CN105000170A - Touch screen controller and control method of driving device - Google Patents
Touch screen controller and control method of driving device Download PDFInfo
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- CN105000170A CN105000170A CN201510416211.8A CN201510416211A CN105000170A CN 105000170 A CN105000170 A CN 105000170A CN 201510416211 A CN201510416211 A CN 201510416211A CN 105000170 A CN105000170 A CN 105000170A
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Abstract
The invention provides a touch screen controller and a control method of a driving device. The touch screen controller is used for sending a control signal to the driving device. The touch screen controller comprises a touch screen and a processor electrically connected with the touch screen. The processor is used for receiving a touch movement trail on a touch screen, calculating controlled movement control information of the driving device according to the touch movement trail, outputting data of the movement control information to the touch screen, and outputting control signals of the movement control information to the driving device; and the touch screen is used for receiving the data of the movement control information output by the processor and displaying the data in real time. According to the method, the touch screen controller is used for controlling the movement of the driving device. By using the touch screen controller, a user can conveniently and accurately input a control instruction.
Description
Technical field
The present invention relates to the control field of the mobile devices such as aircraft, submarine, particularly, is the method that application touch screen controller controls the mobile devices that these can spatially move up and down and the touch screen controller realizing this control method.
Background technology
The widespread uses such as existing aircraft, submarine control with the controller of touch-screen, controller can be arranged in these mobile devices, also can be arrange separately with mobile devices, such as by hand-held remote controller, long-range control is carried out to unmanned vehicle, hand-held remote controller can be special remote controller, also can be the smart mobile phone, panel computer etc. that are provided with specific program (APP).
To control the remote controller of unpiloted aircraft, existing remote controller is mostly with touch-screen, user is by touch-screen input control order, as signals such as taking off, hover, turn to, as controlled the heading of aircraft, often need to send the sense of motion of flight and the instruction of move distance.Common control command input method comprises click input and the language in-put of touch-screen, and the click input of touch-screen is the icon of idsplay order on the touchscreen, and user is by clicking these icons with formation control instruction.Certainly, turn to as sent aircraft, flying height adjusts, flying distance is arranged, also need to input concrete parameter, as the angle, the numerical value of flying height, the distance etc. of flying distance that turn to.As passed through voice mode input control order, then user sends instruction by the mode of voice, and touch screen controller identifies the instruction received, and sends corresponding control signal to aircraft.
But, above-mentioned control method often needs the longer time when inputting instruction, such as need the icon that point touching shields, then concrete parameter is inputted, or wait for that touch screen controller identifies the phonetic order received, this all needs the longer time to realize, and causes there is the longer time between the input of control command and the transmission of control signal.When aircraft high-speed flight, once control signal sends not in time, likely cause aircraft to crash, loss without redemption is caused to aircraft.
Therefore, the touch screen controller that more existing aircraft uses realizes the input of flight path by the mode of input discrete touch point.Such as, touch screen controller judges that user needs the position of process by pointing the aircraft clicked on the touchscreen, and gps coordinate corresponding for clicked position is sent to aircraft successively as the destination coordinate of aircraft.Control the motion path of aircraft thus.
But, due to when user clicks on the touchscreen due to finger obscures cause, be difficult to precisely to click the position that needs are clicked, cause the control of aircraft and inaccuracy, if the path flight that aircraft is clicked according to user, aircraft is likely caused to crash.Further, because the mobile devices such as aircraft, submarine not only need planar to move, also need to move in vertical direction, as performed dipping and heaving, because touch-screen is plane, single touch operation cannot realize the motion control on mobile devices three-dimensional.
In addition, the mobile devices that aircraft, submarine etc. are controlled are often installed the chip that global positioning system (GPS) uses, but, in indoor, high building stands in great numbers, valley or comparatively remote area, and the signal that GPS chip receives is more weak, have a strong impact on the control of the mobile devices such as aircraft, and threaten the flight safety of aircraft.
Summary of the invention
Main purpose of the present invention is to provide the touch screen controller of the control signal particularity that a kind of raising sends to mobile devices.
Another object of the present invention is to provide a kind of control method controlling the higher mobile devices of particularity.
In order to realize above-mentioned main purpose, touch screen controller provided by the invention is used for sending control signal to mobile devices, the treater that this touch screen controller comprises touch-screen and is electrically connected with touch-screen, wherein, treater touches path of motion for receiving on touch-screen, according to touching the controlled motion control information of moving track calculation mobile devices, and export the data of motion control information to touch-screen, export the control signal of motion control information to mobile devices, touch-screen is used for the data of the motion control information that receiving processor exports and shows in real time.
From such scheme, touch screen controller is according to after the motion control information such as touch moving track calculation such as sense of motion, move distance, speed, cireular frequency, angular transposition, the data of motion control information real-time display controlled on the touchscreen, user can understand the control command of input intuitively and to judge whether control command inputs wrong.Like this, user is once find that the control command of input is wrong, and can cancel transmission or the adjustment instruction of instruction, to improve the particularity of the control command sent, the control signal that touch screen controller sends to mobile devices is also more accurate.
A preferred scheme is, touch screen controller is also provided with public address system, treater, also for after calculating sense of motion and move distance, is play the data of motion control information, and after receiving the confirmation information, the control signal of motion control information is sent to mobile devices by public address system.
As can be seen here, while the data of touch screen controller display motion control information, also played back by public address systems such as loudspeaker, whether user is correct without the need to the instruction namely can being understood input by viewing touch-screen, avoids user's judgement of affecting instruction correctness because cannot see the content of touch-screen out of doors clearly by intense laser interfere.
Further scheme is, treater also receives instruction of promptly hovering after sending control signal to mobile devices, and sends the control signal of urgent hovering to mobile devices.
Visible, user, once find that the control signal sent is wrong, namely can be controlled aircraft and promptly hover, with the generation avoiding aircraft to cause collision case because continuing to perform original control signal by the control command sending urgent hovering.
Further scheme is, touch-screen has control command input area and realtime curve district, touching path of motion is the path of motion formed in control command input area, the data of motion control information are presented in realtime curve district, and control command input area and realtime curve district arrange separately.
As can be seen here, realtime curve district and control command input area are separated from each other, and the display of such real time data can not be blocked on control command input area, avoid the real time data shown to affect the input of control command.
Further scheme is, control command input area comprises the horizontal motion instruction input area and perpendicular movement instruction input area that are separated from each other setting.Like this, the control command in horizontal motion direction and the instruction of perpendicular movement can input respectively, are convenient to the dipping and heaving being controlled the object of the three-dimensional motion such as aircraft, submarine by the mode of planar input control order.
Further scheme is, when treater is also the touch path of motion of the first shape for disconnected touch path of motion, the motion control information of calculating is horizontal motion control information; When judging that touching path of motion is the touch path of motion of the second shape, the motion control information of calculating is perpendicular movement control information.
As can be seen here, the shape controlling the touch path of motion of the horizontal motion of mobile devices is not identical with the touch path of motion shape controlling mobile devices perpendicular movement, treater only needs to judge that namely the shape touching path of motion can judge that the signal inputted controls mobile devices motion in the horizontal direction or motion in vertical direction, and then form control signal accordingly, can control mobile devices neatly, this control method is without the need to distinguishing horizontal motion instruction input area and dipping and heaving instruction input area, effectively can avoid the touch path of the touch control region input error in mistake.
Further scheme is, treater is also for receiving the realtime graphic of the camera head shooting on mobile devices; Touch-screen is also for receiving and showing realtime graphic, and touch path of motion is formed on realtime graphic.
Visible, the realtime graphic taken by camera head is as the background touching path of motion, user intuitively can arrive the environment of aircraft periphery, and according to the environment input control order of aircraft periphery, control command is determined according to aircraft ambient environment completely, the instruction input of person more convenient to use.
Further scheme is, treater is also for receiving the data that electronic compass on mobile devices and rang sensor export, and the data exported using electronic compass and rang sensor are as the limit of the numerical value of motion control information on direction, obstacle place.
As can be seen here, after aircraft being installed electronic compass and rang sensor, without the need to using the satellite-signal of the chip receiving world locational system of global positioning system, being conducive to the flight of aircraft in indoor or comparatively remote area and controlling.Further, treater also according to the data of electronic compass and rang sensor, calculates the distance of immediate in different directions obstacle, and as motion control information on direction, obstacle place, as the limit of move distance.
The data using electronic compass and rang sensor to export, as the limit of sense of motion and move distance, can avoid aircraft to collide on the obstacle of periphery.
For realizing another above-mentioned object, in the control method of mobile devices provided by the invention, mobile devices receive the control signal of touch screen controller output and move under control of the control signal, touch screen controller comprises a touch-screen, the method comprises touch screen controller and touches path of motion according on touch-screen, and, touch screen controller calculates the controlled sense of motion of mobile devices and move distance according to touching estimation, and show the data of motion control information in real time, export the control signal of motion control information to mobile devices.
From such scheme, after user touches path of motion by touch-screen input, touch-screen shows in real time the data of motion control information, whether the control command that user can understand input is intuitively correct, and in the control command off-square situation of input, cancel control command or the adjustment control command of input, thus accurately control the motion control information of mobile devices, as sense of motion, move distance, speed etc.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of inventive touch screen controller first embodiment and aircraft.
Fig. 2 is the schematic block diagram of touch-screen in inventive touch screen controller first embodiment.
Fig. 3 is the schematic diagram of inventive touch screen controller first embodiment middle controller first mode.
Fig. 4 is the schematic diagram of inventive touch screen controller first embodiment middle controller second mode.
Fig. 5 is the schematic diagram of inventive touch screen controller first embodiment middle controller the 3rd mode.
Fig. 6 is the diagram of circuit of mobile devices control method first embodiment of the present invention.
Fig. 7 is the schematic block diagram of the another kind of display state of touch-screen in inventive touch screen controller first embodiment.
Fig. 8 is the schematic block diagram of touch-screen first input state in inventive touch screen controller second embodiment.
Fig. 9 is the schematic block diagram of touch-screen second input state in inventive touch screen controller second embodiment.
Figure 10 is the schematic block diagram of touch-screen the 3rd input state in inventive touch screen controller second embodiment.
Below in conjunction with drawings and Examples, the invention will be further described.
Detailed description of the invention
The mobile devices that touch screen controller of the present invention can spatially move up and down for controlling aircraft, submarine etc., can be arranged in mobile devices, can arrange separately with mobile devices, as arranged separately with motion, then carry out data exchange by the mode of radio communication between touch screen controller and the controller of mobile devices.Touch screen controller can be special controller, also can be the smart mobile phone, panel computer etc. that are provided with APP.Mobile devices control method of the present invention is the method that the above-mentioned touch screen controller of application controls mobile devices.The invention is described in detail using the aircraft of multiaxis as embodiment below.
First embodiment:
See Fig. 1, touch screen controller 20 and the aircraft 10 of the present embodiment are arranged separately, and namely touch screen controller 20 is not be arranged on aircraft 10.Aircraft 10 is provided with controller 11, camera head 12, electronic compass 13, rang sensor 14 and GPS chip 15, in touch screen controller 20, is provided with treater 21, touch-screen 22, public address system 23, indicator lamp 24, oscillatory system 25 and gyro sensor 26.
The controller 11 of aircraft 10 exports control signal for the engine installation to aircraft 10, as exported control signal to motor, the motion such as rotor driver or deflecting plate is driven, actions such as realizing the taking off of aircraft thus, decline, go off course, turn to by the rotation controlling motor.Further, controller 11 receives the realtime graphic that camera head 12 is taken, and receives the signal of electronic compass 13, rang sensor 14 and GPS chip 15 output.Electronic compass 13 for sense aircraft 10 course angle, as due south or 15 °, north by west etc.Rang sensor 14 can be infradred sensor, laser sensor, light stream sensor, radar sensor or ultrasonic transduter etc., by sending the distance between wireless signal sense aircraft 10 and periphery obstacle.Preferably, aircraft 10 is arranged multiple rang sensor 14, multiple rang sensor 14 respectively towards different directions, for sense aircraft 10 distance with the obstacle on circumference and above-below direction.
The treater 21 of touch screen controller 20 receives the signal of touch-screen 22, and the image needing display is exported to touch-screen 22, and treater 21 also carries out radio communication by the controller 11 of radio communication device and aircraft 10, thus control signal is sent to controller 11.Public address system 23 is loudspeaker, and treater 21 to public address system 23 output signal, and controls the audio frequency that public address system 23 sends.
Indicator lamp 24 is LED, and treater 21 is to controlling the light that indicator lamp 24 sends during public address system 24 output signal.Oscillatory system 25 for being provided with eccentric motor, treater 21 to oscillatory system 25 output signal and control oscillatory system 25 export vibrations.Treater 21 receives the signal of gyro sensor 26, and treater 21 can judge touch screen controller 20 spatial attitude by the signal of gyro sensor 26, controls touch-screen 22 and shows according to horizontal screen pattern or vertical screen pattern.
See Fig. 2, when the touch-screen 22 of touch screen controller 20 works, the region of display comprises control command input area 30, realtime curve district 33 and control command district 34, as seen from Figure 2, control command input area 30 is positioned at the bottom of touch-screen 22, and occupies most of area of touch-screen 30.In addition, control command input area 30 comprises the horizontal motion instruction input area 31 and perpendicular movement instruction input area 32 arranged left and right, and horizontal motion instruction input area 31 and perpendicular movement instruction input area 32 are separated from each other, i.e. mutual unobstructed setting.
Realtime curve district 33 and control command input area 30 are arranged separated from each other on touch-screen 22.That is, realtime curve district 33 does not block on control command input area 30, to avoid the real time data shown to block control command input area 30, affects the operation of user's input control order.Namely, control command input area 30 is not blocked in realtime curve district 33, and when avoiding input control order, hand blocks realtime curve district 33, is difficult to the real time data of observing realtime curve district 33 display.
Control command district 34 is positioned at the left side in realtime curve district 33, display and control order, and as " speed V ", " displacement S " etc., user is by clicking corresponding icon to select the instruction of input control speed or command displacement.Control command is not limited to " speed V ", " displacement S ", can also be " cireular frequency ", " angular transposition ", airborne illuminating lamp " brightness " etc.
The right side in realtime curve district 33 is provided with compare rule control area 35, and the draw runner in passing ratio chi control area 35 can control the proportionate relationship of the parameter value of the control signal that screen distance and touch screen controller 20 send to aircraft 10.Such as, control command selects " displacement S " compare rule when being 1:1000, to point in the control signal of displacement corresponding to the distance of 1 centimetre of sliding on screen 10 meters.And for example, control command selects " speed V " compare rule when being 1:1000, points 20 meter per seconds in the control signal of speed corresponding to the distance of 2 centimetres of sliding on screen.Draw runner in passing ratio chi control area can regulate the Operational Figure Of Merit on touch-screen 22, improves the alerting ability of flight operation, is also convenient to adapt to finger thickness and/or the different user of operating speed, and what be more conducive to improving aircraft can be handling.Such as, larger compare rule can be used under the higher environment of flare maneuver accuracy requirement, can the compare rule of selection of small when spacious spatial domain long distance is flown.
Again such as, during control command selection " speed V ", when treater 21 judges that touch path of motion on touch-screen 22 is as moving from bottom to top, represent and improve flying speed, otherwise represent and reduce flying speed, according to selected compare rule 1:100, every upward sliding 1 centimetre, represents that flying speed increases by 1 meter per second.Or, if touch the track that path of motion is two finger move toward one another, represent and reduce flying speed, according to selected compare rule 1:100, two finger every move toward one another 1 centimetre, represent that flying speed reduces 1 meter per second, two every motions 1 centimetre dorsad of finger, represent that flying speed reduces 1 meter per second, so analogize.
If control command is chosen as " cireular frequency ", " angular transposition ", " brightness " etc., also can regulate according to touch path of motion, as touch path of motion upwards, move right represent parameter increase, touch path of motion downwards, left movement representation parameter reduce, or the move toward one another that path of motion is two fingers as touched, motion of supporting or opposing represent the reduction, increase etc. of parameter respectively.
In addition, a three-dimensional control ball can also be shown on touch-screen 22, the control ball of display is driven to rotate according to touching path of motion, the middle part controlling ball as pinned is rotated around X-axis and/or Y-axis, can calculate the rotational angle around X-axis and/or Y-axis respectively, controlling ball will rotate around X-axis and/or Y-axis.Slide on the touchscreen as pinned the surface controlling ball, control ball to rotate around the centre of sphere, calculate the arc length and direction that control ball rotation, treater 21 calculates corresponding velocity of rotation according to compare rule or rotational angle forms corresponding sense of motion data, move distance data, angular movement speed data etc.
Or, will the steering angle of straight-line motion as the circular movement thus calculating control that control ball of path of motion be touched.As shown in Figure 3, touch the control ball of screen display three-dimensional, be that A point in Fig. 3 is to B point as touched path of motion, now can calculate with the length distance between A point with B point and control one section of equal arc length of length on ball, length as line segment AB is equal with the length of camber line AC, now calculate central angle alpha corresponding to camber line AC, using the sense of motion that central angle alpha turns to as control aircraft, the angle namely rotated counterclockwise is α.
Such as, as shown in Figure 4, also slide to the right when user pins the middle part controlling ball, namely touching path of motion is AB line segment in Fig. 4, the motion controlling ball is around axis x left-hand revolution, now using the length of AB line segment as the arc length controlling ball, can calculate and control the angle of ball around axis x of rotation, and using the angle that this angle turns to as control aircraft.Certainly, also can use the length between AB line segment, calculate the distance of motion according to compare rule.
As shown in Figure 5, the track that path of motion is inclination as touched, namely the AB line segment in Fig. 5, then touch path of motion can be resolved into the line segment AC along X-direction and the line segment AD along Y direction, then according to rotational angle or the rotation distance of the length computation control ball of line segment AC and line segment AD, thus the sense of motion of control aircraft, kinematic velocity or move distance etc.
Below in conjunction with the control process of Fig. 6 application touch screen controller 20 pairs of aircraft 10.First, the image of camera head 12 shooting of aircraft 10, and the realtime graphic of shooting is sent to the treater 21 of touch screen controller 20 by controller 11, treater 21 performs step S1, receive realtime graphic, and realtime graphic is presented at as a setting on the control command input area 30 of touch-screen 22.Preferably, realtime graphic is presented at as a setting on whole touch-screen 22, increases observable space, improve processing safety.
Then, treater 21 performs step S2, detect user and touch path of motion on touch-screen 22, as shown in Figure 2, user slides into B point from A point, the start position then judging to touch path of motion is the position at A point place, and final position is the position at B point place, calculates sense of motion and the move distance of aircraft according to start position and final position.Such as: touch-screen 22 upper end is defined as flight front, and lower end is defined as aircraft rear, and left end is defined as aircraft left, and right-hand member is defined as aircraft right; Compare rule setting value is 1:500, during control command selection " displacement S ", line segment between path of motion A point and B point is for slide 3 centimetres from lower left upper right side along upper miter angle direction to the right, then calculating control signal instruction is control aircraft 10 to move along the direction of front miter angle to the right to the right; According to the compare rule of setting on touch-screen 22, the practical flight distance calculating A point corresponding with the distance between B point is 15 meters.
After the service direction that calculating aircraft is controlled and move distance, the data of sense of motion and the data of move distance are presented in realtime curve district 33, so that user understands the control command sent intuitively.
Because user is difficult to hold the real space distance being presented at the ambient image that map on touch-screen 22 or aircraft camera head 12 gather as a setting, be difficult to the sizeable control command of input direction on touch-screen 22.Such as, there is obstacle in range estimation 20 meters, aircraft front, and practical obstacle thing distance aircraft front only has 16 meters, but when the control command that user exports is aircraft 10 flight forward 18 meters, will cause aircraft 10 clobber, damages aircraft 10.Therefore, aircraft 10 detects orientation and the distance of the nearest obstacle of periphery by electronic compass 13 and rang sensor 14, by the orientation of nearest obstacle and range mark in background frame, be convenient to user and intuitively accurately learn aircraft and the distance recently between obstacle and orientation.Preferably, using the limit of the distance in the orientation, place of the nearest obstacle of periphery as the move distance of aircraft 10 in this orientation.Once the flying distance that user inputs in the orientation at nearest obstacle place exceeds this limit, touch screen controller 20 exports information, as pointed out this move distance of user to be danger range, please re-enter, control indicator lamp 24 stroboscopic or oscillatory system 25 vibrate.
In addition, on the aircraft 10 that electronic compass 13 and rang sensor 14 are set, when GPS chip 15 weak output signal, the signal that electronic compass 13 can be used to provide as the foundation of sense of motion, meet aircraft 10 indoor, high building stands in great numbers, the job requirement of valley or remote districts flight.
Then, perform step S3, treater 21, to public address system 23 output signal, controls public address system 23 and plays information of voice prompt, played back by the mode of audio frequency by the data of sense of motion, the data of move distance, determined whether the control command inputted required for it by user.If not the control command of required input, the order cancellation icon that user can press display on touch-screen 22 returns control command input state.As user's correct judgment, then by touch-screen 22 input validation information, specifically confirming button as pressed on the touchscreen, clicking optional position on touch-screen 22 or double-clicking the optional position etc. of touch-screen 22.
Treater 21 performs step S4, judge whether to receive the confirmation information, as received the confirmation information, continue step S5, treater 21 forms the control signal of sense of motion and the control signal of move distance according to control command, control signal is sent to the controller 11 of aircraft 10, controller 11 controls multiple machine operation of aircraft 10 according to control command.
Once user finds that the control signal instruction being sent to aircraft 10 is wrong, instruction of promptly hovering can be exported by touch screen controller 20, as physical button that to press on touch-screen 22 the urgent hovering on the icon of the urgent hovering of display or touch screen controller 20 or the Special Areas etc. double-clicked on touch-screen 22, treater 21 performs step S6, judge whether the instruction receiving urgent hovering, as do not received instruction of promptly hovering, return and perform step S2, otherwise, perform step S7, controller 11 to aircraft 10 exports the control signal of urgent hovering, control aircraft 10 thus to hover, wait for the instruction that next time sends.Namely aircraft will preferably perform the instruction of urgent hovering.Finally, treater 21 performs step S8, judges whether the control signal receiving end, as do not received the instruction of end, returning and performing step S2, if receive make a return voyage, the signal such as landing on the spot, then after performing above-mentioned instruction, finishing control flow process.
During practical application, can not perform step S4, after namely performing step S3, directly perform step S5, control signal is sent to the controller 11 of aircraft 10 by treater 21.Whether the information of voice prompt that user still can be play by step S3 is carried out secondary-confirmation and has been sent to the control signal instruction of aircraft 10 to be the control command information needing input.
Certainly, step S3 is also omissible, and by step S2, user is by observing the real-time input value of control command, the value of clear and definite inputted control command that can be highly reliable.
In the present embodiment, touch path of motion is formed in the path of motion in control command input area 30, move in the horizontal direction if control aircraft, then touch path of motion and be formed in path of motion in horizontal motion instruction input area 31, the sense of motion that now treater 21 calculating aircraft is controlled and move distance are sense of motion in horizontal direction and move distance.As needs control aircraft 10 dipping and heaving, input in perpendicular movement instruction input area 32 is then needed to touch path of motion, now touching path of motion can be input from top to bottom, represent and control aircraft 10 descending motion, and the distance of the length computation descending motion according to touch path of motion, otherwise represent the upward movement of control aircraft 10.Like this, the instruction that the three-dimensional of flying vehicles control is moved can be inputted easily on touch-screen 22.
And, the image taken due to aircraft 10 is presented on the horizontal motion instruction input area 30 of touch-screen 22 in real time, aircraft 10 ambient environment can be observed during user's input level movement instruction, be conducive to user and input clear, correct control command.
In the present embodiment, select in control command district 34 be " displacement S " time, the real time data pattern that realtime curve district 33 shows is not limited to level angle and distance, can also be two orthogonal directions and component thereof.Such as, as shown in Figure 7, touch-screen 22 upper end is defined as north and Y-axis positive dirction, and lower end is defined as south and Y-axis negative direction, and left end is defined as west and X-axis negative direction, and right-hand member is defined as east and X-axis positive dirction.User slides into B point from A point, treater 21 successively obtains A point and the position coordinate (x1 of B point on touch-screen 22, and (x2 y1), y2), then the numerical value of component difference (x2-x1) in X-axis and Y-axis of B point relative A point and the numerical value of (y2-y1) is calculated respectively, and by the numerical value of the numerical value of component difference (x2-x1) and (y2-y1) respectively divided by the distance component size that the compare rule value of setting needs respectively along east-west direction and North and South direction movement with the aircraft 10 obtained in control command that realtime curve district 33 shows.Wherein, (x2-x1) numerical value positive and negative in eastwards or the foundation of west-bound operation, the positive and negative foundation of flying southwards or northwards as the aircraft 10 in the control command of display in realtime curve district 33 of (y2-y1) numerical value.Such as, the numerical value of (x2-x1) be on the occasion of, move eastwards, otherwise westwards move; (y2-y1) numerical value is negative value, southwards movement, otherwise northwards moves.
Second embodiment:
The structure of the aircraft of the present embodiment is identical with the structure of the aircraft 10 of the first embodiment, and the structure of touch screen controller is identical with the structure of the touch screen controller 20 of the first embodiment, touch screen controller has the treater and touch-screen that intercom mutually, and treater can send control signal to the controller of aircraft, controls the motion of aircraft thus.
See Fig. 8, the touch-screen 40 of the present embodiment is provided with control command input area 41 and realtime curve district 42, control command district 43, with the first embodiment unlike, the control command input area 41 of the present embodiment is a viewing area, is not divided into horizontal motion instruction input area and perpendicular movement input area.
As seen from Figure 8, realtime curve district 42 and control command input area 41 are arranged separated from each other, namely control command input area 41 is not blocked in realtime curve district 42, affects user's input control order in control command input area 41 to avoid the real time data shown.Meanwhile, when also avoiding input control order, hand blocks realtime curve district 33, is difficult to the real time data of observing realtime curve district 33 display.
When using touch screen controller to control aircraft, touch screen controller receives the realtime graphic of the camera head shooting of aircraft and to be presented in control command input area 41 as a setting, user is input control order when watching realtime graphic, namely slide to form touch path of motion in control command input area, if the touch path of motion in Fig. 8 is from A point to B point.
In order to realize the control command of input level motion and the control command of perpendicular movement on touch-screen 40, the present embodiment is the instruction of the method identification input adopting the difform touch path of motion shape of identification two kinds is horizontal motion control command or perpendicular movement control command.Such as, what touch path of motion is single lines, as shown in the black matrix thick line of Fig. 8, be judged as that the control command inputted is horizontal motion control command, be two lines as what touch path of motion, as shown in Fig. 9 black matrix thick line, be judged as that the control command inputted is perpendicular movement control command.Like this, the touch path of motion that the single finger sliding of user is formed is input level motion control instruction, and the touch path of motion that two finger sliding is formed is input perpendicular movement control command.Like this, a control command input area 41 is only set, and by identifying that namely the shape touching path of motion can realize the input of horizontal motion control command and perpendicular movement control command.
First the treater of touch screen controller judges that touching path of motion is horizontal motion control command or perpendicular movement control command, namely judges the shape touching path of motion.As being judged as horizontal motion control command, as shown in Figure 8, sense of motion and move distance is calculated according to touch path of motion start position and final position, and the data of sense of motion real-time display controlled in realtime curve district 42 and the data of move distance, play above-mentioned data by public address system.After receiving the confirmation information, the controller to aircraft sends control signal.Certainly, if user sends instruction of promptly hovering, the controller to aircraft is sent the signal that promptly hovers by touch screen controller.
As shown in Figure 9, treater judges that the touch path of motion formed in control command input area 41 is two-wire strip, then judge that controlling aircraft moves up and down, such as touching path of motion is move to B point from the A point Fig. 9, namely move from lower to upper, therefore judge that input control aircraft does the instruction of upward movement, and calculate the distance of upward movement according to compare rule.Or, as shown in Figure 10, touching path of motion and move to B point from the A point of Figure 10, namely move from top to bottom, therefore judging that the control command inputted does descending motion as controlling aircraft.
Due to, during user's input level movement instruction, the realtime graphic of the camera head shooting of display aircraft in control command input area 41, user can understand the environment of aircraft periphery more intuitively, for the control command of user's input brings great convenience.Preferably, camera head is arranged on aircraft lower end and takes down, therefore the image shown by control command input area 41 is the image below aircraft, as user needs to control directly over aircraft flight to certain objective, only need the terminal touching path of motion to slide into this objective, control operation is very convenient.
Certainly, aircraft also arranges electronic compass, rang sensor etc., fly under the environment not having gps signal to facilitate aircraft, and the distance between that detected by rang sensor and obstacle is as the limit of move distance, with the situation avoiding aircraft and obstacle to collide.
Certainly, above-mentioned scheme is the preferred embodiment of the invention, practical application to have more change, such as, only relevant with final position with the start position touching path of motion with move distance according to the sense of motion touching trace generator, have nothing to do with the concrete track touching path of motion, therefore only need the drift angle between zequin position and final position, apart from the data namely forming sense of motion, move distance; Or treater also can calculate the concrete track touching path of motion, control aircraft according to the concrete track pattern flight touching path of motion, these are all in protection scope of the present invention.
In addition, in second embodiment, trajectory shape for distinguishing horizontal motion control command and perpendicular movement control command can have more change, what the width such as by judging to touch path of motion judged input is horizontal motion control command or perpendicular movement control command, when the width touching path of motion is greater than preset value, then judge the vertical control command of input, when the width touching path of motion is less than preset value, then judge input level control command.
Obviously, what the present invention can also distinguish input by other distinguishing operation fingering is horizontal motion control command or perpendicular movement control command.
Further, realtime curve district 33 and control command input area 30 are arranged separated from each other on touch-screen 22, are not limited to arrange discretely up and down, can also be that left and right is arranged discretely.Upper-lower position on touch-screen 22 of realtime curve district 33 and control command input area 30 and right position can be accustomed tos selecting voluntarily according to user, automatically can also be set by the input state being arranged on photosensitive sensors on touch screen controller 20 or pick up camera judgement user.
Such as, the left side of touch screen controller 20 and the hand position on right side are respectively arranged with a photosensitive sensors be connected with treater 21, photosensitive sensors feeds back light intensity signal to treater 21, treater 21 judges that the more weak side of light intensity signal is as the hand-held side of user, the side that light intensity signal is stronger is user's control command input operation side, and realtime curve district 33 is presented at the one end near the hand-held side of user.So just, can ingenious realtime curve district 33 inoperation gesture of avoiding block further.
And for example, touch screen controller 20 is provided with towards the side of user be connected with treater 21 camera, camera interval obtain and to treater 21 feedback image information, treater 21 judges user's control command input operation side by image-recognizing method, and realtime curve district 33 is presented at the opposite side relative with user's control command input operation side.
Touch instruction acquisition in control method of the present invention is not limited to the collection of the information to slip starting point and terminal, can also be the information acquisition to touching path.
Such as, by touching the path of motion of path clustering mobile devices: touch path and form by putting dynamically to slide on touch-screen 22, now setting collection reference range is K; The coordinate position of starting point a in touch screen that record touches; And record touches the coordinate position of each dynamic acquisition point b in touch screen on path, and calculate the range difference P of dynamic acquisition point b and starting point a in touch screen, when range difference P equals the integral multiple gathering reference range K, during as 1K, 2K ..., nK, the record respective coordinates position of dynamic acquisition point b in touch screen.Certainly, need to record coordinate position when dynamic acquisition point b terminates to move in touch screen, the geographic coordinates corresponding to the coordinate position of the dynamic acquisition recorded successively some b in touch screen is sent to mobile devices successively as the destination coordinate of mobile devices.
Can also be as follows by the method for the path of motion touching path clustering mobile devices: it is K that setting gathers reference range; The coordinate position of starting point a in touch screen that record touches; The coordinate position of record dynamic acquisition point b in touch screen also calculates the range difference P of dynamic acquisition point b and starting point a in touch screen, when range difference P equals to gather reference range K, and the first coordinate position b1 of record dynamic acquisition point b in touch screen; Then record the coordinate position of dynamic acquisition point b in touch screen and calculate dynamic acquisition point b and the range difference P of the first coordinate position b1 in touch screen, when range difference P equals to gather reference range K, the second coordinate position b2 of record dynamic acquisition point b in touch screen; Then the coordinate position of dynamic acquisition dynamic acquisition point b in touch screen calculate dynamic acquisition point b and the range difference P of the second coordinate position b2 in touch screen, when range difference P equals to gather reference range K, the three-dimensional position b3 of record dynamic acquisition point b in touch screen; So analogize, record touches from the be separated by point coordinate gathering reference range K and the last point coordinate touched on path that starting point starts on path successively, that is, the first coordinate position b1, second coordinate position b2, three-dimensional position b3 ... n-th coordinate position bn ..., last point coordinate bm; With the first coordinate position b1, the second coordinate position b2, three-dimensional position b3 ..., the n-th coordinate position bn ..., geographic coordinates corresponding to last point coordinate bm sends to mobile devices successively as the destination coordinate of mobile devices.
The sizes values of the collection reference range K in the acquisition method of above-mentioned touch path can manually input data on the touchscreen and arrange, and can be arranged, can also carry out quick-setting by the draw runner on touch-screen by phonitic entry method.When the value of collection reference range K is larger, touch collection point, path less, be conducive to the size of data reducing control command, reduce the probability of control signal transmission blocking, reduce the change frequency of control command, reduce the dynamic adjustments frequency of mobile devices power system, and be conducive to energy-conservation.When the value gathering reference range K is less, is conducive to the control accuracy improving mobile devices path of motion, is conducive to mobile devices accurately movement in small space, reduce collision probability.
Above-mentioned two kinds call the touch path that the touch path acquisition method that gathers reference range K gathers can also as the control function of the variablees such as the speed of mobile devices, cireular frequency, angular transposition about the time.
Finally it is emphasized that; the invention is not restricted to above-mentioned embodiment, the change etc. as the change of setting position on the touchscreen of control command input area and realtime curve district, confirmation and the instruction input method that promptly hovers changes and also should be included in the protection domain of the claims in the present invention.
Claims (12)
1. touch screen controller, for sending control signal to mobile devices, the treater that described touch screen controller comprises touch-screen and is electrically connected with described touch-screen, is characterized in that:
Described treater for: receive on described touch-screen and touch path of motion, the motion control information that mobile devices are controlled according to described touch moving track calculation, and export the data of described motion control information to described touch-screen, export the control signal of described motion control information to described mobile devices;
Described touch-screen is used for: receive the data of the described motion control information that described treater exports and show in real time.
2. touch screen controller according to claim 1, is characterized in that:
Described touch screen controller is also provided with public address system, described treater also for: after calculating described motion control information, play the data of described motion control information by described public address system.
3. touch screen controller according to claim 2, is characterized in that:
Described treater also for: after the data being play described motion control information by described public address system, after receiving the confirmation information, the control signal of described motion control information is sent to described mobile devices.
4. touch screen controller according to claim 1 and 2, is characterized in that:
Described treater also for: after sending control signal to described mobile devices, receive and promptly to hover instruction, and send the control signal of urgent hovering to described mobile devices.
5. touch screen controller according to claim 1 and 2, is characterized in that:
Described touch-screen has control command input area and realtime curve district, described touch path of motion is the path of motion formed in described control command input area, the data of described motion control information are presented in described realtime curve district, and described control command input area and described realtime curve district arrange separately.
6. touch screen controller according to claim 5, is characterized in that:
Described control command input area comprises the horizontal motion instruction input area and vertical instruction campaign input area that are separated from each other setting.
7. touch screen controller according to claim 1 and 2, is characterized in that:
Described treater also for: when judging that described touch path of motion is the touch path of motion of the first shape, the described motion control information of calculating is horizontal motion control information; When judging that described touch path of motion is the touch path of motion of the second shape, the described motion control information of calculating is perpendicular movement control information.
8. touch screen controller according to claim 1 and 2, is characterized in that:
Described treater also for: receive on described mobile devices camera head shooting realtime graphic;
Described touch-screen also for: receive and show described realtime graphic, described touch path of motion is formed on described realtime graphic.
9. touch screen controller according to claim 1 and 2, is characterized in that:
Described treater also for: receive the data that electronic compass on described mobile devices and rang sensor export, and the data exported using described electronic compass and described rang sensor are as the limit of the data of described motion control information on direction, obstacle place.
10. the control method of mobile devices, these mobile devices receive the control signal of touch screen controller output and move under the control of said control signal, and described touch screen controller comprises a touch-screen, and the method comprises
It is characterized in that:
The described touch screen controller motion control information that mobile devices are controlled according to the touch moving track calculation on touch-screen, and the data showing described motion control information in real time, export the control signal of described motion control information to described mobile devices.
The control method of 11. mobile devices according to claim 10, is characterized in that:
When described touch screen controller judges that described touch path of motion is the touch path of motion of the first shape, the described motion control information of calculating is horizontal control information; When judging that described touch path of motion is the touch path of motion of the second shape, the described motion control information of calculating is perpendicular movement control information.
The control method of 12. mobile devices according to claim 10 or 11, is characterized in that:
After described touch screen controller sends control signal to described mobile devices, send the control signal of urgent hovering to described mobile devices when judging to receive urgent hovering instruction, after described mobile devices receive the control signal of described urgent hovering, the preferential control command performing described urgent hovering.
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