CN108227726A - UAV Flight Control method, apparatus, terminal and storage medium - Google Patents
UAV Flight Control method, apparatus, terminal and storage medium Download PDFInfo
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- CN108227726A CN108227726A CN201810025531.4A CN201810025531A CN108227726A CN 108227726 A CN108227726 A CN 108227726A CN 201810025531 A CN201810025531 A CN 201810025531A CN 108227726 A CN108227726 A CN 108227726A
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- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 45
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- 238000003825 pressing Methods 0.000 claims description 47
- 238000013519 translation Methods 0.000 claims description 26
- 230000008859 change Effects 0.000 claims description 7
- 206010048669 Terminal state Diseases 0.000 claims 1
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- 238000013507 mapping Methods 0.000 description 11
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The present invention proposes a kind of UAV Flight Control method, the touch control operation of unmanned plane operation and control interface is acted on by detection, obtain the position of touch of the touch control operation and touch-control duration, and the corresponding touch area of the touch and touch type are judged according to the position of touch and touch-control duration, when the touch area is the first touch area and the touch type is track, flight course adjust instruction is generated, to adjust the course of unmanned plane.The present invention also proposes a kind of UAV Flight Control device, terminal and storage medium.The present invention improves controllability and the safety of unmanned plane.
Description
Technical field
The present invention relates to unmanned air vehicle technique field more particularly to a kind of UAV Flight Control method, apparatus, terminal and deposit
Storage media.
Background technology
At present, mainly behaviour of the distant rod controller realization to unmanned plane is simulated by distant rod controller and by mobile terminal
Control.User is required for have certain unmanned plane manipulation basis however, either distant rod controller still simulates distant rod controller,
The difficulty that unmanned plane is manipulated for the new user of zero-base plinth is larger, be easy to cause the security risk of air crash.
Invention content
It is a primary object of the present invention to provide a kind of UAV Flight Control method, it is intended to improve the controllable of unmanned plane
Property and safety.
To achieve the above object, the present invention proposes a kind of UAV Flight Control method, including：
Show unmanned plane operation and control interface；
Detection acts on the touch control operation of the unmanned plane operation and control interface；
When detecting the touch control operation, position of touch, the touch-control duration of the touch control operation are obtained；
The corresponding touch area of the touch control operation and touch-control class are judged according to the position of touch and the touch-control duration
Type；
When the touch area is the first touch area and the touch type is track, according to the touch control operation
Touch trajectory generates flight course adjust instruction；
The flight course adjust instruction is sent to the unmanned plane, so that the unmanned plane is according to the flight course
Adjust instruction adjusts the course of the unmanned plane.
Further, when the touch area is the second touch area and the touch type is track, according to described
The touch trajectory generation flight translation control instruction of touch control operation；
The flight is translated into control instruction and is sent to the unmanned plane, so that the unmanned plane is translated according to the flight
Control instruction controls the translation direction of the unmanned plane.
Further, when the touch area is third touch area and the touch type is to click, described in acquisition
The corresponding flight control mode of touch control operation；
If the flight control mode is image model, enters the detection and act on the unmanned plane operation and control interface
The step of touch control operation.
Further, if the flight control mode is physically sensitive mode, where detecting the unmanned plane operation and control interface
Whether the state of mobile terminal changes；
If the state of the mobile terminal where detecting the unmanned plane operation and control interface changes, according to the movement
The state change of terminal generates the first flight control instruction；
The first flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described first flight
Control instruction manipulates the flight of the unmanned plane.
Further, the whether changed step of state of the mobile terminal where the unmanned plane operation and control interface is detected
Before rapid, further include：
Physically sensitive mode ACK button is shown in the operation and control interface；
Detection acts on the pressing operation of the physically sensitive mode ACK button；
If detecting the pressing operation, the pressing duration or pressing dynamics of pressing operation are obtained；
If the pressing duration is greater than or equal to default pressing duration or the pressing dynamics are greater than or equal to default pressing
Dynamics, then the step of whether changing into the state of the mobile terminal where the detection unmanned plane operation and control interface.
Further, if the flight control mode is rocking bar pattern, rocking bar Touch Zone is shown in the operation and control interface
Domain；
Detection acts on the rocking bar touch control operation of rocking bar touch area；
Second flight control instruction is generated according to the rocking bar touch control operation；
The second flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described second flight
Control instruction manipulates the flight of the unmanned plane.
Present invention further propose that a kind of UAV Flight Control device, including：
Display module, for showing unmanned plane operation and control interface；
Detection module, for detecting the touch control operation for acting on the unmanned plane operation and control interface；
Acquisition module, during for when detecting the touch control operation, obtaining the position of touch of the touch control operation, touch-control
It is long；
Judgment module, for judging the corresponding touch-control of the touch control operation according to the position of touch and the touch-control duration
Region and touch type；
First directive generation module, for working as, the touch area is the first touch area and the touch type is track
When, flight course adjust instruction is generated according to the touch trajectory of the touch control operation；
Control module, for the flight course adjust instruction to be sent to the unmanned plane, so that the unmanned plane root
The course of the unmanned plane is adjusted according to the flight course adjust instruction.
Further, the UAV Flight Control device further includes：
Second directive generation module, for working as, the touch area is the second touch area and the touch type is track
When, flight translation control instruction is generated according to the touch trajectory of the touch control operation；
The control module be additionally operable to by it is described flight translate control instruction be sent to the unmanned plane so that it is described nobody
Machine translates the translation direction of the control instruction control unmanned plane according to the flight.
The present invention also proposes a kind of terminal, which includes memory, processor and be stored in the memory simultaneously can be
The flight control program run on the processor, the flight control program are realized as described above when being performed by the processor
UAV Flight Control method the step of.
The present invention also proposes a kind of storage medium, which is characterized in that the storage medium is stored with flight control program, described
The step of flight control program realizes UAV Flight Control method as described above when being executed by processor.
The UAV Flight Control method of the present invention is acted on the touch control operation of unmanned plane operation and control interface by detection, obtained
The position of touch of the touch control operation and touch-control duration are taken, and judges that the touch-control moves according to the position of touch and touch-control duration
Make corresponding touch area and touch type, when the touch area is the first touch area and the touch type is track
When, flight course adjust instruction is generated, to adjust the course of unmanned plane.The UAV Flight Control method only needs to detect user
Touch control operation position of touch and touch-control duration and then judge the corresponding touch area of touch and touch type, with
When the touch area is the first touch area and the touch type is track, flight course adjust instruction is generated, adjusts nothing
Man-machine course by rocking rod controller or is simulated distant rod controller by mobile terminal and is realized to unmanned plane control relative to existing
The mode of system reduces the difficulty of unmanned plane manipulation and manipulation skill set requirements, also cannot be easily caused air crash, improve unmanned plane
Controllability and safety.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the hardware architecture diagram of one embodiment of terminal of the present invention；
Fig. 2 is the flow diagram of the UAV Flight Control method first embodiment of the present invention；
Fig. 3 is the flow diagram of the UAV Flight Control method second embodiment of the present invention；
Fig. 4 is the flow diagram of the UAV Flight Control method 3rd embodiment of the present invention；
Fig. 5 is operation and control interface schematic diagram of the terminal of the present invention in image model.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 100 | Terminal | 101 | Radio frequency unit |
| 102 | WiFi module | 103 | Audio output unit |
| 104 | A/V input units | 1041 | Graphics processor |
| 1042 | Microphone | 105 | Sensor |
| 106 | Display unit | 1061 | Display interface |
| 107 | User input unit | 1071 | Operation and control interface |
| 1072 | Other input equipments | 108 | Interface unit |
| 109 | Memory | 110 | Processor |
| 111 | Power supply |
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific 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.
In subsequent description, using for representing that the suffix of such as " module ", " component " or " unit " of element is only
Be conducive to the explanation of the present invention, itself there is no a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Terminal can be implemented in a variety of manners.For example, terminal described in the present invention can include such as mobile phone, tablet
Computer, laptop, palm PC, personal digital assistant (Personal Digital Assistant, PDA), portable
The shiftings such as media player (Portable Media Player, PMP), navigation device, wearable device, Intelligent bracelet, pedometer
The dynamic fixed terminals such as terminal and number TV, desktop computer.
It will be illustrated by taking terminal as an example in subsequent descriptions, it will be appreciated by those skilled in the art that in addition to being used in particular for
Except the element of mobile purpose, construction according to the embodiment of the present invention can also apply to the terminal of fixed type.
Referring to Fig. 1, a kind of hardware architecture diagram of its terminal of each embodiment to realize the present invention, the terminal
100 can include：RF (Radio Frequency, radio frequency) unit 101, WiFi module 102, audio output unit 103, A/V
(audio/video) input unit 104, sensor 105, display unit 106, user input unit 107, interface unit 108, storage
The components such as device 109, processor 110 and power supply 111.It will be understood by those skilled in the art that the terminal structure shown in Fig. 1
The not restriction of structure paired terminal, terminal can include than illustrate more or fewer components either combine certain components or
Different component arrangements.
The all parts of terminal are specifically introduced with reference to Fig. 1：
Radio frequency unit 101 can be used for receive and send messages or communication process in, signal sends and receivees, specifically, by base station
Downlink information receive after, handled to processor 110；In addition, the data of uplink are sent to base station.In general, radio frequency unit 101
Including but not limited to antenna, at least one amplifier, transceiver, coupler, low-noise amplifier, duplexer etc..In addition, it penetrates
Frequency unit 101 can also communicate with network and other equipment by radio communication.Above-mentioned wireless communication can use any communication
Standard or agreement, including but not limited to GSM (Global System of Mobile communication, global system for mobile telecommunications
System), GPRS (General Packet Radio Service, general packet radio service), CDMA2000 (Code
Division Multiple Access2000, CDMA 2000), WCDMA (Wideband Code Division
Multiple Access, wideband code division multiple access), TD-SCDMA (Time Division-Synchronous Code
Division Multiple Access, TD SDMA), FDD-LTE (Frequency Division
Duplexing-Long Term Evolution, frequency division duplex long term evolution) and TDD-LTE (Time Division
Duplexing-Long Term Evolution, time division duplex long term evolution) etc..
WiFi belongs to short range wireless transmission technology, and terminal can help user's transceiver electronics postal by WiFi module 102
Part, browsing webpage and access streaming video etc., it has provided wireless broadband internet to the user and has accessed.Although Fig. 1 is shown
WiFi module 102, but it is understood that, and must be configured into for terminal is not belonging to, it can not change as needed completely
Become in the range of the essence of invention and omit.Such as in the present embodiment, terminal 100 can be based on WiFi module 102 and unmanned plane
Establish communication connection.
Audio output unit 103 can be in call signal reception pattern, call mode, logging mode, language in terminal 100
Sound recognition mode, broadcast reception mode are that radio frequency unit 101 or WiFi module 102 are received or depositing when under isotypes
The audio data stored in reservoir 109 is converted into audio signal and exports as sound.Moreover, audio output unit 103 may be used also
To provide the relevant audio output of specific function performed with terminal 100 (for example, call signal receives sound, message sink sound
Sound etc.).Audio output unit 103 can include loud speaker, buzzer etc..In the present embodiment, nobody is selected in output
During the prompting of machine flight control mode, which can be voice prompt, vibration prompting based on buzzer etc..
A/V input units 104 are used to receive audio or video signal.A/V input units 104 can include graphics processor
(Graphics Processing Unit, GPU) 1041 and microphone 1042, graphics processor 1041 is in video acquisition mode
Or the static images or the image data of video obtained in image capture mode by image capture apparatus (such as camera) carry out
Reason.Treated, and picture frame may be displayed on display unit 106.Through graphics processor 1041, treated that picture frame can be deposited
Storage is sent in memory 109 (or other storage mediums) or via radio frequency unit 101 or WiFi module 102.Mike
Wind 1042 can connect in telephone calling model, logging mode, speech recognition mode etc. operational mode via microphone 1042
Quiet down sound (audio data), and can be audio data by such acoustic processing.Audio that treated (voice) data can
To be converted to the form output that mobile communication base station can be sent to via radio frequency unit 101 in the case of telephone calling model.
Microphone 1042 can implement various types of noises elimination (or inhibition) algorithms and send and receive sound to eliminate (or inhibition)
The noise generated during frequency signal or interference.
Terminal 100 further includes at least one sensor 105, such as optical sensor, motion sensor and other sensors.
Specifically, optical sensor includes ambient light sensor and proximity sensor, wherein, ambient light sensor can be according to ambient light
Light and shade adjusts the brightness of display interface 1061, and proximity sensor can close display interface when terminal 100 is moved in one's ear
1061 and/or backlight.As one kind of motion sensor, accelerometer sensor can detect in all directions (generally three axis) and add
The size of speed can detect that size and the direction of gravity when static, can be used to identify application (such as the horizontal/vertical screen of mobile phone posture
Switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；As for mobile phone also
Configurable fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer, hygrometer, temperature
The other sensors such as meter, infrared ray sensor, details are not described herein.
Display unit 106 is used to show by information input by user or be supplied to the information of user.Display unit 106 can wrap
Display interface 1061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode may be used
Display interface 1061 is configured in forms such as (Organic Light-Emitting Diode, OLED).
User input unit 107 can be used for receiving the number inputted or character information and the user of generation and terminal sets
It puts and the input of key signals that function control is related.Specifically, user input unit 107 may include operation and control interface 1071 and its
His input equipment 1072.Operation and control interface 1071, also referred to as touch screen collect user on it or neighbouring touch operation (are compared
Such as user is using finger, any suitable object of stylus or attachment on operation and control interface 1071 or near operation and control interface 1071
Operation), and corresponding attachment device is driven according to preset formula.Operation and control interface 1071 may include touch detecting apparatus
With two parts of touch controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect what touch operation was brought
Signal transmits a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and it is converted
Into contact coordinate, then processor 110 is given, and the order that processor 110 is sent can be received and performed.Furthermore, it is possible to it adopts
Operation and control interface 1071 is realized with multiple types such as resistance-type, condenser type, infrared ray and surface acoustic waves.In addition to operation and control interface
1071, user input unit 107 can also include other input equipments 1072.Specifically, other input equipments 1072 can wrap
It includes but is not limited to physical keyboard, in function key (such as volume control button, switch key etc.), trace ball, mouse, operating lever etc.
It is one or more, do not limit herein specifically.
Further, operation and control interface 1071 can cover display interface 1061, when operation and control interface 1071 detect on it or
After neighbouring touch operation, processor 110 is sent to determine the type of touch event, is followed by subsequent processing device 110 according to touch thing
The type of part provides corresponding visual output on display interface 1061.Although in Fig. 1, operation and control interface 1071 and display interface
1061 be the component independent as two to realize the function that outputs and inputs of terminal, but in some embodiments it is possible to will
Operation and control interface 1071 is integrated with display interface 1061 and realizes the function that outputs and inputs of terminal, does not limit herein specifically.
Interface unit 108 be used as at least one external device (ED) connect with terminal 100 can by interface.It is for example, external
Device can include wired or wireless head-band earphone port, external power supply (or battery charger) port, wired or wireless number
According to port, memory card port, for connect with identification module device port, audio input/output (I/O) port, regard
Frequency I/O ports, ear port etc..Interface unit 108 can be used for receiving the input from external device (ED) (for example, data are believed
Breath, electric power etc.) and one or more elements that the input received is transferred in terminal 100 or can be used at end
Data are transmitted between end 100 and external device (ED).
Memory 109 can be used for storage software program and various data.Memory 109 can mainly include storing program area
And storage data field, wherein, storing program area can storage program area, application program (such as the nothing needed at least one function
Man-machine flight control function etc.) etc.；Storage data field can be stored uses created data (such as audio number according to mobile phone
According to, control instruction, phone directory etc.) etc..In addition, memory 109 can include high-speed random access memory, can also include non-
Volatile memory, for example, at least a disk memory, flush memory device or other volatile solid-state parts.
Processor 110 is the control centre of terminal, using various interfaces and the various pieces of the entire terminal of connection, is led to
It crosses operation or performs the software program being stored in memory 109 and/or module and call and be stored in memory 109
Data perform the various functions of terminal and processing data, so as to carry out integral monitoring to terminal.Processor 110 may include one
Or multiple processing units；Preferably, processor 110 can integrate application processor and modem processor, wherein, using processing
The main processing operation system of device, user interface and application program etc., modem processor mainly handles wireless communication.It can manage
Solution, above-mentioned modem processor can not also be integrated into processor 110.
Terminal 100 can also include the power supply 111 (such as battery) powered to all parts, it is preferred that power supply 111 can be with
It is logically contiguous by power-supply management system and processor 110, so as to by power-supply management system realize management charging, electric discharge, with
And the functions such as power managed.
Although Fig. 1 is not shown, terminal 100 can also include that bluetooth module of communication connection etc. can be established with unmanned plane,
This is repeated no more.
Based on the hardware configuration of above-mentioned terminal, the terminal of the embodiment of the present invention acts on unmanned plane by detection and manipulates boundary
The touch control operation in face, obtains the position of touch of the touch control operation and touch-control duration, and during according to the position of touch and touch-control
Length judges the corresponding touch area of the touch and touch type, when the touch area is the first touch area and described
When touch type is track, flight course adjust instruction is generated, to adjust the course of unmanned plane.The terminal only needs to detect user
Touch control operation position of touch and touch-control duration and then judge the corresponding touch area of touch and touch type, with
When the touch area is the first touch area and the touch type is track, flight course adjust instruction is generated, adjusts nothing
Man-machine course by rocking rod controller or is simulated distant rod controller by mobile terminal and is realized to unmanned plane control relative to existing
The mode of system reduces the difficulty of unmanned plane manipulation and manipulation skill set requirements, also cannot be easily caused air crash, improve unmanned plane
Controllability and safety.
As shown in Figure 1, as operating system and control journey can be included in a kind of memory 109 of computer storage media
Sequence.
In terminal 100 shown in Fig. 1, WiFi module 102 is mainly used for connecting background server or big data high in the clouds, with
Background server or big data high in the clouds can be realized to establish with unmanned plane and communicate to connect into row data communication；Processor 110 can be with
For the flight stored in memory 109 to be called to control program, and perform following operate：
Show unmanned plane operation and control interface；
Detection acts on the touch control operation of the unmanned plane operation and control interface；
When detecting the touch control operation, position of touch, the touch-control duration of the touch control operation are obtained；
The corresponding touch area of the touch control operation and touch-control class are judged according to the position of touch and the touch-control duration
Type；
When the touch area is the first touch area and the touch type is track, according to the touch control operation
Touch trajectory generates flight course adjust instruction；
The flight course adjust instruction is sent to the unmanned plane, so that the unmanned plane is according to the flight course
Adjust instruction adjusts the course of the unmanned plane.
Further, processor 110 can be also used for calling the flight control program stored in memory 109, and perform
It operates below：
When the touch area is the second touch area and the touch type is track, according to the touch control operation
Touch trajectory generation flight translation control instruction；
The flight is translated into control instruction and is sent to the unmanned plane, so that the unmanned plane is translated according to the flight
Control instruction controls the translation direction of the unmanned plane.
Further, processor 110 can be also used for calling the flight control program stored in memory 109, and perform
It operates below：
When the touch area is third touch area and the touch type is to click, the touch control operation pair is obtained
The flight control mode answered；
If the flight control mode is image model, enters the detection and act on the unmanned plane operation and control interface
The step of touch control operation.
Further, processor 110 can be also used for calling the flight control program stored in memory 109, and perform
It operates below：
If the flight control mode is physically sensitive mode, mobile terminal where the unmanned plane operation and control interface is detected
Whether state changes；
If the state of the mobile terminal where detecting the unmanned plane operation and control interface changes, according to the movement
The state change of terminal generates the first flight control instruction；
The first flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described first flight
Control instruction manipulates the flight of the unmanned plane.
Further, processor 110 can be also used for calling the flight control program stored in memory 109, and perform
It operates below：
Physically sensitive mode ACK button is shown in the operation and control interface；
Detection acts on the pressing operation of the physically sensitive mode ACK button；
If detecting the pressing operation, the pressing duration or pressing dynamics of pressing operation are obtained；
If the pressing duration is greater than or equal to default pressing duration or the pressing dynamics are greater than or equal to default pressing
Dynamics, then the step of whether changing into the state of the mobile terminal where the detection unmanned plane operation and control interface.
Further, processor 110 can be also used for calling the flight control program stored in memory 109, and perform
It operates below：
If the flight control mode is rocking bar pattern, rocking bar touch area is shown in the operation and control interface；
Detection acts on the rocking bar touch control operation of rocking bar touch area；
Second flight control instruction is generated according to the rocking bar touch control operation；
The second flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described second flight
Control instruction manipulates the flight of the unmanned plane.
A kind of present invention further propose that UAV Flight Control method.
With reference to Fig. 2, Fig. 3 and Fig. 4, Fig. 2,3,4 are respectively three embodiments of the UAV Flight Control method of the application.
In the first embodiment, the UAV Flight Control method includes the following steps：
S10：Show unmanned plane operation and control interface；
Specifically, operation has unmanned plane manipulation application in terminal, which has the work(of manipulation unmanned plane
Can, can also have the function of that photo shoot to unmanned plane or video are handled, it is described processing include classify, show, to
High in the clouds pushes and generation travelling route.Terminal can specifically be ranked up generation traveling road according to the shooting time of photo or video
The geographical location information recorded when shooting photo or video can also be ranked up generation row by line according to corresponding shooting time
Into route.The travelling route can embody the flight path of unmanned plane, can also embody the travelling route of user.It is described nobody
Machine operation and control interface provides the unmanned plane operation and control interface for triggering unmanned plane manipulation instruction for terminal by unmanned plane manipulation application.
S20：Detection acts on the touch control operation of the unmanned plane operation and control interface；
The unmanned plane operation and control interface includes the first touch area, and first touch area is used to bear touch control operation
Realize the course adjustment of unmanned plane, the first touch area is identified using preset mark, such as identifies the first touch area with graduated scale
Range or the range with two opposite the first touch areas of arrow logo, in other embodiments, text can also be used
The combination of word, color or more than three is identified.Touch control operation can be touched clicking operation, touch and double-click behaviour
Make, touch long-press operation, slide or multi-point touch operation.
S30：When detecting the touch control operation, position of touch, the touch-control duration of the touch control operation are obtained；
When the touch control operation for detecting user and acting on the unmanned plane operation and control interface, terminal can receive the unmanned plane
Operation and control interface feeds back to the position of touch of the touch control operation of terminal handler and/or touch-control duration, the unmanned plane operation and control interface
Feed back the touch control operation information to be based on resistance or capacitance variations, resistance that terminal is fed back based on unmanned plane operation and control interface or
The position of touch of the touch control operation and touch-control duration is calculated in capacitance variation information.
S40：The corresponding touch area of the touch control operation is judged according to the position of touch and the touch-control duration and is touched
Control type；
After the position of touch of the touch control operation and touch-control duration is got, according to what is divided in unmanned plane operation and control interface
Touch area judges the touch area of the touch control operation effect, and according to the mapping relations between touch-control duration and touch type
Judge the corresponding touch type of the touch control operation, such as click or slide.
S50：When the touch area is the first touch area and the touch type is track, grasped according to the touch-control
The touch trajectory generation flight course adjust instruction of work；
When unmanned plane operation and control interface feeds back to the touch point of terminal handler in the first touch area, further obtaining should
The movement locus of touch point when the movement locus of the touch point is the first desired guiding trajectory, is generated according to the mapping relations to prestore
Flight course adjust instruction corresponding with the touch trajectory.The touch-control rail that such as scale strip of the first touch area is stirred to the left
The flight course adjust instruction that mark mapping unmanned plane turns left, the touch trajectory that the scale strip of the first touch area is stirred to the right is reflected
The flight course adjust instruction of unmanned plane right-hand rotation is penetrated, as shown in Figure 5.
S60：The flight course adjust instruction is sent to the unmanned plane, so that the unmanned plane is according to the flight
Course adjust instruction adjusts the course of the unmanned plane.
After generating flight course adjust instruction corresponding with the touch trajectory of user and being sent to the unmanned plane, by nobody
The controller of machine controls unmanned plane to perform the action in adjustment unmanned plane course according to the flight course adjust instruction, such as controls nothing
Man-machine left-hand rotation or right-hand rotation.
The UAV Flight Control method of the present invention is acted on the touch control operation of unmanned plane operation and control interface by detection, obtained
The position of touch of the touch control operation and touch-control duration are taken, and judges that the touch-control moves according to the position of touch and touch-control duration
Make corresponding touch area and touch type, when the touch area is the first touch area and the touch type is track
When, flight course adjust instruction is generated, to adjust the course of unmanned plane.The UAV Flight Control method only needs to detect user
Touch control operation position of touch and touch-control duration and then judge the corresponding touch area of touch and touch type, with
When the touch area is the first touch area and the touch type is track, flight course adjust instruction is generated, adjusts nothing
Man-machine course by rocking rod controller or is simulated distant rod controller by mobile terminal and is realized to unmanned plane control relative to existing
The mode of system reduces the difficulty of unmanned plane manipulation and manipulation skill set requirements, also cannot be easily caused air crash, improve unmanned plane
Controllability and safety.
In a second embodiment, the UAV Flight Control method includes the following steps：
S70：When the touch area is the second touch area and the touch type is track, grasped according to the touch-control
The touch trajectory generation flight translation control instruction of work；
The unmanned plane operation and control interface further include for control unmanned plane in the horizontal direction or vertical direction translation second
Touch area, second touch area can be arranged at intervals with first touch area, can also be with first touch-control
Region composite is set, so that user activates corresponding first touch area or the second Touch Zone when selecting different control mode touch modes
Domain.
When unmanned plane operation and control interface feeds back to the touch point of terminal handler in the second touch area, further obtaining should
The movement locus of touch point when the movement locus of the touch point is the second desired guiding trajectory, is generated according to the mapping relations to prestore
Flight translation control instruction corresponding with the touch trajectory.It slides the upper and lower, left and right that such as will act on the second touch area
The control instruction flown upwards, downwards, to the left, to the right of touch trajectory mapping unmanned plane, will act on the second touch area
The touch trajectory of the kneading operation of two fingers maps unmanned plane to the close control instruction of terminal, will act on the second Touch Zone
Touch trajectory mapping control instruction of the unmanned plane far from terminal of the flaring operation of two fingers in domain.
S80：The flight is translated into control instruction and is sent to the unmanned plane, so that the unmanned plane is according to the flight
Translate the translation direction that control instruction controls the unmanned plane.
After generating flight translation control instruction corresponding with the touch trajectory of user and being sent to the unmanned plane, by nobody
The controller of machine according to it is described flight translate control instruction control unmanned plane perform upwards, downwards, to the left, to right translation flight or
To terminal closer or far from action, unmanned plane is such as controlled to translate up, to right translation, translation downwards, to left.
In a second embodiment, the UAV Flight Control method includes the following steps：
S90：When the touch area is third touch area and the touch type is to click, the touch-control behaviour is obtained
Make corresponding flight control mode；
If the flight control mode is image model, enters the detection and act on the unmanned plane operation and control interface
The step of touch control operation.
The unmanned plane operation and control interface further includes the third touch area for switching UAV Flight Control pattern, described
Third touch area is arranged at intervals with first touch area and/or the second touch area, and the third touch area is general
The edge of the unmanned plane operation and control interface is arranged on, activates corresponding first touch-control during different control mode touch modes for selection by the user
Region or the second touch area.
When unmanned plane operation and control interface feeds back to the touch point of terminal handler in third touch area, further obtaining should
The movement locus of touch point, when the movement locus of the touch point is clicks, according to mapping relations generation and the point to prestore
The corresponding flight control mode switching command of operation is hit, is grasped with obtaining the touch-control according to the flight control mode switching command
Make corresponding flight control mode.It such as will act on the current flight of the single-click operation mapping switching unmanned plane of third touch area
Control model is image model, will act on the current flight control of the double click operation mapping switching unmanned plane of third touch area
Pattern is physically sensitive mode, will act on the current flight control of the adopting consecutive click chemical reaction operation mapping switching unmanned plane of third touch area
Pattern is physically sensitive mode and the composite mode for simulating Remote Sensing Model.When the flight control mode is image model, into inspection
The step of survey acts on the touch control operation of unmanned plane operation and control interface acts on the first touch area or the second touch area to obtain
Touch control operation, realize the left-hand rotation of unmanned plane, right-hand rotation or translation flight control.
Further, when the touch control operation that user makes can not be by terminal handler identifying processing, judgement user makes
Touch control operation do not meet the pre-set specifications of current flight control model, need that user makes again and current flight controls at this time
The matched touch control operation of pre-set specifications of pattern switches current flight control mode, for the ease of user rapidly and accurately
The touch control operation of processing can be identified by making, and show that the corresponding operation of various control instructions is shown in the unmanned plane operation and control interface
Example itself is intended to make corresponding touch control operation so that user combines according to the operation example, so improve terminal control without
Man-machine efficiency and accuracy.
Further, if the flight control mode is physically sensitive mode, where detecting the unmanned plane operation and control interface
Whether the state of mobile terminal changes；
If the state of the mobile terminal where detecting the unmanned plane operation and control interface changes, according to the movement
The state change of terminal generates the first flight control instruction；
The first flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described first flight
Control instruction manipulates the flight of the unmanned plane.
In the present embodiment, it when the flight control mode of unmanned plane is physically sensitive mode, is passed according to the gravity of terminal built-in
Sensor, gyroscope or motion sensor etc. monitor the motion state of mobile terminal, when the motion state of the mobile terminal occurs
During change, the athletic posture data of the mobile terminal are obtained, such as forward leaning angle, Right deviation angle, hypsokinesis angle, left-leaning angle,
Translation distance and translation direction, and the first flight control instruction is generated according to the athletic posture data, described first is flown
Row control instruction is sent to unmanned plane, and control unmanned plane controls unmanned plane to turn left, turns right, adding forward according to the motion state of terminal
Speed slows down, translates up, translating downwards, the flare maneuver to left or to right translation.
Further, the whether changed step of state of the mobile terminal where the unmanned plane operation and control interface is detected
Before rapid, further include：
Physically sensitive mode ACK button is shown in the operation and control interface；
Detection acts on the pressing operation of the physically sensitive mode ACK button；
If detecting the pressing operation, the pressing duration or pressing dynamics of pressing operation are obtained；
If the pressing duration is greater than or equal to default pressing duration or the pressing dynamics are greater than or equal to default pressing
Dynamics, then the step of whether changing into the state of the mobile terminal where the detection unmanned plane operation and control interface.
In the present embodiment, in order to improve the accuracy of unmanned aerial vehicle (UAV) control, the shifting where unmanned plane operation and control interface is detected
Before the step of whether state of dynamic terminal changes, need the unmanned plane operation and control interface show physically sensitive mode confirm by
Button, so that user performs pressing operation according to the physically sensitive mode ACK button.When the feedback letter based on unmanned plane operation and control interface
Breath when detecting the pressing operation for acting on Sohu of Soviet Union physically sensitive mode ACK button, obtains the pressing of the pressing operation
Duration or pressing dynamics, when the pressing duration is greater than or equal to default pressing duration, then it is non-to judge the secondary pressing operation
Operation, and then the motion state of the mobile terminal where the execution detection unmanned plane operation and control interface are accidentally touched, in another embodiment
In, when the pressing dynamics are greater than or equal to default pressing dynamics, judge that the secondary pressing operation touches operation for non-mistake, equally hold
The motion state of mobile terminal where the row detection unmanned plane operation and control interface, nobody is controlled with the motion state according to terminal
Machine performs corresponding flare maneuver.
Further, if the flight control mode is rocking bar pattern, rocking bar Touch Zone is shown in the operation and control interface
Domain；
Detection acts on the rocking bar touch control operation of rocking bar touch area；
Second flight control instruction is generated according to the rocking bar touch control operation；
The second flight control instruction is sent to the unmanned plane, so that the unmanned plane is according to the described second flight
Control instruction manipulates the flight of the unmanned plane.
In the present embodiment, when the clicking operation that user acts on third touch area activates rocking bar pattern, at nobody
Machine operation and control interface shows rocking bar touch area, similarly, in order to further improve the accuracy of UAV Flight Control, based on nothing
Resistance variations or the capacitance variations detection of the feedback of man-machine operation and control interface act on the rocking bar touch control operation of rocking bar touch area, and
It is flown and controlled according to the mapping relations generation corresponding second between pre-stored rocking bar touch control operation and flight control instruction
The second flight control instruction is sent to unmanned plane by instruction, and control unmanned plane is performed to be referred to the described second flight control
Enable it is corresponding upwards, downwards, to the left, to the right, turn left, turn right, the flare maneuver of acceleration or deceleration.
The present invention also proposes a kind of UAV Flight Control device, including：
Display module, for showing unmanned plane operation and control interface；
Detection module, for detecting the touch control operation for acting on the unmanned plane operation and control interface；
Acquisition module, during for when detecting the touch control operation, obtaining the position of touch of the touch control operation, touch-control
It is long；
Judgment module, for judging the corresponding touch-control of the touch control operation according to the position of touch and the touch-control duration
Region and touch type；
First directive generation module, for working as, the touch area is the first touch area and the touch type is track
When, flight course adjust instruction is generated according to the touch trajectory of the touch control operation；
Control module, for the flight course adjust instruction to be sent to the unmanned plane, so that the unmanned plane root
The course of the unmanned plane is adjusted according to the flight course adjust instruction.
Further, the UAV Flight Control device further includes：
Second directive generation module, for working as, the touch area is the second touch area and the touch type is track
When, flight translation control instruction is generated according to the touch trajectory of the touch control operation；
The control module be additionally operable to by it is described flight translate control instruction be sent to the unmanned plane so that it is described nobody
Machine translates the translation direction of the control instruction control unmanned plane according to the flight.
In addition, the embodiment of the present invention also proposes a kind of storage medium, which is stored with flight control program, described
The step of flight control program realizes UAV Flight Control method as described above when being executed by processor.
Wherein, flight control program is performed realized method and can refer to UAV Flight Control method of the present invention
Each embodiment, details are not described herein again.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or system including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or system institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
Also there are other identical elements in the process of element, method, article or system.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
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.Based on such understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be embodied in the form of software product, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disc, CD), including some instructions use so that a station terminal equipment (can be mobile phone,
Computer, server, air conditioner or network equipment etc.) perform method described in each embodiment of the present invention.
It these are only the preferred embodiment of the present invention, be not intended to limit the scope of the invention, it is every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. UAV Flight Control method, which is characterized in that this method includes the following steps：Show unmanned plane operation and control interface；Detection acts on the touch control operation of the unmanned plane operation and control interface；When detecting the touch control operation, position of touch, the touch-control duration of the touch control operation are obtained；The corresponding touch area of the touch control operation and touch type are judged according to the position of touch and the touch-control duration；When the touch area is the first touch area and the touch type is track, according to the touch-control of the touch control operation Track Pick-up flight course adjust instruction；The flight course adjust instruction is sent to the unmanned plane, so that the unmanned plane is adjusted according to the flight course Instruction adjusts the course of the unmanned plane.
- 2. according to the method described in claim 1, it is characterized in that, the method further includes：When the touch area is the second touch area and the touch type is track, according to the touch-control of the touch control operation Track Pick-up flight translation control instruction；The flight is translated into control instruction and is sent to the unmanned plane, so that the unmanned plane is according to the flight translation control Instruction controls the translation direction of the unmanned plane.
- 3. according to the method described in claim 1, it is characterized in that, the method further includes：When the touch area is third touch area and the touch type is to click, it is corresponding to obtain the touch control operation Flight control mode；If the flight control mode is image model, enter the touch-control for detecting and acting on the unmanned plane operation and control interface The step of operation.
- 4. according to the method described in claim 3, it is characterized in that, the method further includes：If the flight control mode is physically sensitive mode, the state of the mobile terminal where the unmanned plane operation and control interface is detected Whether change；If the state of the mobile terminal where detecting the unmanned plane operation and control interface changes, according to the mobile terminal State change generate the first flight control instruction；The first flight control instruction is sent to the unmanned plane, so that the unmanned plane is controlled according to the described first flight Instruction manipulates the flight of the unmanned plane.
- 5. according to the method described in claim 4, it is characterized in that, at the mobile end where the detection unmanned plane operation and control interface Before the step of whether state at end changes, further include：Physically sensitive mode ACK button is shown in the operation and control interface；Detection acts on the pressing operation of the physically sensitive mode ACK button；If detecting the pressing operation, the pressing duration or pressing dynamics of pressing operation are obtained；If the pressing duration is greater than or equal to default pressing duration or the pressing dynamics are greater than or equal to default pressing dynamics, The step of then whether changing into the state of the mobile terminal where the detection unmanned plane operation and control interface.
- 6. according to the method described in claim 3, it is characterized in that, the method further includes：If the flight control mode is rocking bar pattern, rocking bar touch area is shown in the operation and control interface；Detection acts on the rocking bar touch control operation of rocking bar touch area；Second flight control instruction is generated according to the rocking bar touch control operation；The second flight control instruction is sent to the unmanned plane, so that the unmanned plane is controlled according to the described second flight Instruction manipulates the flight of the unmanned plane.
- 7. a kind of UAV Flight Control device, which is characterized in that including：Display module, for showing unmanned plane operation and control interface；Detection module, for detecting the touch control operation for acting on the unmanned plane operation and control interface；Acquisition module, for when detecting the touch control operation, obtaining the position of touch of the touch control operation, touch-control duration；Judgment module, for judging the corresponding touch area of the touch control operation according to the position of touch and the touch-control duration And touch type；First directive generation module, for when the touch area is the first touch area and the touch type is track, Flight course adjust instruction is generated according to the touch trajectory of the touch control operation；Control module, for the flight course adjust instruction to be sent to the unmanned plane, so that the unmanned plane is according to institute State the course that flight course adjust instruction adjusts the unmanned plane.
- 8. device according to claim 7, which is characterized in that further include：Second directive generation module, for when the touch area is the second touch area and the touch type is track, Flight translation control instruction is generated according to the touch trajectory of the touch control operation；The control module is additionally operable to the flight translation control instruction being sent to the unmanned plane, so that the unmanned plane root The translation direction of the control instruction control unmanned plane is translated according to the flight.
- 9. a kind of terminal, which is characterized in that the terminal include memory, processor and be stored in the memory simultaneously can be described The flight control program run on processor, the flight control program realize such as claim 1 when being performed by the processor The step of to 6 any one of them UAV Flight Control method.
- 10. a kind of storage medium, which is characterized in that the storage medium is stored with flight control program, the flight control program It is realized when being executed by processor such as the step of claim 1 to 6 any one of them UAV Flight Control method.
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| CN201810025531.4A CN108227726A (en) | 2018-01-11 | 2018-01-11 | UAV Flight Control method, apparatus, terminal and storage medium |
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