CN105700812A - Control method and device for mobile equipment - Google Patents
Control method and device for mobile equipment Download PDFInfo
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- CN105700812A CN105700812A CN201610109094.5A CN201610109094A CN105700812A CN 105700812 A CN105700812 A CN 105700812A CN 201610109094 A CN201610109094 A CN 201610109094A CN 105700812 A CN105700812 A CN 105700812A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000006073 displacement reaction Methods 0.000 claims description 83
- 238000001514 detection method Methods 0.000 claims description 38
- 230000007423 decrease Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 230000000737 periodic effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
- G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
- G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/62—Control of parameters via user interfaces
Abstract
The invention provides a control method and device for mobile equipment. The method comprises the steps that when a terminal detects that a screen of the terminal is pressed by a finger of a user, the initial position of the finger of the user on the screen is recorded; the terminal detects the position of the finger of the user on the screen, and a moving mode and a moving distance of the finger of the user are determined according to the current position of the finger of the user on the screen and the initial position of the finger of the user on the screen; the terminal determines a control mode on the mobile equipment according to the moving mode of the finger of the user; the control amount on the mobile equipment is determined according to the moving distance of the finger of the user; the terminal sends a control command to the mobile equipment according to the determined control mode and the determined control amount. By means of the control method and device for the mobile equipment, the control range on the mobile equipment is widened.
Description
Technical field
The application relates to data communication field, particularly relates to control method and the device of movable equipment。
Background technology
Unmanned plane is the not manned aircraft that a kind of presetting apparatus utilizing wireless remote control device and provide for oneself is handled。Operator realizes the control to unmanned plane by manipulating wireless remote control device。
Way general at present is by the button on remote controller, unmanned plane to be controlled, and the shortcoming of this method is that operation is single, controls simple, it is impossible to carry out the control of complexity。
Summary of the invention
The embodiment of the present application provides the control method of movable equipment and device, with expand to movable equipment as: unmanned plane, the The Cloud Terrace of unmanned plane, unmanned plane the span of control of camera。
The technical scheme of the application is achieved in that
A kind of control method of movable equipment, the method includes:
Terminal detects that user's finger pins the screen of this terminal, then record user's finger initial position on screen；
Terminal detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement；
The terminal move mode according to user's finger, it is determined that the control mode to movable equipment；Displacement according to user's finger, it is determined that the controlled quentity controlled variable to movable equipment；
Terminal is according to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
A kind of control device of movable equipment, this device is positioned in terminal, and this device includes:
Touch detection and computing module: detect that user's finger pins the screen of this terminal, then record user's finger initial position on screen, detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement；
Control module: the move mode according to user's finger that touch detection and computing module are determined, it is determined that the control mode to movable equipment；Displacement according to user's finger that touch detection and computing module are determined, it is determined that the controlled quentity controlled variable to movable equipment；According to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
Visible, the embodiment of the present application detects user's finger move mode on screen and displacement by terminal, it is achieved that the complex control to unmanned plane and the The Cloud Terrace of unmanned plane, camera, expands the span of control to unmanned plane and the The Cloud Terrace of unmanned plane, camera。
Accompanying drawing explanation
The control method flow chart of the movable equipment that Fig. 1 provides for the embodiment of the present application；
The method flow diagram of the terminal control unmanned plane that Fig. 2 provides for the embodiment of the present application；
The method flow diagram of the The Cloud Terrace of the terminal control unmanned plane that Fig. 3 provides for the embodiment of the present application；
The method flow diagram of the camera of the terminal control unmanned plane that Fig. 4 provides for the embodiment of the present application；
The composition schematic diagram controlling device of the movable equipment that Fig. 5 provides for the embodiment of the present application。
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail。
The control method flow chart of the movable equipment that Fig. 1 provides for the embodiment of the present application, it specifically comprises the following steps that
Step 101: terminal detects that user's finger pins the screen of this terminal, then record user's finger initial position on screen。
Step 102: terminal detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement。
Step 103: the terminal move mode according to user's finger, it is determined that the control mode to movable equipment；Displacement according to user's finger, it is determined that the controlled quentity controlled variable to movable equipment。
Step 104: terminal is according to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
In one preferred embodiment, when movable equipment is unmanned plane, user's finger is that user is double; two to be referred to；
When the The Cloud Terrace that movable equipment is unmanned plane, user's finger singly refers to for user。
In one preferred embodiment, when movable equipment is unmanned plane, in step 102, it is determined that the displacement of user's finger includes:
Terminal according to user's each finger current location on screen and initial position, calculates the displacement of each finger of user respectively, then using displacement less in two fingers as the double; two displacement referred to of user。
In one preferred embodiment, when movable equipment is unmanned plane, the move mode in step 103, according to user's finger, it is determined that the control mode of unmanned plane is included:
When the double; two finger of user moves up, it is determined that to the control mode of unmanned plane be: control unmanned plane and rise；
Or/and, when the double; two finger of user moves down, it is determined that to the control mode of unmanned plane be: control unmanned plane and decline；
Or/and, when the double; two sensing of user moves left, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the left；
Or/and, when the double; two sensing of user moves right, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the right；
Or/and, when the double; two finger of user closes up, it is determined that to the control mode of unmanned plane be: control unmanned plane and retreat；
Or/and, when the double; two finger of user separates, it is determined that to the control mode of unmanned plane be: control unmanned plane and advance。
In one preferred embodiment, when movable equipment is unmanned plane, in advance double; two for user move modes referred to are divided into three set: the first set is for move up and down；Second set is: to the left and move right, and the 3rd set is for closing up and separating；
In step 102, it is determined that the move mode of user's finger includes:
Terminal check this move for after the double; two screen referring to pin this terminal of user, user is double; two refer to lift on this terminal screen before between second time and afterwards effective mobile, then compare this move mode with whether the last effective move mode belongs to identity set, if, determine that this moves effectively, record this move mode, and continue executing with step 103；Otherwise, it determines this moves invalid, ignore this and move。
In one preferred embodiment, when the The Cloud Terrace that movable equipment is unmanned plane, step 102 being determined, the displacement of user's finger includes:
Movement according to user's finger direction to the left or to the right on screen, determine user's finger displacement on direction to the left or to the right, simultaneously according to the movement on user's finger direction up or down on screen, it is determined that user's finger displacement in an upward or a downward direction。
In one preferred embodiment, when the The Cloud Terrace that movable equipment is unmanned plane, in step 101, terminal record user's finger initial position on screen farther includes:
Terminal, with user's finger initial position on screen for the center of circle, draws a circle with pre-set radius value for radius on screen；
In step 102, it is determined that the displacement of user's finger includes:
When user's finger displacement in one direction is more than the radius of circle, then user's finger displacement in the direction is forced to round radius。
Displacement in one preferred embodiment, in step 103, according to user's finger, it is determined that the controlled quentity controlled variable of movable equipment is included:
The displacement of user's finger is obtained a ratio value divided by default proportion threshold value, then this ratio value is multiplied by default maximum controlled quentity controlled variable, obtain the controlled quentity controlled variable to movable equipment。
In one preferred embodiment, in step 102, it is determined that the displacement of user's finger includes:
If terminal finds that the displacement of user's finger is less than default Minimum sliding distance, then it is assumed that it is invalid that this of user's finger moves。
In one preferred embodiment, when movable equipment is unmanned plane, terminal detects that double; two finger of user lifts, then send hovering order to unmanned plane。
In one preferred embodiment, when the The Cloud Terrace that movable equipment is unmanned plane, when terminal detects that user singly refers to lift, send still command to The Cloud Terrace。
The method flow diagram of the terminal control unmanned plane that Fig. 2 provides for the embodiment of the present application, it specifically comprises the following steps that
Step 201: terminal detects the double; two screen referring to pin this terminal of user, then record user is double; two refers to the initial position on screen。
Step 202: detection user couple in terminal periodic ground refers to the position on screen, the initial position on screen according to the double; two current location referred on screen of user and the double; two finger of user, it is determined that the double; two move mode referred to of user and displacement。
Specifically, terminal has the pixel coordinate system of acquiescence, the initial point of this coordinate system is the pixel in the upper left corner of screen, the horizontal direction of this coordinate system is the width of terminal, and direction to the right be horizontal square to, the vertical direction of this coordinate system is the short transverse of terminal, and downwardly direction is vertical positive direction。
User can arrange in terminal one move up, move down, be moved to the left, move right, double; two finger closes up, double; two angular range referring to separate, to determine the double; two move mode referred to of user。Such as arrange:
1) moving direction referred to when user is double; two with the angle of the vertical negative direction of pixel coordinate system all when [-a °, a °] is interior, it is determined that the double; two finger of user moves up；
Wherein, a can be empirically determined, for instance is 30；It addition, the moving direction of each finger of user, can obtain with the initial coordinate calculating on screen of user's finger according to user's finger changing coordinates on screen。
2) moving direction referred to when user is double; two with the angle of the vertical positive direction of pixel coordinate system all when [-a °, a °] is interior, it is determined that the double; two finger of user moves down；
3) when the angle of the double; two moving direction referred to of user and the horizontal negative direction of pixel coordinate system is all when [-b °, b °] is interior, it is determined that the double; two sensing of user moves left；
Wherein, b can be empirically determined, for instance is 30。
4) horizontal square of the moving direction referred to when user is double; two and pixel coordinate system to angle all when [-b °, b °] is interior, it is determined that the double; two sensing of user moves right；
5) when the moving direction of the left finger of user and the horizontal square of pixel coordinate system to angle at [-c °, c °] in, and the angle of the horizontal negative direction of the moving direction of the right finger of user and pixel coordinate system is when [-c °, c °] is interior, it is determined that the double; two finger of user is closed up；
Wherein, c can be empirically determined, for instance is 30。
6) when the angle of the moving direction of the left finger of user and the horizontal negative direction of pixel coordinate system is at [-c °, c °] in, and the horizontal square of the moving direction of the right finger of user and pixel coordinate system to angle when [-c °, c °] is interior, it is determined that the double; two finger of user separates。
The calculating process of the double; two displacement referred to of user is as follows:
Respectively according to user's each finger changing coordinates on screen and initial coordinate, calculate the displacement of each finger of user, then using displacement less in two fingers as the double; two displacement referred to of user。
Preferably, if terminal finds that the double; two displacement referred to of user is less than default Minimum sliding distance, then it is assumed that it is invalid that user couple refers to that this moves。
Step 203: terminal is according to the double; two move mode referred to of user, it is determined that the control mode to unmanned plane；According to the double; two displacement referred to of user, it is determined that the controlled quentity controlled variable to unmanned plane。
Specifically:
1) when the double; two finger of user moves up, it is determined that to the control mode of unmanned plane be: control unmanned plane and rise；
2) when the double; two finger of user moves down, it is determined that to the control mode of unmanned plane be: control unmanned plane and decline；
3) when the double; two sensing of user moves left, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the left；
4) when the double; two sensing of user moves right, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the right；
5) when the double; two finger of user closes up, it is determined that to the control mode of unmanned plane be: control unmanned plane and retreat；
6) when the double; two finger of user separates, it is determined that to the control mode of unmanned plane be: control unmanned plane and advance。
According to the double; two displacement referred to of user, it is determined that the detailed process of the controlled quentity controlled variable of unmanned plane is as follows:
Divided by default proportion threshold value, double; two for user displacements referred to being obtained a ratio value, then this ratio value is multiplied by default maximum controlled quentity controlled variable, obtain the controlled quentity controlled variable to unmanned plane, this controlled quentity controlled variable is generally speed。
Wherein, when user is double; two point to upper, move down time, the proportion threshold value of its correspondence is identical, it is possible to for other value of the screen height of terminal or setting；When user is double; two point to left, move right and close up, separate time, the proportion threshold value of its correspondence is identical, it is possible to for other value of the screen width of terminal or setting。
Step 204: terminal is according to the control mode determined and controlled quentity controlled variable, to unmanned plane transmitting control commands。
Preferably, when terminal detects that the double; two finger of user lifts, hovering order is sent to unmanned plane。
Preferably, in advance double; two for user move modes referred to are divided into three set: the first set is for move up and down；Second set is: to the left and move right, 3rd set is for closing up and separating, in step 202, terminal determine user double; two refer to move mode time, if confirm this move refer to pin screen for user is double; two after to user is double; two refer to lift on screen before between second time and afterwards effective mobile, then whether the last effective move mode comparing this move mode and record belongs to identity set, if, determine that this moves effectively, record this move mode, and continue executing with follow-up flow process；Otherwise, it determines this moves invalid, ignore this and move。And, when the double; two finger of user lifts on screen, delete all effective move mode of the user's finger recorded。
It is to say, when user is double; two refer to press on screen after to before lifting, if move mode is for moving up or down for the first time, then hereafter only move up or down as effective movement, other moves is all invalid movement；
When user is double; two refer to press on screen after to before lifting, if move mode is for move to the left or to the right first time, then hereafter mobile only to the left or to the right move for effective, other moves is all invalid movement；
When user is double; two refer to press on screen after to before lifting, if move mode is for closing up or separating for the first time, then hereafter only closing up or be separated into effective movement, other moves is all invalid movement；
When terminal detects and lifts on screen to the double; two finger of user after the double; two finger of user is pressed on screen, it is around here take turns control process；After the double; two finger of user is pressed again on screen, the control of a new round starts。
The method flow diagram of the The Cloud Terrace of the terminal control unmanned plane that Fig. 3 provides for the embodiment of the present application, it specifically comprises the following steps that
Step 301: terminal detects that user singly refers to pin the screen of this terminal, then record user's finger initial position on screen。
Step 302: terminal, with user's finger initial position on screen for the center of circle, draws a circle with pre-set radius value for radius on screen。
Step 303: detection user's finger position on screen, terminal periodic ground, according to user's finger current location on screen and initial position, calculates user's finger moving direction on screen and displacement。
It should be noted that can only one direction control different from controlling unmanned plane, when controlling The Cloud Terrace, it be possible not only to control The Cloud Terrace one direction and moves, it is also possible to control The Cloud Terrace simultaneously and move to both direction, for instance: to upper left, lower-left, upper right, bottom right move。
When calculating user's finger moving direction on screen and displacement, can according to the movement of user's finger horizontal direction (to the left or to the right) on screen, determine user's finger displacement in the horizontal direction, the simultaneously movement according to user's finger vertical direction (up or down) on screen, it is determined that user's finger displacement in vertical direction。
Preferably, when user's finger displacement in the horizontal direction and the vertical direction is more than the radius of circle, then user's finger displacement in the horizontal direction and the vertical direction is forced to round radius。
Step 304: terminal is according to user's finger moving direction on screen, it is determined that the control direction to the The Cloud Terrace of unmanned plane；According to user's finger displacement on screen, it is determined that the controlled quentity controlled variable to the The Cloud Terrace of unmanned plane。
Specifically, according to user's finger displacement on screen, it is determined that during to the controlled quentity controlled variable of the The Cloud Terrace of unmanned plane, if user's finger has moved in the two directions, then it is respectively directed to the displacement on each direction, calculates the controlled quentity controlled variable to unmanned plane on each direction。
Specifically, by user's finger displacement in a certain direction divided by default proportion threshold value, obtain a ratio value, this ratio value is multiplied by default maximum controlled quentity controlled variable, obtains the controlled quentity controlled variable to The Cloud Terrace in the direction。Wherein, the proportion threshold value preset can be the radius of circle。
Controlled quentity controlled variable is generally speed。
Preferably, when the displacement of user's finger is less than default Minimum sliding distance, it is believed that it is invalid that this of user's finger moves。
Step 305: terminal is according to the control direction to The Cloud Terrace determined and controlled quentity controlled variable, to The Cloud Terrace transmitting control commands。
Specifically, when user's finger has carried out mobile in the two directions, then need to carry the controlled quentity controlled variable for this both direction in control command simultaneously。
Preferably, when user's finger lifts, send still command to The Cloud Terrace, be parked in current location with order The Cloud Terrace。
The method flow diagram of the camera of the terminal control unmanned plane that Fig. 4 provides for the embodiment of the present application, it specifically comprises the following steps that
Step 401: terminal detects that user's finger clicks the camera applications of this terminal, then open camera interface。
Step 402: terminal detects that user's finger clicks the button of taking pictures on camera interface, then send photographing command to the camera of unmanned plane。
Step 403: terminal detects that user's finger clicks the switching working mode button on camera interface, and confirms that user to be switched to video mode, then be transmitted into video mode order to the camera of unmanned plane；Start to record button when detecting that user's finger clicks, then send to the camera of unmanned plane and start recorded video order, become stopping record button by starting to record button simultaneously；When detecting that user's finger clicks stopping and recording button, then send to the camera of unmanned plane and stop recorded video order。
Switching working mode button is defaulted as exposal model, can switch between exposal model and video mode。
Preferably, terminal sends after photographing command to the camera of unmanned plane, when receiving the response that camera returns, can display to the user that " in taking pictures ", receive that camera sends take pictures end notification time, " end of taking pictures " can be displayed to the user that；Similarly, after sending beginning recorded video order to camera, when receiving the response that camera returns, " in recorded video " can be displayed to the user that, after sending stopping recorded video order to camera, when receiving the response that camera returns, " recording terminates " can be displayed to the user that。
Preferably, when the camera using remote controller to control unmanned plane, when camera receives the control command that remote controller is sent, this control command can be synchronized to terminal demonstration。Such as: when camera receives the beginning recorded video order that remote controller is sent, can send to terminal and start recorded video notice, when terminal receives this notice, screen displays to the user that " in recorded video ", when camera receives the stopping recorded video order that remote controller is sent, recorded video end notification can be sent to terminal, when terminal receives this notice, screen display to the user that " recording terminates "。
Preferably, when terminal detects user setup camera parameter, this camera parameter is carried in setting command, is sent to camera, and receive camera return arrange success or failure instruction after, display to the user that " success or failure is set "。
Terminal in the embodiment of the present application is any terminal possessing touch screen, comprises: PC, handheld terminal etc., and handheld terminal is mobile phone such as。
The composition schematic diagram controlling device of the movable equipment that Fig. 5 provides for the embodiment of the present application, this device is positioned in terminal, and this device specifically includes that touch detection and computing module and control module, wherein:
Touch detection and computing module: detect that user's finger pins the screen of this terminal, then record user's finger initial position on screen, detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement。
Control module: the move mode according to user's finger that touch detection and computing module are determined, it is determined that the control mode to movable equipment；Displacement according to user's finger that touch detection and computing module are determined, it is determined that the controlled quentity controlled variable to movable equipment；According to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
In one preferred embodiment, when movable equipment is unmanned plane, user's finger that touch detection and computing module detect refers to for user is double; two；
When the The Cloud Terrace that movable equipment is unmanned plane, user's finger that touch detection and computing module detect singly refers to for user。
In one preferred embodiment, when movable equipment is unmanned plane,
Touch detection and computing module determine that the displacement of user's finger includes:
Respectively according to user's each finger current location on screen and initial position, calculate the displacement of each finger of user, then using displacement less in two fingers as the double; two displacement referred to of user。
In one preferred embodiment, when movable equipment is unmanned plane,
Control the move mode of user's finger that module is determined according to touch detection and computing module, it is determined that the control mode of unmanned plane is included:
When the double; two finger of user moves up, it is determined that to the control mode of unmanned plane be: control unmanned plane and rise；
Or/and, when the double; two finger of user moves down, it is determined that to the control mode of unmanned plane be: control unmanned plane and decline；
Or/and, when the double; two sensing of user moves left, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the left；
Or/and, when the double; two sensing of user moves right, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the right；
Or/and, when the double; two finger of user closes up, it is determined that to the control mode of unmanned plane be: control unmanned plane and retreat；
Or/and, when the double; two finger of user separates, it is determined that to the control mode of unmanned plane be: control unmanned plane and advance。
In one preferred embodiment, when movable equipment is unmanned plane,
Touch detection and computing module pre-saves three set that user divides for the double; two move mode referred to of user: the first set is for move up and down；Second set is: to the left and move right, and the 3rd set is for closing up and separating；
Touch detection and computing module determine that the move mode of user's finger includes:
Confirm this move for after the double; two screen referring to pin this terminal of user, user is double; two refer to lift on this terminal screen before between second time and afterwards effective mobile, then compare this move mode with whether the last effective move mode belongs to identity set, if, determine that this moves effectively, record this move mode；Otherwise, it determines this move invalid。
In one preferred embodiment, when the The Cloud Terrace that movable equipment is unmanned plane, touch detection and computing module determine that the displacement of user's finger includes:
Movement according to user's finger direction to the left or to the right on screen, determine user's finger displacement on direction to the left or to the right, simultaneously according to the movement on user's finger direction up or down on screen, it is determined that user's finger displacement in an upward or a downward direction。
In one preferred embodiment, touch detection and computing module record user's finger initial position on screen farther include:
With user's finger initial position on screen for the center of circle, on screen, draw a circle with pre-set radius value for radius；
Touch detection and computing module determine that the displacement of user's finger includes:
When user's finger displacement in one direction is more than the radius of circle, then user's finger displacement in the direction is forced to round radius。
In one preferred embodiment, control the displacement of user's finger that module is determined according to touch detection and computing module, it is determined that the controlled quentity controlled variable of movable equipment is included:
The displacement of user's finger is obtained a ratio value divided by default proportion threshold value, then this ratio value is multiplied by default maximum controlled quentity controlled variable, obtain the controlled quentity controlled variable to movable equipment。
In one preferred embodiment, control module and be further used for,
Detect that user's finger clicks the camera applications of this terminal, then open camera interface；
Detect that user's finger clicks the button of taking pictures on camera interface, then send photographing command to the camera of unmanned plane；
Detect that user's finger clicks the switching working mode button on camera interface, and confirm that user to be switched to video mode, be then transmitted into video mode order to the camera of unmanned plane；Start to record button when detecting that user's finger clicks, then send to the camera of unmanned plane and start recorded video order, become stopping record button by starting to record button simultaneously；When detecting that user's finger clicks stopping and recording button, then send to the camera of unmanned plane and stop recorded video order。
In one preferred embodiment, control module and be further used for, the remote controller that the camera of reception unmanned plane the is sent control command to this camera, this control command is shown to user。
The foregoing is only the preferred embodiment of the application, not in order to limit the application, all within spirit herein and principle, any amendment of making, equivalent replacements, improvement etc., should be included within the scope that the application protects。
Claims (20)
1. the control method of a movable equipment, it is characterised in that the method includes:
Terminal detects that user's finger pins the screen of this terminal, then record user's finger initial position on screen；
Terminal detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement；
The terminal move mode according to user's finger, it is determined that the control mode to movable equipment；Displacement according to user's finger, it is determined that the controlled quentity controlled variable to movable equipment；
Terminal is according to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
2. method according to claim 1, it is characterised in that when described movable equipment is unmanned plane, described user's finger is that user is double; two to be referred to；
When the The Cloud Terrace that described movable equipment is unmanned plane, described user's finger singly refers to for user。
3. method according to claim 2, it is characterised in that when described movable equipment is unmanned plane,
The displacement of the described user's of determination finger includes:
Terminal according to user's each finger current location on screen and initial position, calculates the displacement of each finger of user respectively, then using displacement less in two fingers as the double; two displacement referred to of user。
4. method according to claim 1, it is characterised in that when described movable equipment is unmanned plane,
The described terminal move mode according to user's finger, it is determined that the control mode of unmanned plane is included:
When the double; two finger of user moves up, it is determined that to the control mode of unmanned plane be: control unmanned plane and rise；
Or/and, when the double; two finger of user moves down, it is determined that to the control mode of unmanned plane be: control unmanned plane and decline；
Or/and, when the double; two sensing of user moves left, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the left；
Or/and, when the double; two sensing of user moves right, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the right；
Or/and, when the double; two finger of user closes up, it is determined that to the control mode of unmanned plane be: control unmanned plane and retreat；
Or/and, when the double; two finger of user separates, it is determined that to the control mode of unmanned plane be: control unmanned plane and advance。
5. method according to claim 1, it is characterised in that when described movable equipment is unmanned plane,
In advance double; two for user move modes referred to are divided into three set: the first set is for move up and down；Second set is: to the left and move right, and the 3rd set is for closing up and separating；
The move mode of the described user's of determination finger includes:
Terminal check this move for after the double; two screen referring to pin this terminal of user, user is double; two refer to lift on this terminal screen before between second time and afterwards effective mobile, then compare this move mode with whether the last effective move mode belongs to identity set, if, determine that this moves effectively, record this move mode；Otherwise, it determines this move invalid。
6. method according to claim 1, it is characterised in that when the The Cloud Terrace that described movable equipment is unmanned plane, the displacement of the described user's of determination finger includes:
Movement according to user's finger direction to the left or to the right on screen, determine user's finger displacement on direction to the left or to the right, simultaneously according to the movement on user's finger direction up or down on screen, it is determined that user's finger displacement in an upward or a downward direction。
7. method according to claim 6, it is characterised in that described record user's finger initial position on screen farther includes:
Terminal, with user's finger initial position on screen for the center of circle, draws a circle with pre-set radius value for radius on screen；
The displacement of the described user's of determination finger includes:
When user's finger displacement in one direction is more than the radius of circle, then user's finger displacement in the direction is forced to round radius。
8. method according to claim 1, it is characterised in that the described displacement according to user's finger, it is determined that the controlled quentity controlled variable of movable equipment is included:
The displacement of user's finger is obtained a ratio value divided by default proportion threshold value, then this ratio value is multiplied by default maximum controlled quentity controlled variable, obtain the controlled quentity controlled variable to movable equipment。
9. method according to claim 1, it is characterised in that described method farther includes:
Terminal detects that user's finger clicks the camera applications of this terminal, then open camera interface；
Terminal detects that user's finger clicks the button of taking pictures on camera interface, then send photographing command to the camera of unmanned plane；
Terminal detects that user's finger clicks the switching working mode button on camera interface, and confirms that user to be switched to video mode, then be transmitted into video mode order to the camera of unmanned plane；Start to record button when detecting that user's finger clicks, then send to the camera of unmanned plane and start recorded video order, become stopping record button by starting to record button simultaneously；When detecting that user's finger clicks stopping and recording button, then send to the camera of unmanned plane and stop recorded video order。
10. method according to claim 9, it is characterised in that described method farther includes:
The remote controller that the camera of terminal reception unmanned plane the is sent control command to this camera, is shown to user by this control command。
11. a control device for movable equipment, this device is positioned in terminal, it is characterised in that this device includes:
Touch detection and computing module: detect that user's finger pins the screen of this terminal, then record user's finger initial position on screen, detection user's finger position on screen, according to user's finger current location on screen and user's finger initial position on screen, it is determined that the move mode of user's finger and displacement；
Control module: the move mode according to user's finger that touch detection and computing module are determined, it is determined that the control mode to movable equipment；Displacement according to user's finger that touch detection and computing module are determined, it is determined that the controlled quentity controlled variable to movable equipment；According to the control mode determined and controlled quentity controlled variable, to movable equipment transmitting control commands。
12. device according to claim 11, it is characterised in that when described movable equipment is unmanned plane, user's finger that described touch detection and computing module detect refers to for user is double; two；
When the The Cloud Terrace that described movable equipment is unmanned plane, user's finger that described touch detection and computing module detect singly refers to for user。
13. device according to claim 12, it is characterised in that when described movable equipment is unmanned plane,
Described touch detection and computing module determine that the displacement of user's finger includes:
Respectively according to user's each finger current location on screen and initial position, calculate the displacement of each finger of user, then using displacement less in two fingers as the double; two displacement referred to of user。
14. device according to claim 11, it is characterised in that when described movable equipment is unmanned plane,
The move mode of user's finger that described control module is determined according to touch detection and computing module, it is determined that the control mode of unmanned plane is included:
When the double; two finger of user moves up, it is determined that to the control mode of unmanned plane be: control unmanned plane and rise；
Or/and, when the double; two finger of user moves down, it is determined that to the control mode of unmanned plane be: control unmanned plane and decline；
Or/and, when the double; two sensing of user moves left, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the left；
Or/and, when the double; two sensing of user moves right, it is determined that to the control mode of unmanned plane be: control unmanned plane and fly to the right；
Or/and, when the double; two finger of user closes up, it is determined that to the control mode of unmanned plane be: control unmanned plane and retreat；
Or/and, when the double; two finger of user separates, it is determined that to the control mode of unmanned plane be: control unmanned plane and advance。
15. device according to claim 11, it is characterised in that when described movable equipment is unmanned plane,
Described touch detection and computing module pre-save the user's three set for the double; two move mode division referred to of user: the first set is for move up and down；Second set is: to the left and move right, and the 3rd set is for closing up and separating；
Described touch detection and computing module determine that the move mode of user's finger includes:
Confirm this move for after the double; two screen referring to pin this terminal of user, user is double; two refer to lift on this terminal screen before between second time and afterwards effective mobile, then compare this move mode with whether the last effective move mode belongs to identity set, if, determine that this moves effectively, record this move mode；Otherwise, it determines this move invalid。
16. device according to claim 11, it is characterised in that when the The Cloud Terrace that described movable equipment is unmanned plane, described touch detection and computing module determine that the displacement of user's finger includes:
Movement according to user's finger direction to the left or to the right on screen, determine user's finger displacement on direction to the left or to the right, simultaneously according to the movement on user's finger direction up or down on screen, it is determined that user's finger displacement in an upward or a downward direction。
17. device according to claim 16, it is characterised in that described touch detection and computing module record user's finger initial position on screen farther include:
With user's finger initial position on screen for the center of circle, on screen, draw a circle with pre-set radius value for radius；
Described touch detection and computing module determine that the displacement of user's finger includes:
When user's finger displacement in one direction is more than the radius of circle, then user's finger displacement in the direction is forced to round radius。
18. device according to claim 11, it is characterised in that the displacement of user's finger that described control module is determined according to touch detection and computing module, it is determined that the controlled quentity controlled variable of movable equipment is included:
The displacement of user's finger is obtained a ratio value divided by default proportion threshold value, then this ratio value is multiplied by default maximum controlled quentity controlled variable, obtain the controlled quentity controlled variable to movable equipment。
19. device according to claim 11, it is characterised in that described control module is further used for,
Detect that user's finger clicks the camera applications of this terminal, then open camera interface；
Detect that user's finger clicks the button of taking pictures on camera interface, then send photographing command to the camera of unmanned plane；
Detect that user's finger clicks the switching working mode button on camera interface, and confirm that user to be switched to video mode, be then transmitted into video mode order to the camera of unmanned plane；Start to record button when detecting that user's finger clicks, then send to the camera of unmanned plane and start recorded video order, become stopping record button by starting to record button simultaneously；When detecting that user's finger clicks stopping and recording button, then send to the camera of unmanned plane and stop recorded video order。
20. device according to claim 19, it is characterised in that described control module is further used for, the remote controller that the camera of reception unmanned plane the is sent control command to this camera, this control command is shown to user。
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Application publication date: 20160622 Assignee: SUZHOU ZHENDI INTELLIGENT TECHNOLOGY Co.,Ltd. Assignor: POWERVISION ROBOT INC. Contract record no.: 2019990000084 Denomination of invention: Control method and device for mobile equipment Granted publication date: 20181123 License type: Exclusive License Record date: 20190319 |
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Effective date of registration: 20240415 Address after: 120 Robinson Road, Singapore # 13-01 Patentee after: Little Shark Intelligent Technology (Singapore) Ltd. Country or region after: Singapore Address before: 102200 no.2549, building 2, No.7, Chuangxin Road, science and Technology Park, Changping District, Beijing Patentee before: PowerVision Robot Inc. Country or region before: China |