CN105549604A - Aircraft control method and apparatus - Google Patents

Aircraft control method and apparatus Download PDF

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Publication number
CN105549604A
CN105549604A CN201510919245.9A CN201510919245A CN105549604A CN 105549604 A CN105549604 A CN 105549604A CN 201510919245 A CN201510919245 A CN 201510919245A CN 105549604 A CN105549604 A CN 105549604A
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China
Prior art keywords
aircraft
touch
sensing data
manipulation instruction
instruction
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Granted
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CN201510919245.9A
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Chinese (zh)
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CN105549604B (en
Inventor
李家伦
黎凯锋
宁京
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to CN201510919245.9A priority Critical patent/CN105549604B/en
Publication of CN105549604A publication Critical patent/CN105549604A/en
Priority to PCT/CN2016/083287 priority patent/WO2017096762A1/en
Application granted granted Critical
Publication of CN105549604B publication Critical patent/CN105549604B/en
Priority to US15/957,749 priority patent/US10587790B2/en
Priority to US15/959,014 priority patent/US10863073B2/en
Priority to US15/959,032 priority patent/US10623621B2/en
Priority to US15/959,007 priority patent/US10674062B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)

Abstract

The invention relates to an aircraft vehicle control method and device. The method includes the following steps that: an aircraft control interface is displayed; touch control operation which acts on the aircraft control interface is detected; if the touch control operation is detected, sensor data are obtained, and an aircraft control instruction is obtained according to the sensor data at least; and the aircraft control instruction is sent to an aircraft. With the aircraft vehicle control method and device of the invention adopted, a simple and completely new operation mode is provided, more choices can be provided for operation and control on the aircraft, and operation and control on the aircraft are more convenient.

Description

Aircraft control method and device
Technical field
The present invention relates to vehicle technology field, particularly relate to a kind of aircraft control method and device
Background technology
Unmanned spacecraft is called for short " unmanned plane ", and english abbreviation is " UAV " (UnmannedAerialVehicle), is a kind of not manned aircraft of remote control.Unmanned plane comprises depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship and unmanned parasol etc.Unmanned plane is applied in military domain at first, main as reconnaissance plane and target drone.Along with unmanned plane cost reduces, unmanned plane progresses into civil area.
At present, unmanned plane is manipulated and realizes mainly through rocking rod controller, also can simulate rocking rod controller to realize by mobile terminal.But be that rocking rod controller or simulation rocking rod controller all need user to possess the base power of certain manipulation unmanned plane, new user's manipulation of not contacted rocking rod controller has difficulties, and user does not have other optional control mode yet.Therefore, current unmanned plane control method control mode is single, needs to improve.
Summary of the invention
Based on this, be necessary, for utilizing rocking rod controller to manipulate the problem of unmanned plane operating difficulties at present, to provide a kind of aircraft control method and device.
A kind of aircraft control method, described method comprises:
Display aircraft operation and control interface;
Detect the touch control operation acting on described aircraft operation and control interface;
If described touch control operation detected, then
Obtain sensing data, and at least obtain aircraft manipulation instruction according to described sensing data;
Described aircraft manipulation instruction is sent to aircraft.
A kind of aircraft actuation means, described device comprises:
Interface display module, for showing aircraft operation and control interface;
Touch control operation detection module, for detecting the touch control operation acting on described aircraft operation and control interface;
Sensing data processing module, if for described touch control operation being detected, then obtain sensing data, and at least obtains aircraft manipulation instruction according to described sensing data;
Manipulation instruction sending module, for sending described aircraft manipulation instruction to aircraft.
Above-mentioned aircraft control method and device, display aircraft operation and control interface, this aircraft operation and control interface has the first touch area, when acting on the touch control operation of the first touch area if detect, utilizes sensing data to send to aircraft to generate aircraft manipulation instruction.Such user is when acting on the first touch area by touch control operation, just the manipulation to aircraft can be realized by the sensing data detected by change sensor, provide a kind of simple and brand-new control mode, user is made to have more selection when manipulating aircraft, convenient to the manipulation of aircraft.
Accompanying drawing explanation
Fig. 1 is the applied environment figure of aircraft control system in an embodiment;
Fig. 2 is the structural representation applying the mobile terminal of aircraft control method in an embodiment;
Fig. 3 is the structural representation of aircraft in an embodiment;
Fig. 4 is the schematic flow sheet of aircraft control method in an embodiment;
Fig. 5 is the schematic diagram of the displayed page of mobile terminal display in an embodiment;
Fig. 6 is the schematic diagram of the aircraft operation and control interface of mobile terminal display in an embodiment;
Fig. 7 is the schematic flow sheet according to the step of the touch operation manipulation aircraft to the second touch area in an embodiment;
Fig. 8 is the schematic diagram of aircraft operation and control interface in an embodiment;
Fig. 9 is the schematic flow sheet that in an embodiment, sensing data obtains the step of aircraft manipulation instruction;
Figure 10 is that in an embodiment, user pins the first touch area and brandishes mobile terminal to manipulate the gesture schematic diagram that aircraft performs four kinds of actions respectively towards four principal directions;
Figure 11 is that in an embodiment, mobile terminal is pinned the first touch area to user and brandished towards first direction the schematic diagram that mobile terminal carries out action example;
Figure 12 is that in an embodiment, mobile terminal is pinned the first touch area to user and brandished towards second direction the schematic diagram that mobile terminal carries out action example;
Figure 13 is that in an embodiment, mobile terminal is pinned the first touch area to user and brandished towards the 3rd direction the schematic diagram that mobile terminal carries out action example;
Figure 14 is that in an embodiment, mobile terminal is pinned the first touch area to user and brandished towards four direction the schematic diagram that mobile terminal carries out action example;
Figure 15 is the schematic flow sheet selecting the step presetting automatic steer mode manipulation aircraft in an embodiment;
Figure 16 is the structured flowchart of aircraft actuation means in an embodiment;
Figure 17 is the structured flowchart of aircraft actuation means in another embodiment;
Figure 18 is the structured flowchart of sensing data processing module in an embodiment;
Figure 19 is the structured flowchart of aircraft actuation means in another embodiment.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, in one embodiment, provide a kind of aircraft control system 100, comprise mobile terminal 102 and aircraft 104.Set up wireless connections between mobile terminal 102 and aircraft 104, between mobile terminal 102 and aircraft 104, transmit data by these wireless connections.Aircraft 104 by the flight instruments of remote control, can be unmanned plane, and can be specifically any one in fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, umbrella wing unmanned plane, flapping wing unmanned plane and unmanned airship, aircraft 104 can also be the model airplane of drive.
As shown in Figure 2, in one embodiment, provide a kind of mobile terminal 102, comprise the processor, non-volatile memory medium, internal storage, communicator, display screen and the input media that are connected by system bus.Wherein processor has computing function and controls the function of mobile terminal 102 work, and this processor is configured to perform a kind of aircraft control method.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and aircraft actuation means, and this aircraft actuation means has the functional module realizing a kind of aircraft control method.Internal storage is used for providing high-speed cache for operating system and aircraft actuation means.Communicator is used for carrying out radio communication with aircraft 104.Display screen comprises at least one in LCDs, flexible display screen and electric ink display screen.Input media comprises at least one in physical button, trace ball, Trackpad and the touch control layer overlapping with display screen, and wherein touch control layer and display screen are combined to form touch screen.Mobile terminal 102 can be at least one in mobile phone, panel computer, PDA (personal digital assistant) and touch-control remote controller.
As shown in Figure 3, in one embodiment, provide a kind of aircraft 104, comprise the processor, non-volatile memory medium, internal storage, communicator, flight drive unit, filming apparatus and the locating device that are connected by system bus.Wherein processor has computing function and controls the function of aircraft 104 work, and this processor is configured to perform the manipulation instruction or combination manipulation instruction that come from mobile terminal.Non-volatile memory medium comprises at least one in magnetic storage medium, optical storage media and flash memory type storage medium.Non-volatile memory medium stores operating system and the manipulation instruction executing device for performing manipulation instruction or the combination manipulation instruction coming from mobile terminal.Internal storage is used for for operating system and manipulation instruction executing device provide high-speed cache.Communicator is used for carrying out radio communication with mobile terminal 102.Flight drive unit, for controlling the aircraft flight action of aircraft 104, controls aircraft flight action mainly through the flying speed and heading controlling aircraft 104.For rotor craft, flight drive unit mainly comprises rotor and rotor control device.Filming apparatus is for taking image, and the image of shooting comprises picture and video.Locating device can be GPS (GlobalPositioningSystem, GPS) locating device, for the position of positioning aircraft 104.
As shown in Figure 4, in one embodiment, provide a kind of aircraft control method, the mobile terminal 102 that the present embodiment is applied in above-mentioned Fig. 1 and Fig. 2 in this way illustrates.The method comprises the steps:
Step 402, display aircraft operation and control interface.
Particularly, mobile terminal runs and has aircraft manipulation application, this aircraft manipulation application has the function of manipulation aircraft, the photo to aircraft shooting or the function that processes of video can also be had, here the photo of aircraft shooting or video are processed and mainly comprise classification, displaying, to share to social good friend and generate course.Mobile terminal specifically can carry out sequence according to the shooting time of photo or video and generate course, can also by take pictures or video time the geographical location information that records carry out sequence generation course according to corresponding shooting time.Here course can embody the course of aircraft, also can embody the course of user further.
Mobile terminal is provided for by aircraft manipulation application the aircraft operation and control interface triggering aircraft manipulation instruction, specifically can for showing that the displayed page of the photo that aircraft is taken or video jumps to aircraft operation and control interface.Illustrate, running of mobile terminal aircraft manipulation application, first displayed page is as shown in Figure 5 entered, user can classify the photo or video of checking that aircraft is taken sharing to social good friend in this displayed page, can also show generate according to the photo of aircraft shooting or video carry out route.Mobile terminal enters aircraft operation and control interface as shown in Figure 6 when the operation to aircraft manipulation icon 502 being detected.
Step 404, detects the touch control operation acting on aircraft operation and control interface.
Particularly, the first touch area is the specific region in aircraft operation and control interface, for bearing the effect of touch control operation.First touch area can be button, this button is defaulted as the first state, is changed to the second state when touch control operation being detected, and state here comprises at least one in shape, design and color, such as button is defaulted as raised position, is changed to sinking state after touch control operation being detected.First touch area also can be with presetting the region identified, such as with the region that empty frame encloses or identifies with special color.First touch area also can not identify, but is indicated by the guiding diagram when entering aircraft operation and control interface first.Touch control operation can be specifically touch clicking operation, touch double click operation, touch length by operation, slide and multi-point touch operation, multi-point touch operation is the operation based on multiple touch point, after such as triggering multiple touch point, multiple touch point is collected, or trigger multiple touch point diffusions etc. after multiple touch point.Touch control operation acts on the first touch area, refers to that the touch point of touch control operation is in the first touch area.Mobile terminal can in real time or periodic detection act on the touch control operation of aircraft operation and control interface.
Illustrate, with reference to Fig. 6, first touch area can be the region 602 being arranged in aircraft operation and control interface, and user touches the first touch area 602 by touching body and keeps touch point not disappear, then mobile terminal can detect the touch control operation acting on this first touch area 602.Touch the finger of body such as pointer or user.
Step 406, if touch control operation detected, then obtains sensing data, and at least obtains aircraft manipulation instruction according to sensing data.
Mobile terminal specifically by the interface of read sensor data from corresponding sensor read sensor data, wherein sensing data can be the sensing data of multiple sensor.In one embodiment, sensing data comes from least one in direction sensor, gravity sensor, acceleration transducer, light sensor, electronic compass, range sensor, three-axis gyroscope sensor, temperature sensor and pressure transducer.
Mobile terminal can manipulate the mapping relations of instruction according to sensing data and aircraft, and the sensing data got, and obtains aircraft manipulation instruction.The mapping relations available functions of sensing data and aircraft manipulation instruction represents, this argument of function can be sensing data, and dependent variable can be the mark of mapped aircraft manipulation instruction.
Wherein aircraft manipulation instruction can be the manipulation instruction controlling aircraft flight state and attitude of flight vehicle, also can be to control aircraft to take pictures or the manipulation instruction of video, can also be that other is used for manipulating the instruction that aircraft performs certain action.At least one wherein in state of flight such as heading, flying speed, flying height, hovering and air objective ground etc., attitude of flight vehicle is such as leaned to one side or rotation etc.
Illustrate, if sensing data is the pressure value coming from pressure transducer, or for coming from the Temperature numerical of temperature sensor, or for coming from the brightness values of light sensor, the aircraft that then can obtain for controlling vehicle flight speeds according to sensing data manipulates instruction, the larger aircraft flight of such as pressure value is faster, or the larger aircraft flight of Temperature numerical is faster.If sensing data is the distance value coming from range sensor, then can obtain for slowing down when distance value is less than the first preset value and the aircraft halted when being less than the second preset value manipulation instruction according to sensing data, wherein the first preset value is greater than the second preset value.
Step 408, sends aircraft manipulation instruction to aircraft.
Particularly, the aircraft obtained according to sensing data manipulation instruction by sending to aircraft with the wireless connections of aircraft, is performed the action of aircraft manipulation specified by instruction after making aircraft receive aircraft manipulation instruction by mobile terminal.If aircraft receive multiple aircraft manipulation instruction, then can according to reception order perform successively each aircraft manipulation instruction specified by action.
Above-mentioned aircraft control method, display aircraft operation and control interface, this aircraft operation and control interface has the first touch area, when acting on the touch control operation of the first touch area if detect, utilizes sensing data to send to aircraft to generate aircraft manipulation instruction.Such user is when acting on the first touch area by touch control operation, just the manipulation to aircraft can be realized by the sensing data detected by change sensor, provide a kind of simple and brand-new control mode, user is made to have more selection when manipulating aircraft, convenient to the manipulation of aircraft.
In one embodiment, step 406 comprises: the first touch control operation for turn on sensor control model acting on the first touch area in aircraft operation and control interface if detect, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when the second touch control operation acting on the first touch area being detected according to sensing data.
Particularly, the touch control operation that mobile terminal detects comprises the first touch control operation for turn on sensor control model and the second touch control operation for closure sensor control model.Sensor control model refers to the pattern being manipulated aircraft by sensing data, mobile terminal obtains sensing data and at least obtains aircraft manipulation instruction according to sensing data after turn on sensor control model, and aircraft is manipulated instruction is sent to aircraft.Mobile terminal no longer will obtain sensing data after closure sensor control model, or no longer at least obtain aircraft manipulation instruction according to sensing data, or no longer aircraft is manipulated instruction and be sent to aircraft, but aircraft can be manipulated by alternate manner, as by simulation rocking bar manipulation aircraft.
In the present embodiment, by being respectively used to the touch control operation opening and closing sensor control model, the opportunity entering sensor control model can be controlled neatly, thus under sensor control model, utilize the change of the sensing data detected by sensor to manipulate aircraft, more convenient to the manipulation of aircraft.
In one embodiment, the first touch control operation for turn on sensor control model can be identical with the second touch control operation for closure sensor control model.Now touch control operation can be selected from touch clicking operation, touch double click operation, slide and multi-point touch operation.
If than the once touch clicking operation detected the first touch area, then turn on sensor control model, and then obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, send aircraft manipulation instruction to aircraft.If the once touch clicking operation to the first touch area again detected, then closure sensor control model.
In one embodiment, the first touch control operation for turn on sensor control model can not be identical with the second touch control operation for closure sensor control model.Now two kinds of touch control operations can be selected respectively from touch clicking operation, touch double click operation, slide and multi-point touch operation.
If than the touch clicking operation detected the first touch area, then turn on sensor control model, and then obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, send aircraft manipulation instruction to aircraft.If the touch double click operation to the first touch area detected, then closure sensor control model.
In one embodiment, for turn on sensor control model the first touch control operation and for the second touch control operation of closure sensor control model can be contained in one combination touch control operation in.Combination touch control operation such as touches long by operation, comprises triggers touch length and touches the long touch control operation by operation by the touch control operation of operation and releasing.
In one embodiment, step 406 comprises: self-inspection measures the 3rd touch control operation and plays beginning timing, if timing reaches preset duration and the 3rd touch control operation keeps the first touch area of acting in aircraft operation and control interface, then obtain sensing data, and at least obtain aircraft manipulation instruction, until the 3rd touch control operation stops according to sensing data.
Particularly, the 3rd touch control operation detected in the present embodiment is for continuing touch control operation, mobile terminal is after the 3rd touch control operation being detected, at the 3rd touch control operation in the time used of the first touch area, obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, and send aircraft manipulation instruction, until touch point is to the event resolves of the first touch area to aircraft.Wherein refer to the action time of touch control operation from the time period that the moment of this touch control operation disappears to this touch control operation being detected.
Wherein, preset duration is to distinguish with tapping to operate, if detect, within the preset duration that touch-control is lighted, this touch point disappears, then be identified as and tap operation, if reach preset duration touch point to disappear not yet, be then identified as the touch control operation continued needing to detect, enter sensor control model.The touch-control that self-inspection measures the 3rd touch control operation is lighted and is started timing and timing reaches preset duration, be the first touch control operation for turn on sensor control model, touch point is then the second touch control operation for closure sensor control model to the event resolves of the first touch area.
In the present embodiment, detecting that touch-control lights beginning timing, still keeping acting on the first touch area if reach preset duration touch point, can prevent from causing aircraft out of control because of user's false touch first touch area.
In other embodiments, mobile terminal also can obtain sensing data immediately after touch control operation being detected, and at least obtain aircraft manipulation instruction according to sensing data, and send aircraft manipulation instruction, until touch point is to the event resolves of the first touch area to aircraft.
As shown in Figure 7, in one embodiment, the method also comprises the step according to the touch operation manipulation aircraft to the second touch area, specifically comprises the steps:
Step 702, detects the touch operation acting on the second touch area in aircraft operation and control interface; Second touch area is for simulating rocking bar operation.
Particularly, the second touch area is the specific region in aircraft operation and control interface, for bearing touch operation to simulate rocking bar operation.Touch operation such as touches clicking operation, touches double click operation, touches length by operation, slide and multi-point touch operation.The touch operation acting on the second touch area realizes different control modes respectively from the touch control operation acting on the first touch area.
In one embodiment, the second touch area can surround the first touch area, and now the second touch area is not overlapping with the first touch area, and touch operation can exist identical situation with the touch control operation of detection.In other embodiments, the second touch area can be separated with the first touch area.
Step 704, obtains the simulation rocking bar manipulation instruction that touch operation triggers.
Step 706, sends simulation rocking bar manipulation instruction to aircraft.
Particularly, touch operation acts on the zones of different of the second touch area, can trigger different simulation rocking bar manipulation instructions respectively.Definable four principal directions in concrete second touch area, such as up and down, thus mobile terminal can act in the second touch area according to touch operation and triggers corresponding simulation rocking bar manipulation instruction relative to the relative position of four principal directions.Simulation rocking bar manipulation instruction manipulates instruction with aircraft and does not conflict.Preferably, simulation rocking bar manipulation instruction is for manipulating the change of aircraft vertical lifting and attitude of flight vehicle, and aircraft manipulation instruction is for manipulating the movement of aircraft all directions along the horizontal plane.
With reference to Fig. 8, if the touch point of touch operation acts in the principal direction of the second touch area 801, as the touch operation in Fig. 8 represented by four gestures 802,803,804 and 805, then mobile terminal can trigger the simulation rocking bar manipulation instruction corresponding to this principal direction, after by the manipulation of simulation rocking bar, instruction is sent to aircraft, aircraft can be implemented according to the simulation rocking bar manipulation instruction received to rise, decline, the action of left-handed or dextrorotation.
If touch operation acts on the position in the second touch area outside principal direction, then mobile terminal can trigger the simulation rocking bar manipulation instruction of corresponding combination according to the touch point of the touch operation component mapped in a main direction, the simulation rocking bar of combination manipulation instruction is sent to aircraft, aircraft can implement left-handed rising according to the simulation rocking bar of the combination received manipulation instruction, dextrorotation is risen, action that left-handed decline or dextrorotation decline.
In the present embodiment, mobile terminal detects the touch control operation acting on aircraft operation and control interface, and detect the touch operation acting on the second touch area of aircraft operation and control interface, thus realize the different control mode of aircraft according to the combination of different testing results.Make the control mode of aircraft more diversified like this, more flexible, convenient to the manipulation of aircraft.
In one embodiment, step 406 comprises: if detect, the touch point of the 4th touch control operation acts on the first touch area, then obtain sensing data, and at least obtains aircraft manipulation instruction, until stop when touch point disappears according to sensing data.The method also comprises: when touch point moves to the second touch area in aircraft operation and control interface, manipulates instruction according to the location triggered simulation rocking bar of touch point in the second touch area and is sent to aircraft; Second touch area is for simulating rocking bar operation.
Particularly, the 4th touch control operation detected in the present embodiment is for continuing touch control operation, mobile terminal is after the 4th touch control operation being detected, within the action time of corresponding touch point, obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, and send aircraft manipulation instruction, until touch point disappears to aircraft.Wherein, detecting that the touch point of the 4th touch control operation acts on the first touch area, is the first touch control operation for turn on sensor control model, and touch point disappearance is then the second touch control operation for closure sensor control model.
Mobile terminal also can light beginning timing by the self-inspection touch-control that measures the 4th touch control operation, if timing reaches preset duration and corresponding touch point keeps acting on the first touch area, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when this touch point disappears according to sensing data.Wherein, the touch-control that self-inspection measures the 4th touch control operation is lighted and is started timing and timing reaches preset duration, is the first touch control operation for turn on sensor control model, and it is then the second touch control operation for closure sensor control model that touch point disappears.
Further, when touch point moves to the second touch area in aircraft operation and control interface, just can trigger above-mentioned steps 702 to 706, now touch point act as to the second touch area the touch operation acting on the second touch area.
In the present embodiment, by continuous print the 4th touch control operation, in succession can trigger and enter sensor control model and simulation rocking bar manipulation aircraft, singlehanded manipulation aircraft can be realized, make the manipulation of aircraft convenient, quick.
In one embodiment, step 406 comprises: detect the pressing touch operation acting on the second touch area one push button in aircraft operation and control interface, when detecting, obtains sensing data; Detect push button and follow the movement of pressing touch operation in the second touch area or aircraft operation and control interface, obtain simulation rocking bar manipulation instruction according to mobile; Aircraft manipulation instruction is obtained according to sensing data and simulation rocking bar manipulation instruction.
Wherein, simulation rocking bar manipulation instruction is the manipulation instruction of simulation rocking rod remote-controller, specifically can define four principal directions in the second touch area, such as up and down, thus can act in the second touch area according to pressing touch operation and trigger corresponding simulation rocking bar manipulation instruction relative to the relative position of four principal directions.Simulation rocking bar manipulation instruction manipulates instruction with aircraft and does not conflict.Preferably, rocking bar manipulation instruction is simulated for manipulating the change of aircraft vertical lifting and attitude of flight vehicle.
In the present embodiment, by the pressing touch operation of the second touch area one push button, in succession can trigger and enter sensor control model and simulation rocking bar manipulation aircraft, singlehanded manipulation aircraft can be realized, make the manipulation of aircraft convenient, quick.
As shown in Figure 9, in one embodiment, at least according to sensing data obtain aircraft manipulation instruction step specifically comprise the following steps:
Step 902, according to the original state of the initial sensing data determination sensor place mobile terminal obtained.
Particularly, sensing data comprises the data for the attitude of reflect mobile terminal and at least one in moving.Initial sensing data is the sensing data that mobile terminal receives at first after entering sensor control model, is used for determining the current residing state of mobile terminal, is defined as original state.Original state comprises attitude state and the motion state of mobile terminal, and wherein attitude state comprises the part of mobile terminal inclination, the direction of inclination and angle of inclination etc., and motion state comprises movement velocity, acceleration of motion and direction of motion etc.
Mobile terminal can according to the three-dimensional fixed reference frame determination mobile terminal original state in three dimensions of mobile terminal.Wherein, if fixed reference frame is three-dimensional reference frame, comprise orthogonal three axles, wherein diaxon can be parallel to the display screen of mobile terminal, and a remaining axle is then perpendicular to display screen.Kinematic parameter comprises at least one in direction of motion, motion amplitude and movement velocity.The original state that mobile terminal utilizes fixed reference frame to determine can reflect the original state of mobile terminal in the three dimensions represented by fixed reference frame exactly.
Step 904, according to the succeeding state of the follow-up sensing data determination mobile terminal of initial sensing data obtained.
Particularly, mobile terminal is after determining original state, continue to obtain follow-up sensing data, thus according to the succeeding state of follow-up sensing data determination mobile terminal, succeeding state comprises attitude state and the motion state of mobile terminal, wherein attitude state comprises the part of mobile terminal inclination, the direction of inclination and angle of inclination etc., and motion state comprises movement velocity, acceleration of motion and direction of motion etc.
Step 906, generates aircraft manipulation instruction according to succeeding state relative to the change of original state.
Particularly, mobile terminal take original state as benchmark, succeeding state and original state is compared, thus generates aircraft manipulation instruction according to succeeding state relative to the amount that original state changes.Such as mobile terminal original state is that the mobile terminal lower left corner tilts 15 °, if so succeeding state is that the mobile terminal lower left corner is changed to level from inclination 15 °, so be equivalent to the mobile terminal lower left corner and moved 15 ° in the opposite direction, now mobile terminal generates aircraft manipulation instruction according to the amount of change.
Illustrate, referring again to Figure 10 and Figure 11, when user pins the first touch area, if the original state of mobile terminal determination sensor place mobile terminal is horizontality, then brandish mobile terminal left, so relative to the change of original state, mobile terminal just according to the succeeding state of follow-up sensing data determination mobile terminal, can detect to move in the direction of mobile terminal on the left of screen according to succeeding state.After the aircraft manipulation instruction that mobile terminal generates is sent to aircraft, aircraft performs corresponding action, such as performs the action moved to left, and aircraft is linked according to the motion of mobile terminal.
Further, when user continues to pin the first touch area, to the right, upper or under brandish mobile terminal, so mobile terminal just can detect mobile terminal on rear side of screen, upside or the direction of next time move, corresponding aircraft manipulation instruction makes aircraft perform the action moving to right, advance or retreat respectively after being sent to aircraft.
In the present embodiment, user can by carrying out turn on sensor control model to the touch control operation of the first touch area under mobile terminal is in free position, mobile terminal then carries out initialization, original state is determined according to initial sensing data, and then according to follow-up sensing data determination succeeding state, generate aircraft manipulation instruction according to succeeding state relative to the change of original state.Such user there is no need must to manipulate aircraft after mobile terminal horizontal positioned, manipulates more convenient and accurate.
In one embodiment, mobile terminal, when determining the motion state of mobile terminal, judges whether motion amplitude exceedes predetermined threshold value, if so, then performs step 906; If not, then abandon performing step 906.In the present embodiment, user can brandish mobile terminal to same direction again by brandishing after mobile terminal also playbacks at a slow speed towards a direction fast, make the super unidirectional kinematic parameter of mobile terminal activity continuous print, thus can realize manipulating aircraft constantly and perform identical action.
As shown in figure 15, in one embodiment, this aircraft control method also comprises the step selecting to preset automatic steer mode manipulation aircraft, specifically comprises the steps:
Step 1502, detects the selection instruction to presetting automatic steer mode icon in aircraft operation and control interface.
Particularly, mobile terminal can show multiple default automatic steer mode icon in aircraft operation and control interface, as the icon 606,608 and 610 in Fig. 6.User clicks certain icon and then triggers corresponding selection instruction.Wherein presetting automatic steer mode is utilize predefined parameter to manipulate the automatic control mode that aircraft realizes predefined action.
Step 1504, determines to preset automatic steer mode accordingly according to selection instruction.
Particularly, mobile terminal, by the default automatic steer mode corresponding to the default automatic steer mode icon corresponding to selection instruction, presets automatic steer mode accordingly as what determine according to selection instruction.
Step 1506, reads the combination of the aircraft associated by the default automatic steer mode manipulation instruction determined.
Step 1508, sends aircraft combination manipulation instruction to aircraft, makes aircraft perform corresponding a series of actions successively according to aircraft combination manipulation instruction.
Particularly, preset automatic steer mode for often kind that mobile terminal stores and be associated with corresponding aircraft combination manipulation instruction in advance, mobile terminal reads aircraft combination manipulation instruction after being sent to aircraft, aircraft then can perform a series of actions according to aircraft combination manipulation instruction successively, automatically changes to the dbjective state specified by default automatic steer mode from current state to manipulate aircraft.
In one embodiment, preset that automatic steer mode comprises original place landing mode, returns preset location landing mode, flight time urgent hover mode and at least one of following in lock onto target offline mode.
If the default automatic steer mode determined is original place landing mode, then aircraft completes the automatic aerial mission of original place landing after can stopping a series of actions of rotor after automatically performing movement, gradually reduction flying height and the arrival point plane of stopping horizontal direction successively.
If the default automatic steer mode determined is for returning preset location landing mode, then aircraft can perform successively automatically and obtain preset location coordinate, fly to preset location coordinate, stop the movement of horizontal direction, reduce flying height and arrival point plane gradually after stop a series of actions of rotor after complete the automatic aerial mission returning preset location landing.
If the default automatic steer mode determined is urgent hover mode during flight, then aircraft can perform successively automatically and stop the movement of horizontal direction and the automatic aerial mission of promptly hovering when completing flight after keeping a series of actions of flying height.
If the default automatic steer mode determined is for following lock onto target offline mode, then aircraft can automatically successively perform obtain locking target, flight to distance locking target predeterminable range place and keep a series of actions after complete follow lock onto target flight automatic aerial mission.
In the present embodiment, user can manipulate aircraft quickly by presetting automatic steer mode, makes aircraft automatically complete corresponding aerial mission, improves operation ease.Original place landing mode wherein, urgent hover mode can realize urgent danger prevention or aircraft and reclaims when returning preset location landing mode and flight, follow after lock onto target offline mode can realize aircraft lock onto target and automatically navigate by water, a user can also be realized and manipulate multiple aircraft simultaneously.
As shown in figure 16, in one embodiment, provide a kind of aircraft actuation means 1600, comprising: interface display module 1601, touch control operation detection module 1602, sensing data processing module 1603 and manipulation instruction sending module 1604.
Interface display module 1601, for showing aircraft operation and control interface.
Particularly, mobile terminal runs and has aircraft manipulation application, this aircraft manipulation application has the function of manipulation aircraft, the photo to aircraft shooting or the function that processes of video can also be had, here the photo of aircraft shooting or video are processed and mainly comprise classification, displaying, to share to social good friend and generate course.Mobile terminal specifically can carry out sequence according to the shooting time of photo or video and generate course, can also by take pictures or video time the geographical location information that records carry out sequence generation course according to corresponding shooting time.Here course can embody the course of aircraft, also can embody the course of user further.
Interface display module 1601 is provided for by aircraft manipulation application the aircraft operation and control interface triggering aircraft manipulation instruction, specifically can for showing that the displayed page of the photo that aircraft is taken or video jumps to aircraft operation and control interface.Illustrate, running of mobile terminal aircraft manipulation application, first displayed page is as shown in Figure 5 entered, user can classify the photo or video of checking that aircraft is taken sharing to social good friend in this displayed page, can also show generate according to the photo of aircraft shooting or video carry out route.Mobile terminal enters aircraft operation and control interface as shown in Figure 6 when the operation to aircraft manipulation icon 502 being detected.
Touch control operation detection module 1602, for detecting the touch control operation acting on aircraft operation and control interface.
Particularly, the first touch area is the specific region in aircraft operation and control interface, for bearing the effect of touch control operation.First touch area can be button, this button is defaulted as the first state, the second state is changed to when touch control operation detection module 1602 detects touch control operation, here state comprises at least one in shape, design and color, such as button is defaulted as raised position, is changed to sinking state after touch control operation detection module 1602 detects touch control operation.First touch area also can be with presetting the region identified, such as with the region that empty frame encloses or identifies with special color.First touch area also can not identify, but is indicated by the guiding diagram when entering aircraft operation and control interface first.Touch control operation can be specifically touch clicking operation, touch double click operation, touch length by operation, slide and multi-point touch operation, multi-point touch operation is the operation based on multiple touch point, after such as triggering multiple touch point, multiple touch point is collected, or trigger multiple touch point diffusions etc. after multiple touch point.Touch control operation acts on the first touch area, refers to that the touch point of touch control operation is in the first touch area.Touch control operation detection module 1602 can in real time or periodic detection act on the touch control operation of aircraft operation and control interface.
Illustrate, with reference to Fig. 6, first touch area can be the region 602 being arranged in aircraft operation and control interface, and user touches the first touch area 602 by touching body and keeps touch point not disappear, then mobile terminal can detect the touch control operation acting on this first touch area 602.Touch the finger of body such as pointer or user.
Sensing data processing module 1603, if for touch control operation being detected, then obtain sensing data, and at least obtains aircraft manipulation instruction according to sensing data.
Sensing data processing module 1603 specifically by the interface of read sensor data from corresponding sensor read sensor data, wherein sensing data can be the sensing data of multiple sensor.In one embodiment, sensing data comes from least one in direction sensor, gravity sensor, acceleration transducer, light sensor, electronic compass, range sensor, three-axis gyroscope sensor, temperature sensor and pressure transducer.
Sensing data processing module 1603 can manipulate the mapping relations of instruction according to sensing data and aircraft, and the sensing data got, and obtains aircraft manipulation instruction.The mapping relations available functions of sensing data and aircraft manipulation instruction represents, this argument of function can be sensing data, and dependent variable can be the mark of mapped aircraft manipulation instruction.
Wherein aircraft manipulation instruction can be the manipulation instruction controlling aircraft flight state and attitude of flight vehicle, also can be to control aircraft to take pictures or the manipulation instruction of video, can also be that other is used for manipulating the instruction that aircraft performs certain action.At least one wherein in state of flight such as heading, flying speed, flying height, hovering and air objective ground etc., attitude of flight vehicle is such as leaned to one side or rotation etc.
Illustrate, if sensing data is the pressure value coming from pressure transducer, or for coming from the Temperature numerical of temperature sensor, or for coming from the brightness values of light sensor, the aircraft that then can obtain for controlling vehicle flight speeds according to sensing data manipulates instruction, the larger aircraft flight of such as pressure value is faster, or the larger aircraft flight of Temperature numerical is faster.If sensing data is the distance value coming from range sensor, then can obtain for slowing down when distance value is less than the first preset value and the aircraft halted when being less than the second preset value manipulation instruction according to sensing data, wherein the first preset value is greater than the second preset value.
Manipulation instruction sending module 1604, for sending aircraft manipulation instruction to aircraft.
Particularly, the aircraft obtained manipulation instruction by sending to aircraft with the wireless connections of aircraft, is performed the action of aircraft manipulation specified by instruction after making aircraft receive aircraft manipulation instruction by manipulation instruction sending module 1604.If aircraft receive multiple aircraft manipulation instruction, then can according to reception order perform successively each aircraft manipulation instruction specified by action.
Above-mentioned aircraft actuation means 1600, display aircraft operation and control interface, this aircraft operation and control interface has the first touch area, when acting on the touch control operation of the first touch area if detect, utilizes sensing data to send to aircraft to generate aircraft manipulation instruction.Such user is when acting on the first touch area by touch control operation, just the manipulation to aircraft can be realized by the sensing data detected by change sensor, provide a kind of simple and brand-new control mode, user is made to have more selection when manipulating aircraft, convenient to the manipulation of aircraft.
In one embodiment, if sensing data processing module 1603 acts on first touch control operation for turn on sensor control model of the first touch area in aircraft operation and control interface specifically for detecting, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when the second touch control operation acting on the first touch area being detected according to sensing data.
Particularly, the touch control operation that sensing data processing module 1603 detects comprises the first touch control operation for turn on sensor control model and the second touch control operation for closure sensor control model.Sensor control model refers to the pattern being manipulated aircraft by sensing data, sensing data processing module 1603 obtains sensing data and at least obtains aircraft manipulation instruction according to sensing data after turn on sensor control model, and aircraft is manipulated instruction is sent to aircraft.Sensing data processing module 1603 no longer will obtain sensing data after closure sensor control model, or no longer at least obtain aircraft manipulation instruction according to sensing data, or no longer aircraft is manipulated instruction and be sent to aircraft, but aircraft can be manipulated by alternate manner, as by simulation rocking bar manipulation aircraft.
In the present embodiment, by being respectively used to the touch control operation opening and closing sensor control model, the opportunity entering sensor control model can be controlled neatly, thus under sensor control model, utilize the change of the sensing data detected by sensor to manipulate aircraft, more convenient to the manipulation of aircraft.
In one embodiment, the first touch control operation for turn on sensor control model can be identical with the second touch control operation for closure sensor control model.Now touch control operation can be selected from touch clicking operation, touch double click operation, slide and multi-point touch operation.
If than the once touch clicking operation detected the first touch area, then turn on sensor control model, and then obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, send aircraft manipulation instruction to aircraft.If the once touch clicking operation to the first touch area again detected, then closure sensor control model.
In one embodiment, the first touch control operation for turn on sensor control model can not be identical with the second touch control operation for closure sensor control model.Now two kinds of touch control operations can be selected respectively from touch clicking operation, touch double click operation, slide and multi-point touch operation.
If than the touch clicking operation detected the first touch area, then turn on sensor control model, and then obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, send aircraft manipulation instruction to aircraft.If the touch double click operation to the first touch area detected, then closure sensor control model.
In one embodiment, for turn on sensor control model the first touch control operation and for the second touch control operation of closure sensor control model can be contained in one combination touch control operation in.Combination touch control operation such as touches long by operation, comprises triggers touch length and touches the long touch control operation by operation by the touch control operation of operation and releasing.
In one embodiment, sensing data processing module 1603 measures the 3rd touch control operation specifically for self-inspection and plays beginning timing, if timing reaches preset duration and the 3rd touch control operation keeps the first touch area of acting in aircraft operation and control interface, then obtain sensing data, and at least obtain aircraft manipulation instruction, until the 3rd touch control operation stops according to sensing data.
Particularly, the touch control operation detected in the present embodiment is for continuing touch control operation, sensing data processing module 1603 is after this touch control operation being detected, within the used time of this touch control operation to the first touch area, obtain sensing data, and at least obtain aircraft manipulation instruction according to sensing data, and send aircraft manipulation instruction, until touch point is to the event resolves of the first touch area to aircraft.Wherein refer to the action time of touch control operation from the time period that the moment of this touch control operation disappears to this touch control operation being detected.
Wherein, preset duration is to distinguish with tapping to operate, if detect, within the preset duration that touch-control is lighted, this touch point disappears, then be identified as and tap operation, if reach preset duration touch point to disappear not yet, be then identified as the touch control operation continued needing to detect, enter sensor control model.The touch-control that self-inspection measures the 3rd touch control operation is lighted and is started timing and timing reaches preset duration, be the first touch control operation for turn on sensor control model, touch point is then the second touch control operation for closure sensor control model to the event resolves of the first touch area.
In the present embodiment, detecting that touch-control lights beginning timing, still keeping acting on the first touch area if reach preset duration touch point, can prevent from causing aircraft out of control because of user's false touch first touch area.
In other embodiments, sensing data processing module 1603 also can obtain sensing data immediately after touch control operation being detected, and at least obtains aircraft manipulation instruction, until touch point is to the event resolves of the first touch area according to sensing data.
In one embodiment, sensing data processing module 1603 acts on the pressing touch operation of the second touch area one push button in aircraft operation and control interface specifically for detecting, and when detecting, obtains sensing data; Detect push button and follow the movement of pressing touch operation in the second touch area or aircraft operation and control interface, obtain simulation rocking bar manipulation instruction according to mobile; Aircraft manipulation instruction is obtained according to sensing data and simulation rocking bar manipulation instruction.
As shown in figure 17, in one embodiment, aircraft actuation means 1600 also comprises: touch operation detection module 1605, simulation rocking bar manipulation instruction acquisition module 1606 and simulation rocking bar manipulation instruction sending module 1607.
Touch operation detection module 1605, for detecting the touch operation acting on the second touch area in aircraft operation and control interface.Second touch area is for simulating rocking bar operation.
Particularly, the second touch area is the specific region in aircraft operation and control interface, for bearing touch operation to simulate rocking bar operation.Touch operation such as touches clicking operation, touches double click operation, touches length by operation, slide and multi-point touch operation.The touch operation acting on the second touch area realizes different control modes respectively from the touch control operation acting on the first touch area.
In one embodiment, the second touch area can surround the first touch area, and now the second touch area is not overlapping with the first touch area, and touch operation can exist identical situation with the touch control operation of detection.In other embodiments, the second touch area can be separated with the first touch area.
Simulation rocking bar manipulation instruction acquisition module 1606, for obtaining the simulation rocking bar manipulation instruction that touch operation triggers.
Simulation rocking bar manipulation instruction sending module 1607, for sending simulation rocking bar manipulation instruction to aircraft.
Particularly, touch operation acts on the zones of different of the second touch area, can trigger different simulation rocking bar manipulation instructions respectively.Definable four principal directions in concrete second touch area, such as up and down, thus simulation rocking bar manipulation instruction acquisition module 1606 can act in the second touch area according to touch operation and trigger corresponding simulation rocking bar manipulation instruction relative to the relative position of four principal directions.Simulation rocking bar manipulation instruction manipulates instruction with aircraft and does not conflict.Preferably, simulation rocking bar manipulation instruction is for manipulating the change of aircraft vertical lifting and attitude of flight vehicle, and aircraft manipulation instruction is for manipulating the movement of aircraft all directions along the horizontal plane.
With reference to Fig. 8, if the touch point of touch operation acts in the principal direction of the second touch area 801, as the touch operation in Fig. 8 represented by four gestures 802,803,804 and 805, then mobile terminal can trigger the simulation rocking bar manipulation instruction corresponding to this principal direction, after by the manipulation of simulation rocking bar, instruction is sent to aircraft, aircraft can be implemented according to the simulation rocking bar manipulation instruction received to rise, decline, the action of left-handed or dextrorotation.
If touch operation acts on the position in the second touch area outside principal direction, then simulate rocking bar manipulation instruction acquisition module 1606 can trigger corresponding combination simulation rocking bar manipulation instruction according to the touch point of the touch operation component mapped in a main direction, the simulation rocking bar of combination manipulation instruction is sent to aircraft by simulation rocking bar manipulation instruction sending module 1607, the action that aircraft can implement left-handed rising according to the simulation rocking bar of the combination received manipulation instruction, dextrorotation is risen, left-handed decline or dextrorotation decline.
In the present embodiment, detect the touch control operation acting on aircraft operation and control interface, and detect the touch operation acting on the second touch area of aircraft operation and control interface, thus realize the different control mode of aircraft according to the combination of different testing results.Make the control mode of aircraft more diversified like this, more flexible, convenient to the manipulation of aircraft.
In one embodiment, if sensing data processing module 1603 is specifically for detecting that the touch point of the 4th touch control operation acts on the first touch area, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when touch point disappears according to sensing data; Aircraft actuation means 1600 also comprises rocking bar manipulation analog module (not shown), during for moving to the second touch area in aircraft operation and control interface when touch point, manipulate instruction according to the location triggered simulation rocking bar of touch point in the second touch area and be sent to aircraft; Second touch area is for simulating rocking bar operation.Wherein rocking bar manipulation analog module can comprise above-mentioned touch operation detection module 1605, simulation rocking bar manipulation instruction acquisition module 1606 and simulation rocking bar manipulation instruction sending module 1607.
As shown in figure 18, in one embodiment, sensing data processing module 1603 comprises: original state determination module 1603a, succeeding state determination module 1603b and aircraft manipulation directive generation module 1603c.
Original state determination module 1603a, for the original state according to the initial sensing data determination sensor place mobile terminal obtained.
Particularly, sensing data comprises the data for the attitude of reflect mobile terminal and at least one in moving.Initial sensing data is the sensing data that mobile terminal receives at first after entering sensor control model, is used for determining the current residing state of mobile terminal, is defined as original state.Original state comprises attitude state and the motion state of mobile terminal, and wherein attitude state comprises the part of mobile terminal inclination, the direction of inclination and angle of inclination etc., and motion state comprises movement velocity, acceleration of motion and direction of motion etc.
Original state determination module 1603a can according to the three-dimensional fixed reference frame determination mobile terminal original state in three dimensions of mobile terminal.Wherein, if fixed reference frame is three-dimensional reference frame, comprise orthogonal three axles, wherein diaxon can be parallel to the display screen of mobile terminal, and a remaining axle is then perpendicular to display screen.Kinematic parameter comprises at least one in direction of motion, motion amplitude and movement velocity.The original state that mobile terminal utilizes fixed reference frame to determine can reflect the original state of mobile terminal in the three dimensions represented by fixed reference frame exactly.
Succeeding state determination module 1603b, for the succeeding state according to the follow-up sensing data determination mobile terminal of initial sensing data obtained.
Particularly, after determining original state, succeeding state determination module 1603b continues to obtain follow-up sensing data, thus according to the succeeding state of follow-up sensing data determination mobile terminal, succeeding state comprises attitude state and the motion state of mobile terminal, wherein attitude state comprises the part of mobile terminal inclination, the direction of inclination and angle of inclination etc., and motion state comprises movement velocity, acceleration of motion and direction of motion etc.
Aircraft manipulation directive generation module 1603c, for generating aircraft manipulation instruction according to succeeding state relative to the change of original state.
Particularly, aircraft manipulation directive generation module 1603c take original state as benchmark, succeeding state and original state is compared, thus generates aircraft manipulation instruction according to succeeding state relative to the amount that original state changes.Such as mobile terminal original state is that the mobile terminal lower left corner tilts 15 °, if so succeeding state is that the mobile terminal lower left corner is changed to level from inclination 15 °, so be equivalent to the mobile terminal lower left corner and moved 15 ° in the opposite direction, now mobile terminal generates aircraft manipulation instruction according to the amount of change.
In the present embodiment, user can by carrying out turn on sensor control model to the touch control operation of the first touch area under mobile terminal is in free position, mobile terminal then carries out initialization, original state is determined according to initial sensing data, and then according to follow-up sensing data determination succeeding state, generate aircraft manipulation instruction according to succeeding state relative to the change of original state.Such user there is no need must to manipulate aircraft after mobile terminal horizontal positioned, manipulates more convenient and accurate.
In one embodiment, sensing data comes from least one in direction sensor, gravity sensor, acceleration transducer, light sensor, electronic compass, range sensor, three-axis gyroscope sensor, temperature sensor and pressure transducer.
As shown in figure 19, in one embodiment, aircraft actuation means 1600 also comprises: preset automatic steer mode determination module 1608, aircraft combination manipulation instruction fetch module 1609 and aircraft combination manipulation instruction sending module 1610.
Preset automatic steer mode determination module 1608, for detecting the selection instruction to presetting automatic steer mode icon in aircraft operation and control interface; Determine to preset automatic steer mode accordingly according to selection instruction.
Particularly, preset automatic steer mode determination module 1608 and can show multiple default automatic steer mode icon in aircraft operation and control interface, as the icon 606,608 and 610 in Fig. 6.User clicks certain icon and then triggers corresponding selection instruction.Wherein presetting automatic steer mode is utilize predefined parameter to manipulate the automatic control mode that aircraft realizes predefined action.By the default automatic steer mode corresponding to the default automatic steer mode icon corresponding to selection instruction, as the corresponding default automatic steer mode determined according to selection instruction.
Aircraft combination manipulation instruction fetch module 1609, manipulates instruction for the aircraft combination of reading associated by the default automatic steer mode determined.
Aircraft combination manipulation instruction sending module 1610, for sending aircraft combination manipulation instruction to aircraft, makes aircraft perform corresponding a series of actions successively according to aircraft combination manipulation instruction.
Particularly, preset automatic steer mode for often kind that mobile terminal stores and be associated with corresponding aircraft combination manipulation instruction in advance, aircraft combination manipulation instruction fetch module 1609 reads aircraft combination manipulation instruction and combines after manipulation instruction sending module 1610 is sent to aircraft by aircraft, aircraft then can perform a series of actions according to aircraft combination manipulation instruction successively, automatically changes to the dbjective state specified by default automatic steer mode from current state to manipulate aircraft.
In one embodiment, preset that automatic steer mode comprises original place landing mode, returns preset location landing mode, flight time urgent hover mode and at least one of following in lock onto target offline mode.
If the default automatic steer mode determined is original place landing mode, then aircraft completes the automatic aerial mission of original place landing after can stopping a series of actions of rotor after automatically performing movement, gradually reduction flying height and the arrival point plane of stopping horizontal direction successively.
If the default automatic steer mode determined is for returning preset location landing mode, then aircraft can perform successively automatically and obtain preset location coordinate, fly to preset location coordinate, stop the movement of horizontal direction, reduce flying height and arrival point plane gradually after stop a series of actions of rotor after complete the automatic aerial mission returning preset location landing.
If the default automatic steer mode determined is urgent hover mode during flight, then aircraft can perform successively automatically and stop the movement of horizontal direction and the automatic aerial mission of promptly hovering when completing flight after keeping a series of actions of flying height.
If the default automatic steer mode determined is for following lock onto target offline mode, then aircraft can automatically successively perform obtain locking target, flight to distance locking target predeterminable range place and keep a series of actions after complete follow lock onto target flight automatic aerial mission.
In the present embodiment, user can manipulate aircraft quickly by presetting automatic steer mode, makes aircraft automatically complete corresponding aerial mission, improves operation ease.Original place landing mode wherein, urgent hover mode can realize urgent danger prevention or aircraft and reclaims when returning preset location landing mode and flight, follow after lock onto target offline mode can realize aircraft lock onto target and automatically navigate by water, a user can also be realized and manipulate multiple aircraft simultaneously.
One of ordinary skill in the art will appreciate that all or part of flow process realized in above-described embodiment method, that the hardware that can carry out instruction relevant by computer program has come, described program can be stored in a computer read/write memory medium, this program, when performing, can comprise the flow process of the embodiment as above-mentioned each side method.Wherein, described storage medium can be the non-volatile memory mediums such as magnetic disc, CD, read-only store-memory body (Read-OnlyMemory, ROM), or random store-memory body (RandomAccessMemory, RAM) etc.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this instructions is recorded.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (18)

1. an aircraft control method, described method comprises:
Display aircraft operation and control interface;
Detect the touch control operation acting on described aircraft operation and control interface;
If described touch control operation detected, then
Obtain sensing data, and at least obtain aircraft manipulation instruction according to described sensing data;
Described aircraft manipulation instruction is sent to aircraft.
2. method according to claim 1, is characterized in that, described touch control operation detected, then obtain sensing data if described, and at least obtains aircraft manipulation instruction according to described sensing data, comprising:
First touch control operation for turn on sensor control model of the first touch area in described aircraft operation and control interface is acted on if detect, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when the second touch control operation acting on described first touch area being detected according to described sensing data.
3. method according to claim 1, is characterized in that, described touch control operation detected, then obtain sensing data if described, and at least obtains aircraft manipulation instruction according to described sensing data, comprising:
Self-inspection measures the 3rd touch control operation and plays beginning timing, if timing reaches preset duration and described 3rd touch control operation keeps the first touch area of acting in described aircraft operation and control interface, then obtain sensing data, and at least obtain aircraft manipulation instruction according to described sensing data, until described 3rd touch control operation stops.
4. method according to claim 1, is characterized in that, described touch control operation detected, then obtain sensing data if described, and at least obtains aircraft manipulation instruction according to described sensing data, comprising:
Detect the pressing touch operation acting on the second touch area one push button in described aircraft operation and control interface, when detecting, obtain sensing data;
Detect described push button and follow the movement of described pressing touch operation in described second touch area or described aircraft operation and control interface, manipulate instruction according to the described mobile simulation rocking bar that obtains;
Aircraft manipulation instruction is obtained according to described sensing data and simulation rocking bar manipulation instruction.
5. method according to claim 1, is characterized in that, described touch control operation detected, then obtain sensing data if described, and at least obtains aircraft manipulation instruction according to described sensing data, comprising:
If detect, the touch point of the 4th touch control operation acts on the first touch area in described aircraft operation and control interface, then obtain sensing data, and at least obtains aircraft manipulation instruction, until stop when described touch point disappears according to described sensing data;
Described method also comprises:
When described touch point moves to the second touch area in described aircraft operation and control interface, manipulate instruction according to the location triggered simulation rocking bar of described touch point in described second touch area and be sent to described aircraft; Described second touch area is for simulating rocking bar operation.
6. method according to claim 1, is characterized in that, described at least according to described sensing data obtain aircraft manipulation instruction, comprising:
According to the original state of the initial sensing data determination sensor place mobile terminal obtained;
The sensing data follow-up according to the initial sensing data obtained determines the succeeding state of described mobile terminal;
Aircraft manipulation instruction is generated relative to the change of described original state according to described succeeding state.
7. method according to claim 1, it is characterized in that, described sensing data comes from least one in direction sensor, gravity sensor, acceleration transducer, light sensor, electronic compass, range sensor, three-axis gyroscope sensor, temperature sensor and pressure transducer.
8. method according to claim 1, is characterized in that, described method also comprises:
Detect the selection instruction to presetting automatic steer mode icon in described aircraft operation and control interface;
Determine to preset automatic steer mode accordingly according to described selection instruction;
Read the combination of the aircraft associated by the default automatic steer mode manipulation instruction determined;
Send described aircraft combination manipulation instruction to described aircraft, make described aircraft perform corresponding a series of actions successively according to described aircraft combination manipulation instruction.
9. method according to claim 8, is characterized in that, describedly preset that automatic steer mode comprises original place landing mode, returns preset location landing mode, flight time urgent hover mode and at least one of following in lock onto target offline mode.
10. an aircraft actuation means, is characterized in that, described device comprises:
Interface display module, for showing aircraft operation and control interface;
Touch control operation detection module, for detecting the touch control operation acting on described aircraft operation and control interface;
Sensing data processing module, if for described touch control operation being detected, then obtain sensing data, and at least obtains aircraft manipulation instruction according to described sensing data;
Manipulation instruction sending module, for sending described aircraft manipulation instruction to aircraft.
11. devices according to claim 10, it is characterized in that, if described sensing data processing module acts on first touch control operation for turn on sensor control model of the first touch area in described aircraft operation and control interface specifically for detecting, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when the second touch control operation acting on described first touch area being detected according to described sensing data.
12. devices according to claim 10, it is characterized in that, described sensing data processing module measures the 3rd touch control operation specifically for self-inspection and plays beginning timing, if timing reaches preset duration and described 3rd touch control operation keeps the first touch area of acting in described aircraft operation and control interface, then obtain sensing data, and at least obtain aircraft manipulation instruction according to described sensing data, until described 3rd touch control operation stops.
13. devices according to claim 10, it is characterized in that, described sensing data processing module acts on the pressing touch operation of the second touch area one push button in described aircraft operation and control interface specifically for detecting, when detecting, obtain sensing data; Detect described push button and follow the movement of described pressing touch operation in described second touch area or described aircraft operation and control interface, manipulate instruction according to the described mobile simulation rocking bar that obtains; Aircraft manipulation instruction is obtained according to described sensing data and simulation rocking bar manipulation instruction.
14. devices according to claim 10, it is characterized in that, if described sensing data processing module is specifically for detecting that the touch point of the 4th touch control operation acts on the first touch area in described aircraft operation and control interface, then obtain sensing data, and at least obtain aircraft manipulation instruction, until stop when described touch point disappears according to described sensing data;
Described device also comprises rocking bar manipulation analog module, during for moving to the second touch area in described aircraft operation and control interface when described touch point, manipulate instruction according to the location triggered simulation rocking bar of described touch point in described second touch area and be sent to described aircraft; Described second touch area is for simulating rocking bar operation.
15. devices according to claim 10, is characterized in that, described sensing data processing module comprises:
Original state determination module, for the original state according to the initial sensing data determination sensor place mobile terminal obtained;
Succeeding state determination module, determines the succeeding state of described mobile terminal for the sensing data follow-up according to the initial sensing data obtained;
Aircraft manipulation directive generation module, for generating aircraft manipulation instruction according to described succeeding state relative to the change of described original state.
16. devices according to claim 10, it is characterized in that, described sensing data comes from least one in direction sensor, gravity sensor, acceleration transducer, light sensor, electronic compass, range sensor, three-axis gyroscope sensor, temperature sensor and pressure transducer.
17. devices according to claim 10, is characterized in that, described device also comprises:
Preset automatic steer mode determination module, for detecting the selection instruction to presetting automatic steer mode icon in described aircraft operation and control interface; Determine to preset automatic steer mode accordingly according to described selection instruction;
Aircraft combination manipulation instruction fetch module, manipulates instruction for the aircraft combination of reading associated by the default automatic steer mode determined;
Aircraft combination manipulation instruction sending module, for sending described aircraft combination manipulation instruction to described aircraft, makes described aircraft perform corresponding a series of actions successively according to described aircraft combination manipulation instruction.
18. devices according to claim 17, is characterized in that, describedly preset that automatic steer mode comprises original place landing mode, returns preset location landing mode, flight time urgent hover mode and at least one of following in lock onto target offline mode.
CN201510919245.9A 2015-11-04 2015-12-10 aircraft control method and device Active CN105549604B (en)

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US15/957,749 US10587790B2 (en) 2015-11-04 2018-04-19 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US15/959,014 US10863073B2 (en) 2015-11-04 2018-04-20 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
US15/959,032 US10623621B2 (en) 2015-11-04 2018-04-20 Control method for photographing using unmanned aerial vehicle, photographing method using unmanned aerial vehicle, mobile terminal, and unmanned aerial vehicle
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