CN105700812B - The control method and device of movable equipment - Google Patents
The control method and device of movable equipment Download PDFInfo
- Publication number
- CN105700812B CN105700812B CN201610109094.5A CN201610109094A CN105700812B CN 105700812 B CN105700812 B CN 105700812B CN 201610109094 A CN201610109094 A CN 201610109094A CN 105700812 B CN105700812 B CN 105700812B
- Authority
- CN
- China
- Prior art keywords
- user
- finger
- unmanned plane
- screen
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 35
- 230000007423 decrease Effects 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 239000000203 mixture Substances 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 239000000686 essence Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Position Input By Displaying (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The control method and device of the application proposition movable equipment.Method includes：Terminal detects that user's finger pins the screen of this terminal, then records the initial position of user's finger on the screen；The position of terminal detection user's finger on the screen determines the move mode and moving distance of user's finger according to the initial position of current location and user's finger on the screen of user's finger on the screen；Terminal determines the control mode to movable equipment according to the move mode of user's finger；According to the moving distance of user's finger, the control amount to movable equipment is determined；Terminal sends control command according to determining control mode and control amount, to movable equipment.The application expands the control range to movable equipment.
Description
Technical field
This application involves data communication field more particularly to the control method and device of movable equipment.
Background technique
Unmanned plane is a kind of not manned aircraft using wireless remote control device and the presetting apparatus provided for oneself manipulation.Operation
Member realizes the control to unmanned plane by manipulation wireless remote control device.
The shortcomings that way general at present is to be controlled by the key on remote controler unmanned plane, this method is behaviour
Make single, control is simple, can not carry out complicated control.
Summary of the invention
The embodiment of the present application provides the control method and device of movable equipment, to expand to movable equipment such as：Nobody
Machine, the holder of unmanned plane, unmanned plane camera control range.
What the technical solution of the application was realized in：
A kind of control method of movable equipment, this method include：
Terminal detects that user's finger pins the screen of this terminal, then records the initial position of user's finger on the screen；
Terminal detects user's finger position on the screen, according to user's finger current location on the screen and user
The initial position of finger on the screen determines the move mode and moving distance of user's finger；
Terminal determines the control mode to movable equipment according to the move mode of user's finger；According to user's finger
Moving distance determines the control amount to movable equipment；
Terminal sends control command according to determining control mode and control amount, to movable equipment.
A kind of control device of movable equipment, the device are located in terminal, which includes：
Touch detection and computing module：It detects that user's finger pins the screen of this terminal, then records user's finger and shielding
Initial position on curtain, detection user's finger position on the screen, according to user's finger current location on the screen and
The initial position of user's finger on the screen determines the move mode and moving distance of user's finger；
Control module：According to the move mode for the user's finger that touch detection and computing module determine, determine to removable
The control mode of equipment；According to the moving distance for the user's finger that touch detection and computing module determine, determines and set to removable
Standby control amount；According to determining control mode and control amount, control command is sent to movable equipment.
As it can be seen that the embodiment of the present application detects user's finger move mode on the screen and moving distance by terminal, it is real
The complex control that has showed holder to unmanned plane and unmanned plane, camera expands the holder to unmanned plane and unmanned plane, camera
Control range.
Detailed description of the invention
Fig. 1 is the control method flow chart of movable equipment provided by the embodiments of the present application；
Fig. 2 is the method flow diagram of terminal control unmanned plane provided by the embodiments of the present application；
Fig. 3 is the method flow diagram of the holder of terminal control unmanned plane provided by the embodiments of the present application；
Fig. 4 is the method flow diagram of the camera of terminal control unmanned plane provided by the embodiments of the present application；
Fig. 5 is the composition schematic diagram of the control device of movable equipment provided by the embodiments of the present application.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further described in more detail.
Fig. 1 is the control method flow chart of movable equipment provided by the embodiments of the present application, and specific step is as follows：
Step 101：Terminal detects that user's finger pins the screen of this terminal, then record user's finger on the screen just
Beginning position.
Step 102：Terminal detects the position of user's finger on the screen, according to the current location of user's finger on the screen
And the initial position of user's finger on the screen, determine the move mode and moving distance of user's finger.
Step 103：Terminal determines the control mode to movable equipment according to the move mode of user's finger；According to
The moving distance of family finger determines the control amount to movable equipment.
Step 104：Terminal sends control command according to determining control mode and control amount, to movable equipment.
In one preferred embodiment, when movable equipment is unmanned plane, user's finger is user's two fingers；
When movable equipment is the holder of unmanned plane, user's finger is that user singly refers to.
In one preferred embodiment, when movable equipment is unmanned plane, in step 102, determine the movement of user's finger away from
From including：
Terminal according to each finger of user current location on the screen and initial position, calculates each finger of user respectively
Moving distance, then using lesser moving distance in two fingers as the moving distance of user's two fingers.
In one preferred embodiment, when movable equipment is unmanned plane, in step 103, according to the mobile side of user's finger
Formula, determination include to the control mode of unmanned plane：
When user's two fingers move up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to rise；
Or/and when user's two fingers move down, determination is to the control mode of unmanned plane：Control unmanned plane decline；
Or/and when user's two fingers are moved to the left, determination is to the control mode of unmanned plane：Control unmanned plane flies to the left
Row；
Or/and when user's two fingers move right, determination is to the control mode of unmanned plane：Control unmanned plane flies to the right
Row；
Or/and when user's two fingers are closed up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to retreat；
Or/and when the separation of user's two fingers, determination is to the control mode of unmanned plane：Unmanned plane is controlled to advance.
In one preferred embodiment, when movable equipment is unmanned plane, the move mode of user's two fingers is divided into advance
Three set：First set is to move up and down；Second set is：Move to the left and to the right, third collection be combined into close up and
Separation；
In step 102, determine that the move mode of user's finger includes：
This movement of terminal check is after user's two fingers pin the screen of this terminal, user's two fingers are lifted on this terminal screen
Second between before rising and effective movement later, then comparing this move mode and the last effective move mode is
It is no to belong to identity set, if so, determining this movement effectively, this move mode is recorded, and continue to execute step 103；Otherwise,
It determines that this movement is invalid, ignores this movement.
In one preferred embodiment, when movable equipment is the holder of unmanned plane, the shifting of user's finger is determined in step 102
Dynamic distance includes：
According to the movement in the leftward or rightward direction of user's finger on the screen, determine user's finger in leftward or rightward side
Upward moving distance, while according to the movement on the direction upward or downward of user's finger on the screen, determine user's finger
Moving distance in an upward or a downward direction.
In one preferred embodiment, when movable equipment is the holder of unmanned plane, in step 101, terminal records user hand
Refer to that initial position on the screen further comprises：
Terminal draws one using pre-set radius value as radius using user's finger initial position on the screen as the center of circle on the screen
A circle；
In step 102, determine that the moving distance of user's finger includes：
When the moving distance of user's finger in one direction is greater than the radius of circle, then in this direction by user's finger
Moving distance is forced to round radius.
In one preferred embodiment, in step 103, according to the moving distance of user's finger, the control to movable equipment is determined
Amount processed includes：
The moving distance of user's finger is obtained into a ratio value divided by preset proportion threshold value, then by the ratio value multiplied by
Preset maximum control amount, obtains the control amount to movable equipment.
In one preferred embodiment, in step 102, determine that the moving distance of user's finger includes：
If terminal finds that the moving distance of user's finger is less than default Minimum sliding distance, then it is assumed that user's finger this
It is mobile invalid.
In one preferred embodiment, when movable equipment is unmanned plane, terminal detects that user's two fingers are lifted, then to nobody
Machine sends hovering order.
In one preferred embodiment, when movable equipment is the holder of unmanned plane, lifted when terminal detects that user singly refers to
When, still command is sent to holder.
Fig. 2 is the method flow diagram of terminal control unmanned plane provided by the embodiments of the present application, and specific step is as follows：
Step 201：Terminal detects that user's two fingers pin the screen of this terminal, then record user's two fingers on the screen just
Beginning position.
Step 202：The position of user's two fingers on the screen is detected to terminal periodic, on the screen according to user's two fingers
The initial position of current location and user's two fingers on the screen determines the move mode and moving distance of user's two fingers.
Specifically, terminal has the pixel coordinate system of default, and the origin of the coordinate system is the pixel in the upper left corner of screen,
The horizontal direction of the coordinate system is the width direction of terminal, and direction to the right is horizontal square to the Vertical Square of the coordinate system
To the short transverse for terminal, and downwardly direction is vertical positive direction.
User can be arranged at the terminal one move up, move down, being moved to the left, moving right, two fingers are closed up, double
Refer to isolated angular range, to determine the move mode of user's two fingers.Such as it is arranged：
1) when the angle of the moving direction of user's two fingers negative direction vertical with pixel coordinate system is all when [- a °, a °] are interior,
Then determine that user's two fingers move up；
Wherein, a can be empirically determined, and for example, 30；In addition, the moving direction of each finger of user, it can be according to user
The changing coordinates of finger on the screen are calculated with the initial coordinate of user's finger on the screen.
2) when the angle of the moving direction of user's two fingers positive direction vertical with pixel coordinate system is all when [- a °, a °] are interior,
Then determine that user's two fingers move down；
3) when the moving direction of user's two fingers and pixel coordinate system horizontal negative direction angle all when [- b °, b °] are interior,
Then determine that user's two fingers are moved to the left；
Wherein, b can be empirically determined, and for example, 30.
4) when the horizontal square of the moving direction of user's two fingers and pixel coordinate system to angle all when [- b °, b °] are interior,
Then determine that user's two fingers move right；
5) when the horizontal square of the moving direction of the left finger of user and pixel coordinate system to angle in [- c °, c °], and use
The angle of the horizontal negative direction of the moving direction and pixel coordinate system of the right finger in family is when [- c °, c °] are interior, it is determined that user's two fingers are closed
Hold together；
Wherein, c can be empirically determined, and for example, 30.
6) interior at [- c °, c °] when the angle of the horizontal negative direction of the moving direction and pixel coordinate system of the left finger of user, and use
The horizontal square of the moving direction of the right finger in family and pixel coordinate system to angle when [- c °, c °] are interior, it is determined that user's two fingers point
From.
The calculating process of the moving distance of user's two fingers is as follows：
Respectively according to each finger of user changing coordinates on the screen and initial coordinate, the shifting of each finger of user is calculated
Dynamic distance, then using lesser moving distance in two fingers as the moving distance of user's two fingers.
Preferably, if the moving distance of terminal discovery user's two fingers is less than default Minimum sliding distance, then it is assumed that Yong Hushuan
Refer to that this movement is invalid.
Step 203：Terminal determines the control mode to unmanned plane according to the move mode of user's two fingers；It is double according to user
The moving distance of finger determines the control amount to unmanned plane.
Specifically：
1) when user's two fingers move up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to rise；
2) when user's two fingers move down, determination is to the control mode of unmanned plane：Control unmanned plane decline；
3) when user's two fingers are moved to the left, determination is to the control mode of unmanned plane：Control unmanned plane flies to the left；
4) when user's two fingers move right, determination is to the control mode of unmanned plane：Control unmanned plane flies to the right；
5) when user's two fingers are closed up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to retreat；
6) when user's two fingers separate, determination is to the control mode of unmanned plane：Unmanned plane is controlled to advance.
According to the moving distance of user's two fingers, detailed process is as follows for the determining control amount to unmanned plane：
The moving distance of user's two fingers is obtained into a ratio value divided by preset proportion threshold value, then by the ratio value multiplied by
Preset maximum control amount, obtains the control amount to unmanned plane, which is usually speed.
Wherein, when user's two fingers upwards, move down when, corresponding proportion threshold value is identical, can be terminal screen
Height or other values of setting；When user's two fingers to the left, move right and close up, separate when, corresponding proportion threshold value
It is identical, it can be the screen width of terminal or other values of setting.
Step 204：Terminal sends control command according to determining control mode and control amount, to unmanned plane.
Preferably, when terminal detects that user's two fingers are lifted, hovering order is sent to unmanned plane.
Preferably, the move mode of user's two fingers is divided into three set in advance：First set is to move up and down
It is dynamic；Second set is：It moves to the left and to the right, third collection, which is combined into, to be closed up and separate, and in step 202, terminal determines user's two fingers
Move mode when, if confirm this movement be user's two fingers pin lifted on the screen to user's two fingers after screen before between
Whether second and effective movement later, the then the last effective move mode for comparing this move mode and record belong to
In identity set, if so, determining this movement effectively, this move mode is recorded, and continue to execute follow-up process；Otherwise, really
This fixed movement is invalid, ignores this movement.And when user's two fingers are lifted on the screen, the user's finger recorded is deleted
All effective move modes.
That is, after user's two fingers are pressed on the screen to before lifting, if first time move mode be upwards or to
Hereafter lower movement then only moves up or down effectively to move, other movements are all invalid movement；
After user's two fingers are pressed on the screen to before lifting, if first time move mode is to be moved to the left or right,
Hereafter it is only moved to the left or right effectively to move, other movements are all invalid movement；
After user's two fingers are pressed on the screen to before lifting, if first time move mode is to close up or separate, hereafter
Only close up or be separated into effective movement, other movements are all invalid movement；
It is around here a wheel when being lifted on the screen after terminal detects that user's two fingers are pressed on the screen to user's two fingers
Control process；After user's two fingers are pressed on the screen again, the control of a new round starts.
Fig. 3 is the method flow diagram of the holder of terminal control unmanned plane provided by the embodiments of the present application, and specific steps are such as
Under：
Step 301：Terminal detects that user singly refers to the screen for pinning this terminal, then record user's finger on the screen just
Beginning position.
Step 302：Terminal is being shielded using user's finger initial position on the screen as the center of circle by radius of pre-set radius value
One circle of picture on curtain.
Step 303：The position of user's finger on the screen is detected to terminal periodic, on the screen according to user's finger
Current location and initial position calculate user's finger moving direction on the screen and moving distance.
It should be noted that from control unmanned plane can only one direction control it is different, control holder when, not only can control cloud
Platform one direction is mobile, can also control holder simultaneously to both direction movement, such as：It is mobile to upper left, lower-left, upper right, bottom right.
It, can be according to user's finger on the screen when calculating user's finger moving direction on the screen and moving distance
The movement of horizontal direction (leftward or rightward) determines the moving distance of user's finger in the horizontal direction, while according to user hand
The movement for referring to vertical direction (upward or downward) on the screen, determines the moving distance of user's finger in vertical direction.
Preferably, when the moving distance of user's finger in the horizontal direction and the vertical direction is greater than the radius of circle, then will
The moving distance of user's finger in the horizontal direction and the vertical direction is forced to round radius.
Step 304：Moving direction of the terminal according to user's finger on the screen determines the controlling party to the holder of unmanned plane
To；According to the moving distance of user's finger on the screen, the control amount to the holder of unmanned plane is determined.
Specifically, in the moving distance according to user's finger on the screen, when determining the control amount to the holder of unmanned plane,
If user's finger is moved in two directions, respectively for moving distance in each direction, each direction is calculated
On to the control amount of unmanned plane.
Specifically, user's finger moving distance in a certain direction is obtained into a ratio divided by preset proportion threshold value
Example value obtains the control amount in this direction to holder by the ratio value multiplied by default maximum control amount.Wherein, preset ratio
Threshold value can be the radius of circle.
Control amount is usually speed.
Preferably, when the moving distance of user's finger is less than default Minimum sliding distance, it is believed that user's finger this
It is mobile invalid.
Step 305：Terminal, to the control direction of holder and control amount, sends control command to holder according to determining.
Specifically, it when user's finger has carried out mobile in two directions, then needs in control command while carrying
For the control amount of the both direction.
Preferably, when user's finger is lifted, still command is sent to holder, current location is parked in order holder.
Fig. 4 is the method flow diagram of the camera of terminal control unmanned plane provided by the embodiments of the present application, and specific steps are such as
Under：
Step 401：Terminal detects that user's finger clicks the camera applications of this terminal, then opens camera interface.
Step 402：Terminal detects that user's finger clicks the button of taking pictures on camera interface, then to the camera of unmanned plane
Send photographing command.
Step 403：Terminal detects that user's finger clicks the switching working mode button on camera interface, and confirms and use
Family will be switched to video mode, then be transmitted into video mode order to the camera of unmanned plane；When detect user's finger click
Start to record button, then sent to the camera of unmanned plane and start recorded video order, while will start to record button and becoming to stop
Only record button；Stop recording button when detecting that user's finger clicks, then sends stopping recording to the camera of unmanned plane and regard
Frequency is ordered.
Switching working mode button is defaulted as photographing mode, can switch between photographing mode and video mode.
Preferably, terminal to the camera of unmanned plane send photographing command after, receive camera return response when, can to
Family shows " in taking pictures ", receive that camera sends take pictures end notification when, " end of taking pictures " can be shown to user；Similarly,
After sending beginning recorded video order to camera, when receiving the response of camera return, " recorded video can be shown to user
In ", after sending stopping recorded video order to camera, when receiving the response of camera return, it can be shown to user and " record knot
Beam ".
Preferably, when using the camera of remote control control unmanned plane, camera receives the control command that remote controler is sent
When, which can be synchronized to terminal and shown.Such as：Camera receives the beginning recorded video order that remote controler is sent
When, it can be sent to terminal and start recorded video notice, when terminal receives the notice, show " recorded video to user on the screen
In ", when camera receives the stopping recorded video order that remote controler is sent, recorded video end notification can be sent to terminal, eventually
When end receives the notice, " recording terminates " is shown to user on the screen.
Preferably, when terminal detects user setting camera parameter, which is carried and is sent out in setting command
Camera is given, and after receiving the setting success or failure instruction of camera return, shows " setting success or failure " to user.
Terminal in the embodiment of the present application is any terminal for having touch screen, includes：PC, handheld terminal etc. are held eventually
End such as mobile phone.
Fig. 5 is the composition schematic diagram of the control device of movable equipment provided by the embodiments of the present application, which is located at eventually
On end, the device mainly includes：Touch detection and computing module and control module, wherein：
Touch detection and computing module：It detects that user's finger pins the screen of this terminal, then records user's finger and shielding
Initial position on curtain, detection user's finger position on the screen, according to user's finger current location on the screen and
The initial position of user's finger on the screen determines the move mode and moving distance of user's finger.
Control module：According to the move mode for the user's finger that touch detection and computing module determine, determine to removable
The control mode of equipment；According to the moving distance for the user's finger that touch detection and computing module determine, determines and set to removable
Standby control amount；According to determining control mode and control amount, control command is sent to movable equipment.
In one preferred embodiment, when movable equipment is unmanned plane, user that touch detection and computing module detect
Finger is user's two fingers；
When movable equipment is the holder of unmanned plane, the user's finger that touch detection and computing module detect is user
Singly refer to.
In one preferred embodiment, when movable equipment is unmanned plane,
Touch detection and computing module determine that the moving distance of user's finger includes：
Respectively according to each finger of user current location on the screen and initial position, the shifting of each finger of user is calculated
Dynamic distance, then using lesser moving distance in two fingers as the moving distance of user's two fingers.
In one preferred embodiment, when movable equipment is unmanned plane,
The move mode for the user's finger that control module is determined according to touch detection and computing module, determines to unmanned plane
Control mode includes：
When user's two fingers move up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to rise；
Or/and when user's two fingers move down, determination is to the control mode of unmanned plane：Control unmanned plane decline；
Or/and when user's two fingers are moved to the left, determination is to the control mode of unmanned plane：Control unmanned plane flies to the left
Row；
Or/and when user's two fingers move right, determination is to the control mode of unmanned plane：Control unmanned plane flies to the right
Row；
Or/and when user's two fingers are closed up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to retreat；
Or/and when the separation of user's two fingers, determination is to the control mode of unmanned plane：Unmanned plane is controlled to advance.
In one preferred embodiment, when movable equipment is unmanned plane,
Touch detection and computing module pre-save three set that the move mode that user is user's two fingers divides：First
Collection is combined into be moved up and down；Second set is：It moves to the left and to the right, third collection, which is combined into, to be closed up and separate；
Touch detection and computing module determine that the move mode of user's finger includes：
Before confirming that this movement is after user's two fingers pin the screen of this terminal, user's two fingers are lifted on this terminal screen
Between second and effective movement later, then compare this move mode and whether effective move mode of the last time belong to
In identity set, if so, determining this movement effectively, this move mode is recorded；Otherwise, it determines this movement is invalid.
In one preferred embodiment, when movable equipment is the holder of unmanned plane, touch detection and computing module are determined and are used
The moving distance of family finger includes：
According to the movement in the leftward or rightward direction of user's finger on the screen, determine user's finger in leftward or rightward side
Upward moving distance, while according to the movement on the direction upward or downward of user's finger on the screen, determine user's finger
Moving distance in an upward or a downward direction.
In one preferred embodiment, the initial position of touch detection and computing module record user's finger on the screen is further
Including：
Using the initial position of user's finger on the screen as the center of circle, one is drawn on the screen as radius using pre-set radius value
Circle；
Touch detection and computing module determine that the moving distance of user's finger includes：
When the moving distance of user's finger in one direction is greater than the radius of circle, then in this direction by user's finger
Moving distance is forced to round radius.
In one preferred embodiment, the movement of the user's finger that control module is determined according to touch detection and computing module away from
From determination includes to the control amount of movable equipment：
The moving distance of user's finger is obtained into a ratio value divided by preset proportion threshold value, then by the ratio value multiplied by
Preset maximum control amount, obtains the control amount to movable equipment.
In one preferred embodiment, control module is further used for,
It detects that user's finger clicks the camera applications of this terminal, then opens camera interface；
It detects that user's finger clicks the button of taking pictures on camera interface, then sends life of taking pictures to the camera of unmanned plane
It enables；
It detects that user's finger clicks the switching working mode button on camera interface, and confirms that user will be switched to view
Frequency mode is then transmitted into video mode order to the camera of unmanned plane；When detect user's finger click start record by
Button then sends to the camera of unmanned plane and starts recorded video order, while will start recording button and becoming to stop recording button；When
It detects that user's finger clicks stopping and records button, is then sent to the camera of unmanned plane and stop recorded video order.
In one preferred embodiment, control module is further used for, and receives remote controler that the camera of unmanned plane is sent to the phase
The control command is shown to user by the control command of machine.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (18)
1. a kind of control method of movable equipment, which is characterized in that this method includes：
Terminal detects that user's finger pins the screen of this terminal, then records the initial position of user's finger on the screen；
Terminal detects user's finger position on the screen, according to user's finger current location on the screen and user's finger
Initial position on the screen determines the move mode and moving distance of user's finger；
Terminal determines the control mode to movable equipment according to the move mode of user's finger；According to the movement of user's finger
Distance determines the control amount to movable equipment；
Terminal sends control command according to determining control mode and control amount, to movable equipment；
When the movable equipment is unmanned plane,
The move mode of user's two fingers is divided into three set in advance：First set is to move up and down；Second set
For：It moves to the left and to the right, third collection, which is combined into, to be closed up and separate；
The move mode of the determining user's finger includes：
Before this movement of terminal check is after user's two fingers pin the screen of this terminal, user's two fingers are lifted on this terminal screen
Between second and effective movement later, then compare this move mode and whether effective move mode of the last time belong to
In identity set, if so, determining this movement effectively, this move mode is recorded；Otherwise, it determines this movement is invalid.
2. the method according to claim 1, wherein when the movable equipment be unmanned plane when, the user
Finger is user's two fingers；
When the movable equipment is the holder of unmanned plane, the user's finger is that user singly refers to.
3. according to the method described in claim 2, it is characterized in that, when the movable equipment be unmanned plane when,
The moving distance of the determining user's finger includes：
Terminal according to each finger of user current location on the screen and initial position, calculates the shifting of each finger of user respectively
Dynamic distance, then using lesser moving distance in two fingers as the moving distance of user's two fingers.
4. the method according to claim 1, wherein when the movable equipment be unmanned plane when,
The terminal includes to the control mode of unmanned plane according to the move mode of user's finger, determination：
When user's two fingers move up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to rise；
Or/and when user's two fingers move down, determination is to the control mode of unmanned plane：Control unmanned plane decline；
Or/and when user's two fingers are moved to the left, determination is to the control mode of unmanned plane：Control unmanned plane flies to the left；
Or/and when user's two fingers move right, determination is to the control mode of unmanned plane：Control unmanned plane flies to the right；
Or/and when user's two fingers are closed up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to retreat；
Or/and when the separation of user's two fingers, determination is to the control mode of unmanned plane：Unmanned plane is controlled to advance.
5. the method according to claim 1, wherein when the movable equipment be unmanned plane holder when, institute
The moving distance for stating determining user's finger includes：
According to the movement in the leftward or rightward direction of user's finger on the screen, determine user's finger on leftward or rightward direction
Moving distance, while according to the movement on the direction upward or downward of user's finger on the screen, determine user's finger to
It is upper or in downward direction on moving distance.
6. according to the method described in claim 5, it is characterized in that, the record user's finger initial position on the screen into
One step includes：
Terminal draws one as radius using pre-set radius value using user's finger initial position on the screen as the center of circle on the screen
Circle；
The moving distance of the determining user's finger includes：
When the moving distance of user's finger in one direction is greater than the radius of circle, then the movement by user's finger in this direction
Distance is forced to round radius.
7. the method according to claim 1, wherein the moving distance according to user's finger, determine to can
The control amount of mobile device includes：
The moving distance of user's finger is obtained into a ratio value divided by preset proportion threshold value, then by the ratio value multiplied by default
Maximum control amount, obtain the control amount to movable equipment.
8. the method according to claim 1, wherein the method further includes：
Terminal detects that user's finger clicks the camera applications of this terminal, then opens camera interface；
Terminal detects that user's finger clicks the button of taking pictures on camera interface, then sends life of taking pictures to the camera of unmanned plane
It enables；
Terminal detects that user's finger clicks the switching working mode button on camera interface, and confirms that user will be switched to view
Frequency mode is then transmitted into video mode order to the camera of unmanned plane；When detect user's finger click start record by
Button then sends to the camera of unmanned plane and starts recorded video order, while will start recording button and becoming to stop recording button；When
It detects that user's finger clicks stopping and records button, is then sent to the camera of unmanned plane and stop recorded video order.
9. according to the method described in claim 8, it is characterized in that, the method further includes：
The control command is shown to use to the control command of the camera by the remote controler that the camera that terminal receives unmanned plane is sent
Family.
10. a kind of control device of movable equipment, which is located in terminal, which is characterized in that the device includes：
Touch detection and computing module：It detects that user's finger pins the screen of this terminal, then records user's finger on the screen
Initial position, detection user's finger position on the screen, according to user's finger current location on the screen and user
The initial position of finger on the screen determines the move mode and moving distance of user's finger；
Control module：According to the move mode for the user's finger that touch detection and computing module determine, determine to movable equipment
Control mode；According to the moving distance for the user's finger that touch detection and computing module determine, determine to movable equipment
Control amount；According to determining control mode and control amount, control command is sent to movable equipment；
When the movable equipment is unmanned plane,
The touch detection and computing module pre-save three set that the move mode that user is user's two fingers divides：First
Collection is combined into be moved up and down；Second set is：It moves to the left and to the right, third collection, which is combined into, to be closed up and separate；
The touch detection and computing module determine that the move mode of user's finger includes：
Confirm between before this movement is after user's two fingers pin the screen of this terminal, user's two fingers are lifted on this terminal screen
Second and effective movement later, then compare this move mode and whether the last effective move mode belong to together
One set records this move mode if so, determining this movement effectively；Otherwise, it determines this movement is invalid.
11. device according to claim 10, which is characterized in that when the movable equipment is unmanned plane, the touching
It touches detection and user's finger that computing module detects is user's two fingers；
When the movable equipment is the holder of unmanned plane, the user's finger that the touch detection and computing module detect is
User singly refers to.
12. device according to claim 11, which is characterized in that when the movable equipment is unmanned plane,
The touch detection and computing module determine that the moving distance of user's finger includes：
Respectively according to each finger of user current location on the screen and initial position, calculate the movement of each finger of user away from
From then using lesser moving distance in two fingers as the moving distance of user's two fingers.
13. device according to claim 10, which is characterized in that when the movable equipment is unmanned plane,
The move mode for the user's finger that the control module is determined according to touch detection and computing module, determines to unmanned plane
Control mode includes：
When user's two fingers move up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to rise；
Or/and when user's two fingers move down, determination is to the control mode of unmanned plane：Control unmanned plane decline；
Or/and when user's two fingers are moved to the left, determination is to the control mode of unmanned plane：Control unmanned plane flies to the left；
Or/and when user's two fingers move right, determination is to the control mode of unmanned plane：Control unmanned plane flies to the right；
Or/and when user's two fingers are closed up, determination is to the control mode of unmanned plane：Unmanned plane is controlled to retreat；
Or/and when the separation of user's two fingers, determination is to the control mode of unmanned plane：Unmanned plane is controlled to advance.
14. device according to claim 10, which is characterized in that when the movable equipment is the holder of unmanned plane,
The touch detection and computing module determine that the moving distance of user's finger includes：
According to the movement in the leftward or rightward direction of user's finger on the screen, determine user's finger on leftward or rightward direction
Moving distance, while according to the movement on the direction upward or downward of user's finger on the screen, determine user's finger to
It is upper or in downward direction on moving distance.
15. device according to claim 14, which is characterized in that the touch detection and computing module record user's finger
Initial position on the screen further comprises：
Using the initial position of user's finger on the screen as the center of circle, a circle is drawn on the screen using pre-set radius value as radius；
The touch detection and computing module determine that the moving distance of user's finger includes：
When the moving distance of user's finger in one direction is greater than the radius of circle, then the movement by user's finger in this direction
Distance is forced to round radius.
16. device according to claim 10, which is characterized in that the control module is according to touch detection and computing module
The moving distance of determining user's finger, determination include to the control amount of movable equipment：
The moving distance of user's finger is obtained into a ratio value divided by preset proportion threshold value, then by the ratio value multiplied by default
Maximum control amount, obtain the control amount to movable equipment.
17. device according to claim 10, which is characterized in that the control module is further used for,
It detects that user's finger clicks the camera applications of this terminal, then opens camera interface；
It detects that user's finger clicks the button of taking pictures on camera interface, then sends photographing command to the camera of unmanned plane；
It detects that user's finger clicks the switching working mode button on camera interface, and confirms that user will be switched to video screen module
Formula is then transmitted into video mode order to the camera of unmanned plane；Start to record button when detecting that user's finger clicks, then
It is sent to the camera of unmanned plane and starts recorded video order, while recording button will be started and become to stop recording button；Work as detection
Stopping is clicked to user's finger and records button, then sends to the camera of unmanned plane and stop recorded video order.
18. device according to claim 17, which is characterized in that the control module is further used for, and receives unmanned plane
The remote controler sent of camera to the control command of the camera, which is shown to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610109094.5A CN105700812B (en) | 2016-02-26 | 2016-02-26 | The control method and device of movable equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610109094.5A CN105700812B (en) | 2016-02-26 | 2016-02-26 | The control method and device of movable equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105700812A CN105700812A (en) | 2016-06-22 |
| CN105700812B true CN105700812B (en) | 2018-11-23 |
Family
ID=56222436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610109094.5A Active CN105700812B (en) | 2016-02-26 | 2016-02-26 | The control method and device of movable equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105700812B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10289297B2 (en) * | 2016-08-26 | 2019-05-14 | Google Llc | Animating an image to indicate that the image is pannable |
| CN110168462B (en) * | 2016-11-01 | 2022-09-20 | 深圳市道通智能航空技术股份有限公司 | Aircraft control method and device |
| US11275390B2 (en) | 2016-12-15 | 2022-03-15 | Powervision Robot Inc. | Control system and method for drone with remote controller |
| WO2018150313A1 (en) * | 2017-02-14 | 2018-08-23 | Hangzhou Zero Zero Technology Co., Ltd. | Aerial device and method for controlling the aerial device |
| CN115649439A (en) | 2017-02-24 | 2023-01-31 | 深圳市大疆创新科技有限公司 | Many cloud platforms subassembly |
| CN108775685A (en) * | 2018-05-31 | 2018-11-09 | 广东美的制冷设备有限公司 | Remote control method, household appliance, remote control equipment and storage medium |
| CN111226181B (en) * | 2019-03-29 | 2024-06-14 | 深圳市大疆创新科技有限公司 | Control method and equipment of movable platform and movable platform |
| CN111447361B (en) * | 2020-03-31 | 2021-08-13 | 安徽文香科技有限公司 | Display switching method, device, equipment and storage medium |
| CN112203015B (en) * | 2020-09-28 | 2022-03-25 | 北京小米松果电子有限公司 | Camera control method, device and medium system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346479A (en) * | 2010-08-04 | 2012-02-08 | 鸿富锦精密工业（深圳）有限公司 | Hand-hold apparatus and method for controlling unmanned aerial vehicle by utilizing hand-hold apparatus |
| CN103426282A (en) * | 2013-07-31 | 2013-12-04 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| WO2014187027A1 (en) * | 2013-05-22 | 2014-11-27 | 上海九鹰电子科技有限公司 | Transmission device and method, and reception device and method of remote control signal |
| CN104598108A (en) * | 2015-01-02 | 2015-05-06 | 北京时代沃林科技发展有限公司 | Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
-
2016
- 2016-02-26 CN CN201610109094.5A patent/CN105700812B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102346479A (en) * | 2010-08-04 | 2012-02-08 | 鸿富锦精密工业（深圳）有限公司 | Hand-hold apparatus and method for controlling unmanned aerial vehicle by utilizing hand-hold apparatus |
| WO2014187027A1 (en) * | 2013-05-22 | 2014-11-27 | 上海九鹰电子科技有限公司 | Transmission device and method, and reception device and method of remote control signal |
| CN103426282A (en) * | 2013-07-31 | 2013-12-04 | 深圳市大疆创新科技有限公司 | Remote control method and terminal |
| CN104598108A (en) * | 2015-01-02 | 2015-05-06 | 北京时代沃林科技发展有限公司 | Equipment and method for proportionally remote controlling vehicle and unmanned aerial vehicle by touching on intelligent terminal |
| CN105000170A (en) * | 2015-07-15 | 2015-10-28 | 何春旺 | Touch screen controller and control method of driving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105700812A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105700812B (en) | The control method and device of movable equipment | |
| EP3015955A1 (en) | Controlling multiple devices with a wearable input device | |
| CN106708412B (en) | Control method and device of intelligent terminal | |
| CN105204745B (en) | Screen capturing method and device for mobile terminal | |
| CN106325835B (en) | 3D application icon interaction method applied to touch terminal and touch terminal | |
| US20150077365A1 (en) | System, information processing apparatus, and image display method | |
| WO2017024760A1 (en) | Method and apparatus for withdrawing hand-held unmanned aerial vehicle, and unmanned aerial vehicle | |
| EP2928199A2 (en) | Television interface focus control method, apparatus and system | |
| JP2016053940A (en) | Touch imaging method and touch terminal thereof | |
| KR20140091439A (en) | System and method for detecting three dimensional gestures to initiate and complete the transfer of application data between networked devices | |
| WO2021035646A1 (en) | Wearable device and control method therefor, gesture recognition method, and control system | |
| WO2014183537A1 (en) | Terminal screenshot method and device | |
| JP2009265709A (en) | Input device | |
| CN103699289A (en) | Method and device for responding to sliding operation | |
| JP6470112B2 (en) | Mobile device operation terminal, mobile device operation method, and mobile device operation program | |
| US10477145B2 (en) | Communication system for remote communication | |
| CN104049851A (en) | Control method and device and electronic equipment | |
| CN102945077A (en) | Image viewing method and device and intelligent terminal | |
| KR101233793B1 (en) | Virtual mouse driving method using hand motion recognition | |
| US20150058811A1 (en) | Control system for display screen, input apparatus and control method | |
| CN102707802A (en) | Method for controlling speed of mapping of gesture movement to interface | |
| WO2019037481A1 (en) | Image sending method and device for dual-screen terminal | |
| US11275498B2 (en) | Information processing system, information processing method, and program | |
| JP2023033559A (en) | Information processing device, display control method, and program | |
| JP2016225875A (en) | Travel apparatus operation terminal, travel apparatus operation method and travel apparatus operation program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
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 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
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 |