CN105000170B - The control method of touch screen controller and mobile devices - Google Patents
The control method of touch screen controller and mobile devices Download PDFInfo
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- CN105000170B CN105000170B CN201510416211.8A CN201510416211A CN105000170B CN 105000170 B CN105000170 B CN 105000170B CN 201510416211 A CN201510416211 A CN 201510416211A CN 105000170 B CN105000170 B CN 105000170B
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Abstract
The present invention provides a kind of control method of touch screen controller and mobile devices, the touch screen controller is used to send control signal to mobile devices, the touch screen controller includes touch-screen and the processor electrically connected with touch-screen, wherein, processor is used to receive to touch movement locus on touch-screen, the motion control information controlled according to moving track calculation mobile devices are touched, and by the data output of motion control information to touch-screen, the control signal of motion control information is exported to mobile devices, touch-screen is used for the data and real-time display of the motion control information of reception processing device output.This method is the method using above-mentioned touch screen controller control mobile devices motion.Touch screen controller that should be of the invention can accurately input control instruction with convenient use person.
Description
Technical field
The present invention relates to the control field of the mobile devices such as aircraft, submarine, specifically using touch screen controller pair
Method that these mobile devices that can spatially move up and down are controlled and the touch-screen for realizing the control method
Controller.
Background technology
Existing aircraft, submarine etc. are controlled extensively using with the controller of touch-screen, and controller can be with
It is arranged in these mobile devices or is provided separate from mobile devices, such as by hand-held remote controller to nobody
Drive aircraft and carry out long-range control, hand-held remote controller can be special remote control or be provided with dedicated program
(APP) smart mobile phone, tablet personal computer etc..
Exemplified by controlling the remote control of unpiloted aircraft, existing remote control carries touch-screen, user mostly
Control instruction is inputted by touch-screen, such as takes off, hover, turn to signal, the heading of aircraft is such as controlled, generally requires
Send the direction of motion of flight and the instruction of move distance.The click that common control instruction input method includes touch-screen is defeated
Enter and language in-put, the click input of touch-screen are the icons of idsplay order on the touchscreen, user is by clicking on these
Icon is to form control instruction.Certainly, aircraft steering, flying height adjustment, flying distance setting are such as sent, it is also necessary to defeated
Enter specific parameter, the angle such as turned to, the numerical value of flying height, the distance of flying distance.Such as inputted by voice mode
Control instruction, then user instruction is sent by way of voice, instruction of the touch screen controller to reception is identified, and to
Aircraft sends corresponding control signal.
However, above-mentioned control method generally requires longer time in input instruction, such as need point touching screen
On icon, then input specific parameter, or wait touch screen controller that the phonetic order of reception is identified, this
It is required for longer time to realize, when causing to have longer between the input of control instruction and the transmission of control signal
Between.When aircraft high-speed flight, once control signal is sent not in time, it is possible to and cause aircraft to collide thing
Therefore irredeemable loss is caused to aircraft.
Therefore, the touch screen controller that some existing aircraft use is realized winged by way of inputting discrete touch point
The input in walking along the street footpath.For example, touch screen controller judge the aircraft that user is clicked on the touchscreen by finger need through
The position crossed, and the gps coordinate for being clicked position correspondence is sent to aircraft successively as the destination coordinate of aircraft.By
The motion path of this control aircraft.
But due to when user clicks on the touchscreen because finger blocks reason, it is difficult to precisely click and need a little
The position hit, cause the control of aircraft and inaccurate, if the path that aircraft is clicked on according to user is flown, it is possible to lead
Aircraft is caused to crash.Also, because the mobile devices such as aircraft, submarine not only need planar to move, also need
To move in vertical direction, such as perform elevating movement, because touch-screen is plane, single touch operation can not realize traveling
Motion control on device three-dimensional.
In addition, the core that global positioning system (GPS) uses often is installed on the mobile devices that aircraft, submarine etc. are controlled
Piece, however, indoors, high building stands in great numbers, valley or more remote area, the signal that GPS chip receives is weaker, has a strong impact on
The control of the mobile devices such as aircraft, and threaten the flight safety of aircraft.
The content of the invention
The main object of the present invention is to provide a kind of touch-screen for the control signal accuracy for improving and being sent to mobile devices
Controller.
It is a further object of the present invention to provide a kind of control method for controlling the higher mobile devices of accuracy.
In order to realize above-mentioned main purpose, touch screen controller provided by the invention is used to send control to mobile devices
Signal, the touch screen controller include touch-screen and the processor electrically connected with touch-screen, wherein, processor is tactile for receiving
Touch and touch movement locus on screen, the motion control information controlled according to moving track calculation mobile devices are touched, and motion is controlled
The data output of information processed exports the control signal of motion control information to mobile devices, touch-screen is used to connect to touch-screen
Receive the data and real-time display of the motion control information of processor output.
From such scheme, touch screen controller according to touch moving track calculation such as the direction of motion, move distance,
After the motion control informations such as speed, angular speed, angular displacement, the number of real-time display controlled motion control information on the touchscreen
The control instruction of input can be visually known according to, user and to judge whether control instruction inputs wrong.So, user one
When denier finds that the control instruction of input is wrong, transmission or the adjust instruction of instruction can be cancelled, referred to improving the control sent
The accuracy of order, the control signal that touch screen controller is sent to mobile devices are also more accurate.
One preferable scheme is that touch screen controller is additionally provided with public address system, and processor is additionally operable to calculate the direction of motion
And after move distance, the data of motion control information are played by public address system, and motion is controlled after confirmation is received
The control signal of information processed is sent to mobile devices.
As can be seen here, while touch screen controller shows the data of motion control information, also filled by broadcasts such as loudspeaker
Put and play back, user without by watch touch-screen can understand input instruction it is whether correct, avoid user because
Disturbed out of doors by strong light and the content of touch-screen can not be seen and influence to judge instruction correctness.
Further scheme is, processor, which is additionally operable to send control signal to mobile devices, to be followed by tightening up anxious hovering instruction,
And the control signal promptly hovered is sent to mobile devices.
It can be seen that user once has found that the control signal that has been sent from is wrong, you can with the control promptly hovered by sending
System instruction control aircraft promptly hovers, to avoid aircraft from causing collision accident because continuing executing with original control signal
Occur.
Further scheme is that touch-screen has control instruction input area and realtime curve area, touches motion
Track is the movement locus formed in control instruction input area, and the data of motion control information are shown in realtime curve area
It is interior, and control instruction input area is arranged separately from realtime curve area.
As can be seen here, realtime curve area is separated from each other with control instruction input area, and the display of such real time data is not
It can block on control instruction input area, avoid the real time data of display from influenceing the input of control instruction.
Further scheme is, the horizontal movement instruction input area that control instruction input area includes being separated from each other setting with
And vertical movement instruction input area.So, the control instruction in horizontal movement direction can input respectively with the instruction to move vertically,
It is easy to control the elevating movement of the object of the three-dimensional motions such as aircraft, submarine by way of planar inputting control instruction.
Further scheme is that processor is additionally operable to the touch movement locus that disconnected touch movement locus is first shape
When, the motion control information of calculating is horizontal movement control information；Judge to touch touch campaign of the movement locus for the second shape
During track, the motion control information of calculating is vertical movement control information.
As can be seen here, control the shape of the touch movement locus of the horizontal movement of mobile devices vertical with control mobile devices
The touch movement locus shape of motion differs, and the shape that processor only needs to judge to touch movement locus can judge to input
Signal be control mobile devices in the horizontal direction motion or motion in vertical direction, and then formed accordingly control
Signal processed, neatly mobile devices can be controlled, the control method need not distinguish horizontal movement instruction input region and
Elevating movement instruction input region, it is possible to prevente effectively from the touch path of the touch control region input error in mistake.
Further scheme is that processor is additionally operable to receive the realtime graphic of the camera device shooting on mobile devices；
Touch-screen is additionally operable to receive and show realtime graphic, and touches movement locus and formed on realtime graphic.
It can be seen that using the realtime graphic of camera device shooting as the background for touching movement locus, user can be intuitively
See the environment on aircraft periphery, and control instruction is inputted according to the environment on aircraft periphery, control instruction is completely according to flight
The determination of device surrounding enviroment, the instruction input of person more convenient to use.
Further scheme is, processor is additionally operable to receive electronic compass on mobile devices and range sensor is defeated
The data gone out, and it is used as motion control information on direction where barrier using the data that electronic compass and range sensor export
The limiting value of numerical value.
As can be seen here, after installing electronic compass and range sensor on aircraft, without using global positioning system
The satellite-signal of chip receiving world locational system, be advantageous to aircraft indoors or more remote regional flight control
System.Also, processor calculates obstacle immediate in different directions always according to the data of electronic compass and range sensor
The distance of thing, and as motion control information on direction where barrier, such as the limiting value of move distance.
, can be with using the data that electronic compass and range sensor export as the direction of motion and the limiting value of move distance
Aircraft collision is avoided on the barrier on periphery.
To realize above-mentioned another object, in the control method of mobile devices provided by the invention, mobile devices, which receive, to be touched
To touch the control signal of screen controller output and move under control of the control signal, touch screen controller includes a touch-screen,
This method includes touch screen controller according to touching movement locus on touch-screen, also, touch screen controller is moved according to touching
Estimation calculates the controlled direction of motion of mobile devices and move distance, and the data of real-time display motion control information, will move
The control signal of control information is exported to mobile devices.
From such scheme, after user inputs touch movement locus by touch-screen, real-time display is transported on touch-screen
The data of dynamic control information, whether the control instruction that user can be visually known input is correct, and in the control of input
Instruct it is incorrect in the case of cancel input control instruction or adjustment control instruction, so as to accurately control mobile devices
Motion control information, such as direction of motion, move distance, speed.
Brief description of the drawings
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 the control mode of controller first in inventive touch screen controller first embodiment.
Fig. 4 is the schematic diagram of the control mode of controller second in inventive touch screen controller first embodiment.
Fig. 5 is the schematic diagram of the control mode of controller the 3rd in inventive touch screen controller first embodiment.
Fig. 6 is the flow chart of mobile devices control method first embodiment of the present invention.
Fig. 7 is the schematic block diagram of touch-screen another kind dispaly state in inventive touch screen controller first embodiment.
Fig. 8 is the schematic block diagram of the input state of touch-screen first in inventive touch screen controller second embodiment.
Fig. 9 is the schematic block diagram of the input state of touch-screen second in inventive touch screen controller second embodiment.
Figure 10 is the schematic block diagram of the input state of touch-screen the 3rd in inventive touch screen controller second embodiment.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
The touch screen controller of the present invention is used to control the traveling that aircraft, submarine etc. can be moved up and down spatially
It device, can be arranged in mobile devices, can be provided separate from mobile devices, be such as provided separate from motion, then
Data exchange is carried out between touch screen controller and the controller of mobile devices by way of radio communication.Touch screen controller
It can be special controller or APP smart mobile phone, tablet personal computer etc. are installed.The mobile devices control of the present invention
Method processed is the method being controlled using above-mentioned touch screen controller to mobile devices.Below using the aircraft of multiaxis as
The invention is described in detail embodiment.
First embodiment：
Referring to Fig. 1, the touch screen controller 20 and aircraft 10 of the present embodiment are provided separate from, that is, touch-screen control
Device 20 processed is not to be arranged on aircraft 10.Be provided with aircraft 10 controller 11, camera device 12, electronic compass 13,
Range sensor 14 and GPS chip 15, processor 21, touch-screen 22 are provided with touch screen controller 20, public address system 23, is referred to
Show lamp 24, vibrating device 25 and gyro sensor 26.
The controller 11 of aircraft 10 is used for the power set output control signal to aircraft 10, such as exports and controls to motor
Signal processed, drive rotor driver or deflector etc. to move by the rotation of controlled motor, be achieved in the taking off of aircraft, under
The actions such as drop, driftage, steering.Also, controller 11 receives the realtime graphic that camera device 12 is shot, and receives electronic compass
13rd, the signal that range sensor 14 and GPS chip 15 export.Electronic compass 13 is used for the course angle of sense aircraft 10, such as just
15 ° of south or north by west etc..Range sensor 14 can be infrared ray sensor, laser sensor, light stream sensor, radar biography
Sensor or ultrasonic sensor etc., by sending the distance between wireless signal sense aircraft 10 and periphery barrier.It is excellent
Selection of land, multiple range sensors 14 are set on aircraft 10, multiple range sensors 14 are respectively facing different directions, for examining
Survey aircraft 10 and circumference and the distance of the barrier on above-below direction.
The processor 21 of touch screen controller 20 receives the signal of touch-screen 22, and needs to show to the output of touch-screen 22
Image, and processor 21 also carries out radio communication by the controller 11 of radio communication device and aircraft 10, thus will control
Signal processed is sent to controller 11.Public address system 23 is loudspeaker, and processor 21 controls broadcast to the output signal of public address system 23
The audio that device 23 is sent.
Indicator lamp 24 is LED, and processor 21 is to during 24 output signal of public address system and the light that controls indicator lamp 24 to send.
Vibrating device 25 is the motor for being provided with eccentric wheel, and processor 21 is to the output signal of vibrating device 25 and controls vibrating device 25 defeated
The vibrations gone out.Processor 21 receives the signal of gyro sensor 26, and processor 21 can by the signal of gyro sensor 26
To judge the spatial attitude of touch screen controller 20, control touch-screen 22 is shown according to transverse screen mode or vertical screen pattern.
Referring to Fig. 2, when the touch-screen 22 of touch screen controller 20 works, the region of display includes control instruction input area
30th, realtime curve area 33 and control command area 34, as it is clear from fig. 2 that control instruction input area 30 is located at touch-screen 22
Bottom, and occupy most of area of touch-screen 30.In addition, control instruction input area 30 includes the horizontal movement of left and right arrangement
Instruction input area 31 and vertical movement instruction input area 32, and horizontal movement instruction input area 31 and vertical movement instruction are defeated
Enter area 32 to be separated from each other, i.e. mutually unobstructed setting.
Realtime curve area 33 arranges separated from each other with control instruction input area 30 on touch-screen 22.I.e., in real time
Display field 33 is not blocked on control instruction input area 30, to avoid the real time data of display from blocking control instruction input
Area 30, influence the operation that user inputs control instruction.It is, control instruction input area 30 is not blocked and shown in real time data
Show in area 33, when avoiding inputting control instruction, hand blocks realtime curve area 33, it is difficult to observes realtime curve area 33
The real time data of display.
Control command area 34 is located at the left side in realtime curve area 33, such as display control order, " speed V ", " displacement S "
By clicking on corresponding icon the instruction of input control speed or command displacement is selected Deng, user.Control command is unlimited
In " speed V ", " displacement S ", can also be " angular speed ", " angular displacement ", " brightness " of airborne illuminating lamp etc..
The right side in realtime curve area 33 is provided with engineer's scale control zone 35, the draw runner in passing ratio chi control zone 35
The proportionate relationship of the parameter value for the control signal that screen distance and touch screen controller 20 send to aircraft 10 can be controlled.Example
Such as, " displacement S " engineer's scales are 1 for control command selection:When 1000, finger slides displacement corresponding to 1 centimetre of distance on screen
Control signal in 10 meters.And for example, " speed V " engineer's scales are 1 for control command selection:When 1000, finger slides 2 lis on screen
20 meter per seconds in the control signal of speed corresponding to the distance of rice.Draw runner in passing ratio chi control zone can adjust touch-screen
Operational Figure Of Merit on 22, the flexibility of flight operation is improved, be also convenient for adapting to finger thickness and/or service speed is different makes
User, it is more beneficial for improving the controllability of aircraft.For example, can be used under the higher environment of flare maneuver required precision compared with
Big engineer's scale, can be with the engineer's scale of selection of small in spacious spatial domain long distance flight.
In another example " during speed V ", processor 21 judges touch movement locus on touch-screen 22 for oneself for control command selection
During lower and upper motion, represent to improve flying speed, otherwise represent to reduce flying speed, according to selected engineer's scale 1:100, often to
It is upper to slide 1 centimetre, represent that flying speed increases by 1 meter per second.Or if it is two finger move toward one anothers to touch movement locus
Track, represent to reduce flying speed, according to selected engineer's scale 1:100, two fingers represent flight per 1 centimetre of move toward one another
Speed reduces 1 meter per second, and two fingers often backwards to 1 centimetre of motion, represent that flying speed increases by 1 meter per second, and so on.
If control command selection is " angular speed ", " angular displacement ", " brightness " etc., can also according to touch movement locus come
Regulation, such as touch movement locus upwards, move right represent parameter increase, touch movement locus downwards, to the left movement representation join
Number reduces, or, such as touch the move toward one another, motion of supporting or opposing that movement locus is two fingers represent respectively parameter reduction,
Increase etc..
Further, it is also possible to show a three-dimensional control ball on touch-screen 22, display is driven according to movement locus is touched
Control ball rotate, such as pin the middle part of control ball and rotated around X-axis and/or Y-axis, can be calculated respectively around X-axis and/or Y-axis
Rotational angle, control ball will rotate around X-axis and/or Y-axis.The surface for such as pinning control ball is slided on the touchscreen, control ball
It will be rotated around the centre of sphere, the arc length and direction, processor 21 for calculating control ball rotation calculate corresponding rotation according to engineer's scale
Speed or rotational angle form corresponding direction of motion data, move distance data, angular movement speed data etc..
Or moving along a straight line touch movement locus as the circular motion of control ball so as to calculate the steering of control
Angle.As shown in figure 3, the three-dimensional control ball of screen display is touched, as touched movement locus as the A points in Fig. 3 to B points, now
Can between A points and B points length distance calculate in control ball equal length one section of arc length, as line segment AB length with
Camber line AC equal length, central angle alpha corresponding to camber line AC is now calculated, the fortune turned to using central angle alpha as control aircraft
Dynamic direction, that is, the angle rotated counterclockwise is α.
For example, as shown in figure 4, when user pins the middle part of control ball and slides to the right, that is, it is Fig. 4 to touch movement locus
Middle AB line segments, the motion of control ball is around axis x rotate counterclockwises, and the arc of control ball can be now used as using the length of AB line segments
It is long, calculate the angle that control ball rotates around axis x, and the angle turned to using the angle as control aircraft.Certainly, also may be used
To use the length between AB line segments, the distance of motion is calculated according to engineer's scale.
As shown in figure 5, such as touch movement locus is inclined track, i.e. AB line segments in Fig. 5, then can be moved touching
Length of the decomposing trajectories into the line segment AC along the X-direction and line segment AD along Y direction, then foundation line segment AC and line segment AD
Degree calculates the rotational angle or rotation distance of control ball, so as to control the direction of motion of aircraft, movement velocity or motion
Distance etc..
Illustrate the control process using touch screen controller 20 to aircraft 10 with reference to Fig. 6.First, aircraft 10
The image that camera device 12 is shot, and the realtime graphic of shooting is sent to the place of touch screen controller 20 by controller 11
Device 21 is managed, processor 21 performs step S1, receives realtime graphic, and includes the control in touch-screen 22 using realtime graphic as background
In instruction input area 30 processed.Preferably, include realtime graphic as background on whole touch-screen 22, increase observable is empty
Between, improve processing safety.
Then, processor 21 performs step S2, and detection user touches movement locus on touch-screen 22, as shown in Figure 2
, user slides into B points from A points, then the start position for judging to touch movement locus is the position where A points, final position
For the position where B points, the direction of motion and move distance of aircraft are calculated according to start position and final position.Example
Such as：The upper end of touch-screen 22 is defined as flight front, and lower end is defined as aircraft rear, and left end is defined as aircraft left, right-hand member
It is defined as aircraft right；Engineer's scale setting value is 1:500, control command selection " during displacement S ", movement locus A points and B points it
Between line segment be to slide 3 centimetres from lower left upper right side along upper 45 degree angular direction to the right, then calculating control signal and instructing is
Control aircraft 10 moves along the direction at preceding 45 degree of angles to the right to the right；According to the engineer's scale set on touch-screen 22, A points are calculated
The distance between B points corresponding practical flight distance is 15 meters.
After calculating aircraft controlled traffic direction and move distance, by the data of the direction of motion and move distance
Data are shown in realtime curve area 33, in order to which user is visually known the control instruction sent.
Because user is difficult to hold the map that is shown on touch-screen 22 as background or aircraft camera device 12 is adopted
The real space distance of the ambient image of collection, it is difficult to the sizeable control instruction of input direction on touch-screen 22.For example, mesh
Survey 20 meters of aircraft front and barrier be present, practical obstacle thing is only 16 meters in front of aircraft, but the control of user's output
System instruction for 18 meters of 10 flight forward of aircraft when, aircraft 10 will be caused to knock barrier, damage aircraft 10.Therefore, fly
Row device 10 detects the orientation and distance of the nearest barrier in periphery by electronic compass 13 and range sensor 14, by nearest obstacle
The orientation of thing and apart from mark in background frame, be easy to user intuitively accurately to learn between aircraft and nearest barrier
Distance and orientation.Preferably, using the distance in the place orientation of the nearest barrier on periphery as aircraft 10 in the orientation
The limiting value of move distance.Once user exceeds the limiting value in the flying distance of the orientation input where nearest barrier,
Touch screen controller 20 exports prompt message, and it is risk distance such as to prompt user's move distance, please be re-entered, control refers to
Show that the stroboscopic of lamp 24 or vibrating device 25 vibrate.
In addition, on the aircraft 10 that electronic compass 13 and range sensor 14 are set, in the weak output signal of GPS chip 15
In the case of, foundation of the signal that electronic compass 13 provides as the direction of motion can be used, meet aircraft 10 indoors, it is high
The job requirement that building stands in great numbers, valley or remote districts are flown.
Then, step S3 is performed, processor 21 plays voice and carried to the output signal of public address system 23, control public address system 23
Show information, i.e., play back the data of the direction of motion, the data of move distance by way of audio, be by user's judgement
The control instruction of no input required for it.If not the control instruction of required input, user can press touch-screen 22
The order cancellation icon of upper display returns to control instruction input state., then can be defeated by touch-screen 22 such as user's correct judgment
Enter confirmation, such as press specific confirmation button on the touchscreen, click the optional position on touch-screen 22 or double-click touching
Optional position of screen 22 etc..
Processor 21 performs step S4, judges whether to receive confirmation, such as receives confirmation, continues step
S5, processor 21 form the control signal of the direction of motion and the control signal of move distance according to control instruction, control are believed
Number send to aircraft 10 controller 11, controller 11 according to control instruction control aircraft 10 multiple motors work.
Once user has found that the control signal instruction for having been sent to aircraft 10 is wrong, can be controlled by touch-screen
Device 20 exports urgent hovering instruction, such as presses on the icon or touch screen controller 20 of the urgent hovering shown on touch-screen 22
Urgent hovering physical button or double-click special area etc. on touch-screen 22, processor 21 performs step S6, and judgement is
It is no to receive the instruction promptly hovered, urgent hovering instruction is such as not received by, returns and performs step S2, otherwise, performs step
S7, the control signal promptly hovered is exported to the controller 11 of aircraft 10, thus control aircraft 10 to hover, wait hair next time
The instruction sent.Namely aircraft will preferably be carried out the instruction promptly hovered.Finally, processor 21 performs step S8, and judgement is
The no control signal for receiving end, is such as not received by the instruction of end, returns and performs 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.
During practical application, after step S4, that is, execution step S3 can not be performed, step S5, processor are directly performed
21 send control signals to the controller 11 of aircraft 10.User can still be believed by the voice message that step S3 is played
Whether it is to need the control instruction information that inputs that breath carrys out secondary-confirmation to have been issued to the control signal instruction of aircraft 10.
Certainly, step S3 is also dispensed, and by step S2, user is by observing the real-time input of control instruction
Value, the value of the control instruction clearly inputted that can be highly reliable.
In the present embodiment, the movement locus that movement locus is formed in control instruction input area 30 is touched, if control
Aircraft processed moves in the horizontal direction, then touches the motion rail that movement locus is formed in horizontal movement instruction input area 31
Mark, now the controlled direction of motion of the calculating aircraft of processor 21 and move distance be the direction of motion in horizontal direction with
And move distance.If desired for the control elevating movement of aircraft 10, then the input in vertical movement instruction input area 32 is needed to touch
Movement locus, it can input from top to bottom now to touch movement locus, the expression control descending motion of aircraft 10, and according to
The distance of the length computation descending motion of movement locus is touched, otherwise represents the control ascending motion of aircraft 10.So, Ke Yi
The instruction of the three-dimensional motion to flying vehicles control is conveniently entered on touch-screen 22.
Also, because the image of the shooting of aircraft 10 is shown in the horizontal movement instruction input area 30 of touch-screen 22 in real time
On, the surrounding enviroment of aircraft 10 are observed that during user's input level movement instruction, and it is clear, just to be advantageous to user's input
True control instruction.
In the present embodiment, what is selected in control command area 34 is that " during displacement S ", realtime curve area 33 is shown real-time
Data Styles are not limited to level angle and distance, can also be two orthogonal directions and its component.For example, as shown in fig. 7, touch
Touch 22 upper ends of screen and be defined as north and Y-axis positive direction, lower end is defined as south and Y-axis negative direction, and left end is defined as west and X-axis losing side
To right-hand member is defined as east and X-axis positive direction.User slides into B points from A points, and processor 21 successively obtains A points and B points and touched
The position coordinates (x1, y1) and (x2, y2) on screen 22 are touched, it is poor then to calculate component of the B points with respect to A points in X-axis and Y-axis respectively
(x2-x1) numerical value of numerical value and (y2-y1), and the numerical value of component poor (x2-x1) and (y2-y1) numerical value distinguished divided by
The engineer's scale value of setting is needed respectively along east with the aircraft 10 obtained in the control instruction shown in realtime curve area 33
West is to the distance component size moved with North and South direction.Wherein, (x2-x1) numerical value is positive and negative as eastwards or west-bound operation
Foundation, the positive and negative aircraft 10 as in the control instruction shown in realtime curve area 33 of (y2-y1) numerical value it is to the south or
The foundation northwards flown.For example, the numerical value of (x2-x1) is on the occasion of moving eastwards, otherwise westwards move；(y2-y1) numerical value
It is to the south mobile for negative value, on the contrary northwards move.
Second embodiment：
The structure of the aircraft of the present embodiment is identical with the structure of the aircraft 10 of first embodiment, and touch screen controller
Structure it is identical with the structure of the touch screen controller 20 of first embodiment, touch screen controller has the processor that is in communication with each other
And touch-screen, and processor can send control signal to the controller of aircraft, thus control the motion of aircraft.
Referring to Fig. 8, the touch-screen 40 of the present embodiment be provided with control instruction input area 41 and realtime curve area 42,
Control command area 43, unlike first embodiment, the control instruction input area 41 of the present embodiment is a viewing area, and
Horizontal movement instruction input area and vertical movement input area are not divided into.
As seen from Figure 8, realtime curve area 42 is set separated from each other with control instruction input area 41, that is, in real time
Display field 42 does not block control instruction input area 41, to avoid the real time data of display from influenceing user in control instruction
Input control instruction in input area 41.It is difficult meanwhile when also avoiding inputting control instruction, hand blocks realtime curve area 33
To observe the real time data of the display of realtime curve area 33.
When being controlled using touch screen controller to aircraft, the camera device that touch screen controller receives aircraft is clapped
The realtime graphic taken the photograph simultaneously is shown in control instruction input area 41 and is used as background, and user is in the case where watching realtime graphic
Control instruction is inputted, that is, is slided in control instruction input area to form touch movement locus, such as the touch campaign in Fig. 8
Track is from A points to B points.
In order to realize the control instruction that input level moves on touch-screen 40 and the control instruction to move vertically, this implementation
Example is that the instruction for the method identified inputs for using two kinds of identification touch movement locus shape of different shapes is horizontal movement control
Instruction or vertical movement control instruction.For example, touch movement locus for single lines, as shown in Fig. 8 black matrix thick line,
Be judged as input control instruction be horizontal movement control instruction, as touch movement locus for two lines bar, such as Fig. 9 black matrixes
Shown in thick line, the control instruction for being judged as input is vertical movement control instruction.So, user's single finger slide to be formed touch
It is input level motion control instruction to touch movement locus, and both hands refer to the touch movement locus that slip is formed and controlled for input vertical movement
System instruction.So, a control instruction input area 41 is only set, and by identifying that the shape of touch movement locus can be realized
The input of horizontal movement control instruction and the control instruction that moves vertically.
The processor of touch screen controller first determines whether that it is horizontal movement control instruction or vertical fortune to touch movement locus
Dynamic control instruction, that is, judge to touch the shape of movement locus.Such as it is judged as horizontal movement control instruction, such as Fig. 8 institutes
Show, the direction of motion and move distance are calculated with final position according to movement locus start position is touched, and in realtime curve
The data of the real-time display controlled direction of motion and the data of move distance in area 42, above-mentioned number is played by public address system
According to.After confirmation is received, control signal is sent to the controller of aircraft.Certainly, if user sends urgent hang
Stop instruction, touch screen controller will send urgent hovering signal to the controller of aircraft.
As shown in figure 9, processor judges the touch movement locus of formation in control instruction input area 41 for two-wire strip,
Then judge that control aircraft moves up and down, such as it is to move to B points from the A points in Fig. 9 to touch movement locus, that is, under
Up move, therefore judge that input control aircraft does the instruction of ascending motion, and ascending motion is calculated according to engineer's scale
Distance.Or as shown in Figure 10, touch movement locus and move to B points from Figure 10 A points, that is, move from top to bottom, therefore
Judge that the control instruction of input does descending motion for control aircraft.
During due to, user's input level movement instruction, the camera device of display aircraft in control instruction input area 41
The realtime graphic of shooting, user can more be visually known the environment on aircraft periphery, and the control for user's input refers to
Order brings great convenience.Preferably, camera device is arranged on aircraft lower end and shot down, therefore control instruction input area
Image shown by 41 is the image below aircraft, as user need to control aircraft flight to certain objective just on
Side, it is only necessary to the terminal for touching movement locus is slid into the objective, control operation is extremely convenient.
Certainly, electronic compass, range sensor etc. are also set up on aircraft, to facilitate aircraft in no gps signal
Flown under environment, and the distance between barrier detected by range sensor is used as the limiting value of move distance,
To avoid the situation that aircraft and barrier collide.
Certainly, above-mentioned scheme is the preferred embodiment of the invention, and practical application is that can also have more changes,
For example, according to the direction of motion and move distance and the start position and terminal that touch movement locus that touch trace generator
Position is relevant, unrelated with the specific track for touching movement locus, therefore only needs between zequin position and final position
Drift angle, distance form the direction of motion, the data of move distance；Or processor can also calculate the tool for touching movement locus
Body track, control aircraft fly according to the specific track pattern for touching movement locus, and these are all in protection scope of the present invention
It is interior.
In addition, in second embodiment, for distinguishing the track shape of horizontal movement control instruction and the control instruction that moves vertically
Shape can have more changes, such as by judging to touch the width of movement locus judge input be that horizontal movement control refers to
Order or vertical movement control instruction, when the width for touching movement locus is more than preset value, then judgement inputs vertical control instruction,
When touch movement locus width be less than preset value, then judge input level control instruction.
Obviously, the present invention can also by other it is distinguishing operation fingering come distinguish input be horizontal movement control refer to
Order or vertical movement control instruction.
Also, realtime curve area 33 arranges separated from each other with control instruction input area 30 on touch-screen 22, no
It is limited to discretely to arrange up and down, can also be that left and right is discretely arranged.Realtime curve area 33 and control instruction input area 30
Upper-lower position and right position on touch-screen 22 can be accustomed to voluntarily selecting according to user, can also be tactile by being arranged on
Touch the photosensitive sensors on screen controller 20 or video camera judges that the input state of user is set automatically.
It is connected for example, the left side of touch screen controller 20 and the hand position on right side are respectively arranged with one with processor 21
Photosensitive sensors, photosensitive sensors feed back light intensity signal to processor 21, and processor 21 judges the weaker side of light intensity signal
Side is held for user, the stronger side of light intensity signal is user's control instruction input operation side, and by realtime curve
Area 33 is shown in one end that side is held close to user.So just further ingenious realtime curve area 33 can be avoided not operate
Gesture is blocked.
And for example, the camera being connected with processor 21 is provided with touch screen controller 20 towards the side of user,
Camera interval obtains and judges that user controls by image-recognizing method to the feedback image information of processor 21, processor 21
Instruction input fore side, and realtime curve area 33 is included relative with user's control instruction input operation side another
Side.
Touching instruction collection in the control method of the present invention is not limited to the collection of the information to sliding beginning and end, also
It can be the information gathering to touching path.
For example, the movement locus by touching path clustering mobile devices：Path is touched by dynamically putting in touch-screen 22
Upper slip forms, and now sets collection reference range as K；Record coordinate positions of the starting point a touched on screen is touched；And remember
Record touches coordinate positions of each dynamic acquisition point b on screen is touched on path, and calculates dynamic acquisition point b and starting point a
Range difference P on screen is touched, when range difference P is equal to collection reference range K integral multiple, as 1K, 2K ..., nK when, note
Record respective coordinates positions of the dynamic acquisition point b on screen is touched.Certainly, it is necessary to record dynamic acquisition point b terminate motion when
The coordinate position on screen is touched, by corresponding to coordinate positions of the dynamic acquisition recorded successively the point b on screen is touched
Geographical coordinate is sent to mobile devices successively as the destination coordinate of mobile devices.
Can also be as follows by the method for the movement locus for touching path clustering mobile devices：Set collection reference range as
K；Record coordinate positions of the starting point a touched on screen is touched；Record coordinate positions of the dynamic acquisition point b on screen is touched
And range difference Ps of the dynamic acquisition point b and starting point a on screen is touched is calculated, and when range difference P is equal to collection reference range K, note
Record first coordinate position b1s of the dynamic acquisition point b on screen is touched；Then seats of the dynamic acquisition point b on screen is touched is recorded
Cursor position simultaneously calculates the range difference P of dynamic acquisition point b and the first coordinate position b1 on screen is touched, and is adopted when range difference P is equal to
When collecting reference range K, second coordinate position b2s of the record dynamic acquisition point b on screen is touched；Then dynamic acquisition dynamic is adopted
Collection point b touch screen on coordinate position and calculate dynamic acquisition point b and the second coordinate position b2 touch screen on away from
Deviation P, when range difference P is equal to collection reference range K, threeth coordinate positions of the record dynamic acquisition point b on screen is touched
b3；And so on, record touches the point coordinates for being separated by collection reference range K on path since the starting point and touches path successively
On last point coordinates, i.e. the first coordinate position b1, the second coordinate position b2, the 3rd coordinate position b3 ..., the n-th coordinate position
Bn ..., last point coordinates bm；With the first coordinate position b1, the second coordinate position b2, the 3rd coordinate position b3 ..., the n-th coordinate
Position bn ..., geographical coordinate is sent to mobile devices successively as the destination coordinate of mobile devices corresponding to last point coordinates bm.
The sizes values of collection reference range K in the acquisition method of above-mentioned touch path can be manually defeated on the touchscreen
Enter data to be configured, can be configured by phonitic entry method, can also quickly be set by the draw runner on touch-screen
Put.When collection reference range K value is larger, touch path collection point is less, advantageously reduces the size of data of control command, subtracts
The probability of few control signal transmission blocking, the change frequency of control instruction is reduced, the dynamic for reducing mobile devices dynamical system is adjusted
Frequency is saved, and is advantageous to save.When the value for gathering reference range K is smaller, be advantageous to improve the control of mobile devices movement locus
Precision processed, be advantageous to mobile devices accurate movement in small space, reduce collision probability.
The touch path that above-mentioned two kinds call collection reference range K touch path acquisition method to be gathered can also be made
For control function of the variables such as the speed of mobile devices, angular speed, angular displacement on the time.
Finally it is emphasized that the invention is not restricted to above-mentioned embodiment, such as control instruction input area and real time data
The change of set location, confirmation and the changes such as the change of urgent hovering instruction input method also should on the touchscreen for viewing area
It should include within the scope of the invention as claimed.
Claims (12)
1. touch screen controller, for sending control signal, the touch screen controller and the mobile devices to mobile devices
The setting of phase separation, the touch screen controller include touch-screen and the processor electrically connected with the touch-screen, its feature
It is：
The processor is used for：Receive and touch movement locus on the touch-screen, according to the touch movement locus and engineer's scale
The controlled motion control information of the mobile devices is calculated, and the output in real time of the data of the motion control information is touched to described
Screen is touched, the control signal of the motion control information is exported to the mobile devices；
The touch-screen is used for：Receive data of the motion control information before being performed of processor output and real-time
Display.
2. touch screen controller according to claim 1, it is characterised in that：
The touch screen controller is additionally provided with public address system, and the processor is additionally operable to：After calculating the motion control information, lead to
Cross the data that the public address system plays the motion control information.
3. touch screen controller according to claim 2, it is characterised in that：
The processor is additionally operable to：After the data of the motion control information are played by the public address system, receive really
The control signal of the motion control information is sent to the mobile devices after recognizing information.
4. touch screen controller according to claim 1 or 2, it is characterised in that：
The processor is additionally operable to：After sending control signal to the mobile devices, urgent hovering instruction is received, and to the row
Sail device and send the control signal promptly hovered.
5. touch screen controller according to claim 1 or 2, it is characterised in that：
The touch-screen has control instruction input area and realtime curve area, and the touch movement locus is in the control
The movement locus formed in instruction input area processed, the data of the motion control information are shown in the realtime curve area
It is interior, and the control instruction input area is arranged separately from the realtime curve area.
6. touch screen controller according to claim 5, it is characterised in that：
The control instruction input area includes the horizontal movement instruction input area for being separated from each other setting and vertical instruction motion is defeated
Enter area.
7. touch screen controller according to claim 1 or 2, it is characterised in that：
The processor is additionally operable to：When judging the touch movement locus for the touch movement locus of first shape, the institute of calculating
It is horizontal movement control information to state motion control information；Judge touch movement locus of the touch movement locus for the second shape
When, the motion control information of calculating is vertical movement control information.
8. touch screen controller according to claim 1 or 2, it is characterised in that：
The processor is additionally operable to：Receive the realtime graphic of the camera device shooting on the mobile devices；
The touch-screen is additionally operable to：Receive and show the realtime graphic, the touch movement locus is formed in the figure in real time
As upper.
9. touch screen controller according to claim 1 or 2, it is characterised in that：
The processor is additionally operable to：The electronic compass on the mobile devices and the data of range sensor output are received, and
The motion control information on direction where barrier is used as using the data that the electronic compass and the range sensor export
Data limiting value.
10. the control method of mobile devices, the setting that the mobile devices are separated with touch screen controller, the mobile devices receive
The control signal of the touch screen controller output is simultaneously moved, the touch screen controller bag under the control of said control signal
A touch-screen is included, this method includes
It is characterized in that：
The touch screen controller calculates what the mobile devices were controlled according to the movement locus that touches on touch-screen with engineer's scale
Motion control information, and real-time display be performed before the motion control information data, by the motion control information
Control signal is exported to the mobile devices.
11. the control method of mobile devices according to claim 10, it is characterised in that：
The touch screen controller judge it is described touch movement locus for the touch movement locus of first shape when, calculating it is described
Motion control information is horizontal control information；When judging the touch movement locus for the touch movement locus of the second shape, meter
The motion control information calculated is vertical movement control information.
12. the control method of the mobile devices according to claim 10 or 11, it is characterised in that：
After the touch screen controller sends control signal to the mobile devices, judgement is received when urgent hovering instructs to institute
State mobile devices and send the control signal promptly hovered, after the mobile devices receive the control signal promptly hovered,
Preferentially perform the control instruction promptly hovered.
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| CN107305464A (en) * | 2016-04-25 | 2017-10-31 | 西安中兴新软件有限责任公司 | A kind of control method and device based on pressure sensitive |
| CN106444830B (en) * | 2016-09-23 | 2021-07-30 | 河北雄安远度科技有限公司 | Braking method and device of flight device |
| CN108008837A (en) * | 2016-10-27 | 2018-05-08 | 中兴通讯股份有限公司 | Control the method and control terminal, interconnecting terminal of InterWorking Equipment movement |
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| CN106716288B (en) * | 2016-11-24 | 2020-10-27 | 深圳市大疆创新科技有限公司 | Control method and ground control end of agricultural unmanned aerial vehicle |
| CN106814735B (en) * | 2016-12-06 | 2020-08-14 | 北京臻迪科技股份有限公司 | Control system of unmanned ship |
| WO2018108162A1 (en) | 2016-12-15 | 2018-06-21 | Powervision Robot Inc. | Control system and method for drone with remote controller |
| CN108227721A (en) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | A kind of control terminal |
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| CN108227726A (en) * | 2018-01-11 | 2018-06-29 | 深圳电航空技术有限公司 | UAV Flight Control method, apparatus, terminal and storage medium |
| CN108814827A (en) * | 2018-07-20 | 2018-11-16 | 西安星球通智能装备技术有限公司 | A kind of wheelchair and its control method with touch screen |
| CN109589615A (en) * | 2018-12-17 | 2019-04-09 | 感悟科技（深圳）有限公司 | Based on the vehicle remote control method and system for touching handle |
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| CN203414817U (en) * | 2013-06-13 | 2014-01-29 | 昊翔电能运动科技(昆山)有限公司 | A remote control system and an aircraft control system thereof |
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| CN104598108B (en) * | 2015-01-02 | 2020-12-22 | 北京时代沃林科技发展有限公司 | Method for proportionally remotely controlling remotely controlled equipment in intelligent terminal touch mode |
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Effective date of registration: 20151217 Address after: 519000 Xiangzhou, Zhuhai Province, Fenghuang South Road, No. 1, layer 06, shop No. 1030, No. Applicant after: ZHUHAI PANSHI ELECTRONIC TECHNOLOGY CO., LTD. Address before: 519000 Guangdong Province, Zhuhai city Xiangzhou District Road No. 2 Building 2 martyrs Tong En Culture Communication Co. Ltd. Applicant before: He Chunwang |
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