustable height according to the size of touch pressure.
It is determined that during rolling angle, linear mapping relation can be set up to sliding distance and rolling angle, pass through below equation
Calculate rolling angle：
Wherein, l represents the actually detected sliding distance arrived, lmaxRepresent the maximum sliding distance of setting, DmaxRepresent setting
Maximum rolling angle, the maximum rolling angle that usually unmanned plane can reach, D represents the rolling angle finally calculated.
Further, for the tumbling action of different directions, different maximum rolling angles can be set respectively.For example,
For pitching (front and rear rolling) and roll (left and right rolling), rolling angle can be calculated by below equation respectively：
Wherein,Represent the maximum luffing angle of setting, the maximum luffing angle that usually unmanned plane can reach, Dfy
Represent the luffing angle finally calculated；The maximum roll angle of setting is represented, usually unmanned plane can reach most
Big roll angle, DhgRepresent the roll angle finally calculated.WithIt can be the same or different.
It is determined that when performing tumbling action and speed during spinning movement, can be to touch pressure and the speed of rolling, rotation
Nonlinear Mapping relation is set up, passes through below equation calculating speed：
Wherein, P represents the actually detected touch pressure arrived, PmaxThe maximum touch pressure of setting is represented, usually user's hand
Refer to the maximum pressure that pressing mobile terminal touch screen can reach, PminThe minimum touch pressure of setting is represented, usually user's finger
The minimum pressure that pressing mobile terminal touch screen can reach, PdegreeP is mapped to 0 °~90 ° of value by expression, and α represents setting
Proportionality coefficient, SαRepresent the speed finally calculated.α can be set according to the actual requirements, and α is bigger, unmanned plane perform rolling and
Velocity variations during spinning movement are faster, on the contrary then change slower.
When determining the anglec of rotation of spinning movement, anglec of rotation d is used as using the slip angle that camber line is slided.
When determining adjustable height, linear mapping relation can be set up to touch pressure and adjustable height, pass through below equation
Calculate adjustable height：
Wherein, P represents the actually detected touch pressure arrived, PmaxThe maximum touch pressure of setting is represented, usually user's hand
Refer to the maximum pressure that pressing mobile terminal touch screen can reach, PminThe minimum touch pressure of setting is represented, usually user's finger
The minimum pressure that pressing mobile terminal touch screen can reach, HmaxThe maximum adjustable height of setting is represented, usually unmanned plane can
The maximum adjustable height reached, HminThe minimum adjustable height of setting is represented, H represents the adjustable height finally calculated.
List rolling angle, rolling and the speed of rotation and the calculation formula of adjustable height respectively above, in fact,
Above-mentioned action parameter can also be calculated using other calculation formula, will not be repeated here.
The athletic performance and action parameter of S14, mobile terminal according to determination generate control instruction and are sent to unmanned plane.
Mobile terminal is merged the data such as the athletic performance of determination and action parameter, constitutes a packet, then
Using the packet as control instruction, unmanned plane is sent to by bluetooth, wireless network, mobile communications network etc..
Mobile terminal to unmanned plane can send control instruction in real time according to the touch action detected, can also be every pre-
If the time sends a control instruction to unmanned plane.
S15, unmanned plane receive control instruction, parse and athletic performance and action parameter are obtained after the control instruction.
Unmanned plane receives the control instruction that mobile terminal is sent by bluetooth, wireless network, mobile communications network etc., parsing
The data such as athletic performance and action parameter are obtained after the control instruction.
S16, unmanned plane perform athletic performance according to action parameter.
For example, unmanned plane is with the angle D that dives accordinglyfyUnderriding action is performed with speed, with corresponding speed SαAnd rotation
Angle d performs left-handed action, is ramped according to adjustable height H execution or down maneuver, etc..
Unmanned plane is according to Dfy、Dhg, d values can use relative change when changing its pitching, roll, left-handed and dextrorotation angle,
That is, the position after unmanned plane rotates last time is used as the next original position rotated.It is high that unmanned plane changes it according to H values
It is on elemental height when spending plus H, when user's finger leaves touch-screen, unmanned plane returns to its elemental height again.
Further, in step S14, mobile terminal is melted the data such as the athletic performance of determination and action parameter
Close, after one packet of composition, along with data packet head, calculate verification and send jointly to nothing by verification and together with packet
It is man-machine.In step S15, unmanned plane is received after control instruction, and read data packet simultaneously calculates verification and judges the verification calculated
With the verification that is calculated with mobile terminal that packet is carried and whether consistent, when consistent just according to control instruction execution accordingly
Athletic performance, illustrates to generate mistake in data transmission procedure when inconsistent, ignores the control instruction, not performs motion dynamic
Make.So as to ensure the accuracy of control.
Referring to Fig. 2, the unmanned aerial vehicle (UAV) control method second embodiment of the invention based on mobile terminal, methods described application are proposed
In mobile terminal side, comprise the following steps：
S21 and unmanned plane, which are set up, to be communicated to connect.
Alternatively, mobile terminal is set up after communication connection with unmanned plane, to lmax、Dmax(such as)、Pmax、Pmin、
Hmax、Hmin, the parameter such as α initialized, while d=0 ° of initialization, Dfy=0 °, Dhg=0 °, H=0, α can be according to actual need
Set, be such as set to 4.
The touch pressure that S22, detection touch action and the touch action are produced.
Touch action and touch pressure that S23, basis are detected determine athletic performance and the action parameter of unmanned plane.
S24, the athletic performance according to determination and action parameter generation control instruction are simultaneously sent to unmanned plane.
Mobile terminal to unmanned plane can send control instruction in real time according to the touch action detected, can also be every pre-
If the time sends a control instruction to unmanned plane.After control instruction has been sent, return to step S22 performs lower whorl control.
Step S21-S24 in the present embodiment is identical with the step S11-S14 in first embodiment respectively, no longer goes to live in the household of one's in-laws on getting married herein
State.
Further, in step S24, mobile terminal is merged the data such as the athletic performance of determination and action parameter,
Constitute after a packet and plus after data packet head, also calculate verification and send jointly to nothing by verification and together with packet
It is man-machine, so that unmanned plane carries out checksum validation and by just performing athletic performance after checking.So as to ensure the accurate of control
Property.
Unmanned aerial vehicle (UAV) control method of the embodiment of the present invention based on mobile terminal, by detecting the touch of user on the touchscreen
Action and touch pressure, to determine athletic performance and the action parameter of unmanned plane, and then control unmanned plane according to the action parameter
To perform corresponding athletic performance.It can flexibly change touch because touch operation is extremely convenient and swift, and when touching
Pressure, user can follow one's bent by once in operation, can be adjusted with action parameters such as any angle, speed, height
The athletic posture of whole unmanned plane, realizes and passes through flexible, accurate manipulation of the mobile terminal to unmanned plane so that user and unmanned plane
Interaction is more friendly, improves the intelligence degree of unmanned plane.Using the technical scheme of the embodiment of the present invention, user can be allowed to gather around
Have in real time control UAV Attitude, speed, height real-time control experience, allow unmanned plane can follow user finger slide and
Operation, is greatly improved Consumer's Experience.
In certain embodiments, mobile terminal only can also calculate action parameter according to touch action and touch pressure,
And the data such as touch action and action parameter are sent to unmanned plane, unmanned plane is received after data, is determined according to touch action
Corresponding athletic performance, and perform according to action parameter the athletic performance.Such case, which needs to set in unmanned plane, to be touched
The mapping relations of action and athletic performance.
In certain embodiments, mobile terminal can also as prior art on screen display control button, detection
The control button of user's pressing determines the athletic performance of unmanned plane, while detecting that the touch pressure of user's pressing control button comes
Determine the action parameter of unmanned plane.
Mobile terminal in the embodiment of the present invention, can be it is any have touch action and touch pressure detection function and
The portable set of operational capability, such as mobile phone, flat board, are widely used, and cost of implementation is low.Meanwhile, either mobile terminal
Using (APP), or unmanned generator terminal control program can flexible expansion, to complete more complicated unmanned aerial vehicle (UAV) control.
The technical scheme of the embodiment of the present invention is portable strong, can be for controlling various unmanned planes, such as various many rotors
Unmanned plane, fixed-wing unmanned plane, toy for children unmanned plane etc..Wherein, multi-rotor unmanned aerial vehicle includes four rotors, six rotors, eight
Rotor etc..
Referring to Fig. 3, Fig. 4, below by taking four rotor wing unmanned aerial vehicles as an example, elaborate and be based on movement eventually using the embodiment of the present invention
The unmanned aerial vehicle (UAV) control method at end controls the process of four rotor wing unmanned aerial vehicles.
Fig. 3, Fig. 4 show the unmanned plane schematic diagram for possessing four rotors.Unmanned plane includes primary processor, and (S3C6410 is embedding
Enter formula unit), communication unit (such as bluetooth module, wifi module), Inertial Measurement Unit, electronic compass, motor driving and
Four rotor motors.Communication module is used for and mobile terminal communication, and primary processor is used to control each element, Inertial Measurement Unit
Posture with electronic compass for measuring unmanned plane, motor drives 4 rotor motors for driving unmanned plane.
Coordinate system as shown in Figure 3 is set up with the center of unmanned plane.The head that y-axis positive direction is unmanned plane is defined, that is, is revolved
Position where the wing 1, arrow is signified as dashed；Define the afterbody that y-axis negative direction is unmanned plane, i.e. position where rotor 3；
Define the right part that x-axis positive direction is unmanned plane, i.e. position where rotor 4；The left part that x-axis negative direction is unmanned plane is defined, i.e.,
Position where rotor 2.
With reference to Fig. 3, the athletic performance A of unmanned plane in the present embodimentUAVIncluding six major classes：Hovering, pitching, roll, it is left-handed,
Dextrorotation and lifting.Wherein pitching is that unmanned plane rotates around x-axis, when as viewed from x-axis positive direction, unmanned plane is around x-axis dextrorotation
Turn, bow and (dive forward) before unmanned plane, useRepresent；When as viewed from x-axis positive direction, unmanned plane around x-axis rotate counterclockwise,
Face upward (i.e. obduction forward), use before unmanned planeRepresent.Roll is that unmanned plane rotates around y-axis, when as viewed from y-axis positive direction, nothing
Man-machine to be turned clockwise around y-axis, unmanned plane rolls left, and usesRepresent；When as viewed from y-axis positive direction, unmanned plane is counterclockwise around y-axis
Rotation, the right rolling of unmanned plane is usedRepresent.When as viewed from z-axis positive direction, unmanned plane turns clockwise around z-axis, as dextrorotation, use
RxRepresent；When as viewed from z-axis positive direction, unmanned plane is as left-handed around z-axis rotate counterclockwise, uses LxRepresent.Hovering action is used
ShoverRepresent, lifting action SjRepresent.
Mobile terminal is set up after communication connection with unmanned plane by bluetooth, is initialized respectively.Mobile terminal is to lmax、
Dmax(such as)、Pmax、Pmin、Hmax、Hmin, the parameter such as α initialized, while d=0 ° of initialization, Dfy=0 °,
Dhg=0 °, H=0, Sα=0, α are set to 4.Unmanned plane initializes AUAV=Shover, i.e. unmanned plane is in floating state, while initially
Change d=0 °, Dfy=0 °, Dhg=0 °, H=0, Sα=0, the elemental height of unmanned plane hovering is set to Hmin+5。
Mobile terminal perceives the touch action of user's finger by the pressure sensor below touch-screen and touch-screen respectively
AuserThe touch pressure P, A of touch-screen are pressed with fingeruserValue it is as follows：
Mobile terminal is according to AuserValue to AUAVAssignment is as follows：
According to above-mentioned mapping relations, when user's finger is in mobile terminal touch screen upward sliding AupWhen, bow before unmanned planeWhen user's finger is in mobile terminal touch screen slide downward AdownWhen, face upward before unmanned planeWhen user's finger is mobile whole
End touch-screen slides A to the leftleftWhen, unmanned plane rolls leftWhen user's finger in mobile terminal touch screen slides to the right ArightWhen,
The right rolling of unmanned planeWhen user's finger is in mobile terminal touch screen slid clockwise AclockwiseWhen, unmanned plane dextrorotation Rx；When with
Family finger slides A counterclockwise in mobile terminal touch screencounterclockwiseWhen, unmanned plane left-hand rotation Lx；When user's finger is mobile whole
Hold touch-screen Continued depression AstaticWhen, unmanned plane lifting Sj。
Wherein, the angle D for bowing and before facing upward before unmanned planefy, aforementioned formula can be passed through according to user's finger sliding distance l
(2) calculating determination, angle D during with right rolling while unmanned plane rolls left are carried outhg, can be passed through according to user's sliding distance l foregoing
Formula (3) carries out calculating determination；Bowed before unmanned plane, it is preceding face upward, roll left, right rolling, left-handed, dextrorotation when speed Sα, can according to
The touch pressure P of family finger is calculated by aforementioned formula (4) and determined；Unmanned plane is left-handed or angle d of dextrorotation can be equal to user
The angle d that finger is counterclockwise or turns clockwise；The height of unmanned plane lifting, can be logical according to the touch pressure P of user's finger
Cross aforementioned formula (5) and calculate determination.
Mobile terminal is merged the data such as the athletic performance of determination and action parameter, is constituted a packet and is added
Data packet head, calculates verification and will verify and be sent to unmanned plane by bluetooth together as control instruction together with packet.
After unmanned plane is by Bluetooth receptions to control instruction, read data packet simultaneously calculates verification and judges the verification calculated
With the verification that is calculated with mobile terminal that packet is carried and whether consistent；Illustrate when inconsistent to produce in data transmission procedure
Mistake, ignores the control instruction, not performs athletic performance；When consistent, athletic performance is obtained after parsing the control instruction
And the data such as action parameter, perform corresponding athletic performance AUAV, and according to SaValue adjustment its execution pitching, roll, left-handed and right side
Speed when turn is made, according to Dfy、DhgValue adjusts its pitching, the angle of roll, and its left-handed or dextrorotation angle is adjusted according to d values
Degree, its height lifted is adjusted according to H values.
Unmanned plane is according to Dfy、Dhg, d values can use relative change when changing its pitching, roll, left-handed and dextrorotation angle,
That is, the position after unmanned plane rotates last time is used as the next original position rotated.It is high that unmanned plane changes it according to H values
It is on elemental height when spending plus H, namely Hmin+ 5+H, when user's finger leaves touch-screen, it is initial that unmanned plane returns to its again
Height Hmin+5。
In certain embodiments, mobile terminal can also be only according to touch action AuserAction is calculated with touch pressure P
Parameter, and by touch action AuserWith action parameter Dfy、Dhg、Sα, be sent to unmanned plane after the packing of the data such as H, d, unmanned plane connects
Receive after packet, according to touch action AuserWith athletic performance AUAVMapping relations, according to AuserValue to AUAVAssignment, i.e.,
Corresponding athletic performance is determined according to touch action, and performs according to action parameter the athletic performance.
Have been described in detail above and control four rotors using unmanned aerial vehicle (UAV) control method of the embodiment of the present invention based on mobile terminal
The process of unmanned plane, can also similarly control other types of unmanned plane using technical scheme, no longer go to live in the household of one's in-laws on getting married herein
State.
Referring to Fig. 5, unmanned aerial vehicle (UAV) control device one embodiment of the invention based on mobile terminal is proposed, described device is applied to
Mobile terminal, including communication module 10, touch-screen 30, pressure sensor 40 and processing module 20, wherein：
Communication module 10：Communicated to connect for being set up with unmanned plane, can be short range or remote communication module.
Communication module 10 can pass through bluetooth, wireless network (such as wifi network), mobile communications network (i.e. cellular network)
Communicated to connect Deng setting up.
For example, communication module 10 is bluetooth module (short-range communications module), short-haul connections is set up by bluetooth and unmanned plane
Connection；And for example, communication module 10 is wifi module (remote communication module), and telecommunication is set up by wireless network and unmanned plane
Connection；For another example, communication module 10 is cellular radio module (remote communication module), is set up by mobile communications network and unmanned plane
Telecommunication is connected.
Touch-screen 30：Processing module 20 is sent to for detecting touch action, and by the touch action detected.
Touch action is operational motion of the user's finger on the touch-screen of mobile terminal, including linear slide is (such as forward,
Backward, to the right or to the left linear slide), camber line slide (as slided clockwise or counterclockwise), Continued depression (or long-press, i.e.,
According to not sliding) etc..
Pressure sensor 40：Sent for detecting the touch pressure that touch action is produced, and by the touch pressure detected
To processing module 20.
Pressure sensor 40 is located at the lower section of touch-screen 30, when user's finger presses touch-screen 30 with different dynamics, pressure
Different pressing force measurements is turned to corresponding pressure value by sensor 40.
Processing module 20：For determining the athletic performance of unmanned plane according to the touch action and touch pressure that detect and moving
Make parameter, and unmanned plane is sent to according to athletic performance and action parameter generation control instruction.
Alternatively, after communication module 10 and unmanned plane, which are set up, to be communicated to connect, processing module 20 also initializes touch action
With athletic performance and the mapping relations of action parameter, the mapping relations of touch pressure and action parameter, and relevant parameter.Mapping
Relation can dispatch from the factory preset, can also be set by User Defined.
Athletic performance is the athletic postures such as tumbling action, spinning movement, lifting action that unmanned plane is performed.Wherein, roll
Action including pitching (diving forward and obduction forward) and roll including toward any direction rolling, such as (can to the left turn over
Rolling and to the right rolling)；Spinning movement can include left-handed and dextrorotation, and lifting action can include straight line rise and straight line declines.
Alternatively, processing module 20 can set up touch action and athletic performance and the following mapping relations of action parameter：
Linear slide correspondence tumbling action, the different rolling direction of different glide direction correspondences or mode (are such as dived, faced upward
Rush, roll left, right rolling), the different rolling angles (such as luffing angle, roll angle) of different sliding distances correspondences；Camber line is slided
Act corresponding rotation to act, the different direction of rotation (such as left-handed, dextrorotation, or dextrorotation, derotation) of different glide direction correspondences,
The different anglec of rotation of different slip angle correspondences；Continued depression correspondence lifting action.Wherein, rolling direction, rolling angle,
Direction of rotation can be understood as action parameter, or rolling angle is interpreted as into action parameter, rolling direction and direction of rotation reason
Solve as specific athletic performance.
Alternatively, processing module 20 can set up the following mapping relations of touch pressure and action parameter：
The different speed of different touch pressure correspondences or adjustable height, when speed refers to execution tumbling action, spinning movement
Speed, adjustable height refer to perform lifting action when from the plane of reference (such as ground) height.
Processing module 20, which is received, to be detected after touch action and touch pressure, according to touch action and athletic performance and dynamic
Make the mapping relations of parameter, and touch pressure and action parameter mapping relations, it is determined that with touch action and touch pressure pair
The athletic performance answered and kinematic parameter.
For example：
When touch action is linear slide, processing module 20 determines the athletic performance of unmanned plane for tumbling action, and root
Rolling direction is determined according to glide direction, rolling angle is determined according to sliding distance, is determined to perform tumbling action according to touch pressure
When speed；When touch action is that camber line is slided, processing module 20 determines the athletic performance of unmanned plane for spinning movement, and root
Direction of rotation is determined according to glide direction, speed when determining to perform spinning movement according to touch pressure；When touch action is lasting
During push action, processing module 20 determines that the athletic performance of unmanned plane is lifting action, and determines that lifting is high according to touch pressure
Degree.
Processing module 20 can calculate rolling angle, rolling and the rotation speed of unmanned plane according to aforementioned formula (1)-(5)
The action parameters such as degree, adjustable height.
Processing module 20 is determined after athletic performance and action parameter, and the data of determination are merged, and constitutes a data
Bag, is then sent to unmanned plane using the packet as control instruction, to control unmanned plane to perform corresponding athletic performance.
Processing module 20 to unmanned plane can send control instruction in real time according to the touch action detected, can also be every
Preset time sends a control instruction to unmanned plane.
Further, processing module 20 is merged the data such as the athletic performance of determination and action parameter, constitutes one
After packet, along with data packet head, calculate verification and will verify and send jointly to unmanned plane together with packet, so that nothing
Man-machine carry out checksum validation and by just performing athletic performance after checking.So as to ensure the accuracy of control.
Unmanned aerial vehicle (UAV) control device of the embodiment of the present invention based on mobile terminal, by detecting user in mobile terminal touch screen
On touch action and touch pressure, to determine athletic performance and the action parameter of unmanned plane, and then control unmanned plane according to should
Action parameter performs corresponding athletic performance.Because touch operation is extremely convenient and swift, and can be flexible when touching
Change touch pressure, user can follow one's bent by once in operation, can be acted with any angle, speed, height etc.
Parameter adjusts the athletic posture of unmanned plane, realizes and passes through flexible, accurate manipulation of the mobile terminal to unmanned plane so that Yong Huyu
The interaction of unmanned plane is more friendly, improves the intelligence degree of unmanned plane.Nobody is carried out using the device of the embodiment of the present invention
Machine is controlled, and user can be allowed to possess control UAV Attitude, speed, the real-time control experience of height in real time, allow unmanned plane can
Follow the finger of user to slide and run, be greatly improved Consumer's Experience.
In certain embodiments, the unmanned aerial vehicle (UAV) control device based on mobile terminal can also be only according to touch action and touch
Calculation of pressure goes out action parameter, and the data such as touch action and action parameter are sent into unmanned plane, and unmanned plane receives data
Afterwards, corresponding athletic performance is determined according to touch action, and performs according to action parameter the athletic performance.Such case needs
Touch action and the mapping relations of athletic performance are set in unmanned plane.
It should be noted that：, the unmanned aerial vehicle (UAV) control device based on mobile terminal that above-described embodiment is provided is with being based on movement
The unmanned aerial vehicle (UAV) control embodiment of the method for terminal belongs to same design, and it implements process and refers to embodiment of the method, and method is real
Apply the technical characteristic in example corresponding applicable in device embodiment, repeat no more here.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Understood based on such, technical scheme is substantially done to prior art in other words
Going out the part of contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are to cause a station terminal equipment (can be mobile phone, computer, clothes
It is engaged in device, or network equipment etc.) perform method described in each embodiment of the invention.
It should be appreciated that these are only the preferred embodiments of the present invention, it is impossible to therefore the scope of the claims of the limitation present invention,
Equivalent structure or equivalent flow conversion that every utilization description of the invention and accompanying drawing content are made, or be directly or indirectly used in
Other related technical fields, are included within the scope of the present invention.
Claims (15)
1. a kind of unmanned aerial vehicle (UAV) control method based on mobile terminal, comprises the following steps：
Detect the touch pressure that touch action and the touch action are produced；
The touch action and the touch pressure according to detecting determine athletic performance and the action parameter of the unmanned plane；
The unmanned plane is sent to according to the athletic performance and action parameter generation control instruction.
2. the unmanned aerial vehicle (UAV) control method according to claim 1 based on mobile terminal, it is characterised in that the touch action
There are mapping relations, the different athletic performance of different touch action correspondences between the athletic performance.
3. the unmanned aerial vehicle (UAV) control method according to claim 2 based on mobile terminal, it is characterised in that described according to detection
To the touch action and the touch pressure determine athletic performance and the action parameter of the unmanned plane, including：
When the touch action is linear slide, the athletic performance for determining the unmanned plane is tumbling action, and according to slip
Direction determines rolling direction, and rolling angle is determined according to sliding distance, according to being performed the determination of the size of the touch pressure
Speed during tumbling action.
4. the unmanned aerial vehicle (UAV) control method according to claim 3 based on mobile terminal, it is characterised in that pass through below equation
Calculate the rolling angle：
<mrow>
<mfrac>
<mi>l</mi>
<msub>
<mi>l</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
</mfrac>
<mo>=</mo>
<mfrac>
<mi>D</mi>
<msup>
<mi>D</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msup>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, l represents the actually detected sliding distance arrived, lmaxRepresent the maximum sliding distance of setting, DmaxRepresent setting most
Big rolling angle, D represents the rolling angle finally calculated.
5. the unmanned aerial vehicle (UAV) control method according to claim 2 based on mobile terminal, it is characterised in that described according to detection
To the touch action and the touch pressure determine athletic performance and the action parameter of the unmanned plane, including：
When the touch action is that camber line is slided, the athletic performance for determining the unmanned plane is spinning movement, and according to slip
Direction determines direction of rotation, and the anglec of rotation is determined according to slip angle, determines that performing the rotation moves according to the touch pressure
Speed when making.
6. the unmanned aerial vehicle (UAV) control method based on mobile terminal according to claim any one of 3-5, it is characterised in that pass through
Below equation calculates the speed：
Wherein, P represents the actually detected touch pressure arrived, PmaxRepresent the maximum touch pressure of setting, PminRepresent setting most
Small touch pressure, PdegreeP is mapped to 0 °~90 ° of value by expression, and α represents the proportionality coefficient of setting, SαExpression is finally calculated
Speed.
7. the unmanned aerial vehicle (UAV) control method according to claim 2 based on mobile terminal, it is characterised in that described according to detection
To the touch action and the touch pressure determine athletic performance and the action parameter of the unmanned plane, including：
When the touch action is Continued depression, the athletic performance for determining the unmanned plane is lifting action, and according to described
Touch pressure determines adjustable height.
8. the unmanned aerial vehicle (UAV) control method according to claim 7 based on mobile terminal, it is characterised in that pass through below equation
Calculate the adjustable height：
<mrow>
<mfrac>
<mi>P</mi>
<mrow>
<msub>
<mi>P</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>P</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>=</mo>
<mfrac>
<mi>H</mi>
<mrow>
<msub>
<mi>H</mi>
<mrow>
<mi>m</mi>
<mi>a</mi>
<mi>x</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>H</mi>
<mrow>
<mi>m</mi>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, P represents the actually detected touch pressure arrived, PmaxRepresent the maximum touch pressure of setting, PminRepresent setting most
Small touch pressure, HmaxRepresent the maximum adjustable height of setting, HminThe minimum adjustable height of setting is represented, H represents final calculating
The adjustable height gone out.
9. according to claim 1, its feature exists, described to generate control instruction according to the athletic performance and action parameter
Being sent to the unmanned plane includes：
The athletic performance and action parameter are constituted into a packet and plus data packet head, calculating verification and by the school
Test and be sent to the unmanned plane together as control instruction together with the packet.
10. a kind of unmanned aerial vehicle (UAV) control device based on mobile terminal, it is characterised in that including：
Touch-screen, for detecting touch action；
Pressure sensor, for detecting the touch pressure that the touch action is produced；
Processing module, for determining that the motion of the unmanned plane is moved according to the touch action and the touch pressure that detect
Make and action parameter, and the unmanned plane is sent to according to the athletic performance and action parameter generation control instruction.
11. the unmanned aerial vehicle (UAV) control method according to claim 10 based on mobile terminal, it is characterised in that the touch is moved
Make the presence of mapping relations between the athletic performance, the different athletic performance of different touch action correspondences.
12. the unmanned aerial vehicle (UAV) control device according to claim 11 based on mobile terminal, it is characterised in that the processing mould
Block is used for：
When the touch action is linear slide, the athletic performance for determining the unmanned plane is tumbling action, and according to slip
Direction determines rolling direction, and rolling angle is determined according to sliding distance, according to being performed the determination of the size of the touch pressure
Speed during tumbling action.
13. the unmanned aerial vehicle (UAV) control device according to claim 11 based on mobile terminal, it is characterised in that the processing mould
Block is used for：
When the touch action is that camber line is slided, the athletic performance for determining the unmanned plane is spinning movement, and according to slip
Direction determines direction of rotation, and the anglec of rotation is determined according to slip angle, determines that performing the rotation moves according to the touch pressure
Speed when making.
14. the unmanned aerial vehicle (UAV) control device according to claim 11 based on mobile terminal, it is characterised in that the processing mould
Block is used for：
When the touch action is Continued depression, the athletic performance for determining the unmanned plane is lifting action, and according to described
Touch pressure determines adjustable height.
15. the unmanned aerial vehicle (UAV) control device based on mobile terminal according to claim any one of 10-14, it is characterised in that
Also include communication module, the communication module is used for：Built by bluetooth, wireless network or mobile communications network with the unmanned plane
Vertical communication connection.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610261858.2A CN107305470A (en) | 2016-04-25 | 2016-04-25 | Unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal |
| PCT/CN2016/088711 WO2017185521A1 (en) | 2016-04-25 | 2016-07-05 | Unmanned aerial vehicle control method and device based on mobile terminal |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610261858.2A CN107305470A (en) | 2016-04-25 | 2016-04-25 | Unmanned aerial vehicle (UAV) control method and apparatus based on mobile terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020062067A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Remote control command transmission method, remote control device, mobile platform, and storage medium |
| WO2021223136A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Control method, data processing method, device, unmanned aerial vehicle, and storage medium |
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| US20110246015A1 (en) * | 2010-03-31 | 2011-10-06 | Massachusetts Institute Of Technology | System and Method for Providing Perceived First-Order Control of an Unmanned Vehicle |
| CN103426282A (en) * | 2013-07-31 | 2013-12-04 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN104685436A (en) * | 2013-12-13 | 2015-06-03 | 深圳市大疆创新科技有限公司 | Methods for launching and landing an unmanned aerial vehicle |
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|---|---|---|---|---|
| TWI426428B (en) * | 2010-08-03 | 2014-02-11 | Hon Hai Prec Ind Co Ltd | Handheld device and method for controlling a unmanned aerial vehicle using the handheld device |
| US8918230B2 (en) * | 2011-01-21 | 2014-12-23 | Mitre Corporation | Teleoperation of unmanned ground vehicle |
| CN205038608U (en) * | 2015-09-23 | 2016-02-17 | 谢小强 | Mutual controlling means |
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2016
- 2016-04-25 CN CN201610261858.2A patent/CN107305470A/en not_active Withdrawn
- 2016-07-05 WO PCT/CN2016/088711 patent/WO2017185521A1/en active Application Filing
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|---|---|---|---|---|
| US20110246015A1 (en) * | 2010-03-31 | 2011-10-06 | Massachusetts Institute Of Technology | System and Method for Providing Perceived First-Order Control of an Unmanned Vehicle |
| CN103426282A (en) * | 2013-07-31 | 2013-12-04 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN104685436A (en) * | 2013-12-13 | 2015-06-03 | 深圳市大疆创新科技有限公司 | Methods for launching and landing an unmanned aerial vehicle |
| CN105183348A (en) * | 2015-08-27 | 2015-12-23 | 广东欧珀移动通信有限公司 | Application role control method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020062067A1 (en) * | 2018-09-28 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Remote control command transmission method, remote control device, mobile platform, and storage medium |
| WO2021223136A1 (en) * | 2020-05-07 | 2021-11-11 | 深圳市大疆创新科技有限公司 | Control method, data processing method, device, unmanned aerial vehicle, and storage medium |
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