CN106020214A - Unmanned aerial vehicle interaction control device and system - Google Patents
Unmanned aerial vehicle interaction control device and system Download PDFInfo
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- CN106020214A CN106020214A CN201610656749.0A CN201610656749A CN106020214A CN 106020214 A CN106020214 A CN 106020214A CN 201610656749 A CN201610656749 A CN 201610656749A CN 106020214 A CN106020214 A CN 106020214A
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- 230000003993 interaction Effects 0.000 title claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 4
- 238000013507 mapping Methods 0.000 claims description 45
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000003825 pressing Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The embodiment of the invention discloses an unmanned aerial vehicle interaction control device and system. The device comprises a communication module used for being in communication with an unmanned aerial vehicle, a detection module used for detecting angular speed information of a motion track of the unmanned aerial vehicle interaction control device and operation information of touch operation acting on a touch control area, and a control module used for determining control instructions controlling the flying state of the unmanned aerial vehicle according to the angular speed information and the operation information and sending the control instructions to the unmanned aerial vehicle, wherein the operation information includes the number of touch points and pressure values of the touch points. The device and system solve the problem that sliding operation cannot be conducted easily, control operation of the unmanned aerial vehicle is simplified, and operation hand feeling of a user is improved.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique, particularly relate to a kind of unmanned plane interaction control device and system.
Background technology
Along with the raising of technology, unmanned air vehicle technique is also rapidly developed, and the interactive controlling mode of unmanned plane also presents many
Sample.
At present the interactive controlling of unmanned plane mainly there is two ways: first kind of way is, arranges and joins with unmanned plane specially
To remote controller, remote controller is provided with rocking bar and functional keys, is controlled the direction of unmanned plane during flying by rocking bar, pass through merit
Energy button controls the speed of unmanned plane during flying；The second way is, is connected with mobile terminal by unmanned plane, by mobile whole
Slide on end display screen controls heading and the flight speed of unmanned plane.
The defect of first kind of way is: arranging special remote controller can increase manufacturing cost；The defect of the second way is:
Slide is wayward, and it is more complicated to operate, and user operation feel is poor.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane interaction control device and system, to simplify the behaviour of the control to unmanned plane
Make, promote user operation feel.
First aspect, embodiments provides a kind of unmanned plane interaction control device, including:
Communication module, for connecting with unmanned plane communication；
Detection module, for detecting the angular velocity information of unmanned plane interaction control device movement locus, and acts on tactile
The operation information of the touch control operation in control district, described operation information includes number of contacts and the force value of each contact；
According to angular velocity information and operation information, control module, for determining that the control controlling unmanned plane during flying state refers to
Order, and send to unmanned plane.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane intersection control routine, including: unmanned plane and on
Stating unmanned plane interaction control device, described unmanned plane interaction control device is connected with unmanned plane communication.
The technical scheme of the present embodiment, determines unmanned plane during flying according to the operation information of angular velocity information and touch control operation
The control instruction of state, and send control instruction, i.e. user to unmanned plane and by swing operation and pressing operation just have only to
Freely controlling unmanned plane can be realized, solve the most easy-operating problem of slide, simplify the behaviour of the control to unmanned plane
Make, improve the operating handle of user.
Accompanying drawing explanation
The structural representation of a kind of unmanned plane interaction control device that Fig. 1 provides for the embodiment of the present invention one；
The structural representation of a kind of unmanned plane interaction control device that Fig. 2 provides for the embodiment of the present invention two；
The structural representation of a kind of unmanned plane interaction control device that Fig. 3 provides for the embodiment of the present invention three；
The structural representation of a kind of unmanned plane intersection control routine that Fig. 4 provides for the embodiment of the present invention four.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.
Embodiment one
The structural representation of a kind of unmanned plane interaction control device that Fig. 1 provides for the embodiment of the present invention one, the present embodiment
Being applicable to the situation utilizing electric terminal equipment that unmanned plane interacts control, unmanned plane interaction control device can be electricity
Sub-terminal unit, such as mobile phone, panel computer etc., as it is shown in figure 1, the concrete structure of this unmanned plane interaction control device can wrap
Include: communication module 10, for connecting with unmanned plane communication；Detection module 20, is used for detecting the motion of unmanned plane interaction control device
The angular velocity information of track, and act on the operation information of touch control operation on Touch Zone, described operation information includes contact
Quantity and the force value of each contact；According to angular velocity information and operation information, control module 30, for determining that control is unmanned
The control instruction of machine state of flight, and send to unmanned plane.
Wherein, communication module 10 can use wireless communication technology, can be preferably Bluetooth technology, WiFi technology or 2.4G
Technology.Unmanned plane interaction control device can send various control instructions by communication module 10 to unmanned plane, it is also possible to passes through
Communication module 10 receives the data message of the real-time flight state of unmanned plane feedback.
Wherein, the movement locus of unmanned plane interaction control device is preferably to all directions run-off the straight.Unmanned plane is mutual
Controlling to be provided with gyro sensor in device, gyro sensor can be according to the movement locus of unmanned plane interaction control device
Obtain corresponding angular velocity, can obtain after angular velocity is integrated unmanned plane interaction control device move after track
Angular velocity information on three directions of x, y, z, being embodied in the operation of user can be the inclination angle on three directions of x, y, z
Degree.
Wherein, Touch Zone can be the touch screen with display function, it is also possible to be the touch-control for sensing touch control operation
Plate.Touch control operation can be pressing operation, according to by the difference of surging can include flicking, heavily by, firmly by etc..Touch Zone
Inside it is provided with pressure sensitive device, can be with the pressure of induction effect touch control operation on Touch Zone, and by the pressure of touch control operation
Power is converted to the electrical quantity of correspondence, and when the touch control operation of different pressures acts on Touch Zone, pressure sensitive device correspondence is produced
Raw different electrical quantity, therefore can represent the force value of contact with power consumption parameter, and when there being n contact, acquisition module accordingly may be used
To obtain the force value of n contact, and determine that number of contacts is n.Preferably, pressure sensitive device is a height electric capacity, when not
When acting on Touch Zone with the touch control operation of pressure, this height electric capacity correspondence produces different capacitances, represents with capacitance
The force value of contact.Further, determine, according to the figure place of height electric capacity chips, the pressure rating that height electric capacity can sense, for
Chip figure place is m power the grade that the height electric capacity of m can be divided into 2, and usual m is 2 or 8, and each grade can a corresponding force value.
Wherein, may determine that the control instruction of unmanned plane during flying state according to the angular velocity information detected and operation information,
This control instruction is sent to unmanned plane to realize freely controlling each state of flight of unmanned plane by communication module 10.
The technical scheme of the present embodiment, determines unmanned plane during flying according to the operation information of angular velocity information and touch control operation
The control instruction of state, and send control instruction, i.e. user to unmanned plane and by swing operation and pressing operation just have only to
Freely controlling unmanned plane can be realized, solve the most easy-operating problem of slide, simplify the behaviour of the control to unmanned plane
Make, improve the operating handle of user.
Embodiment two
The structural representation of a kind of unmanned plane interaction control device that Fig. 2 provides for the embodiment of the present invention two.Such as Fig. 2 institute
Showing, on the basis of previous embodiment scheme, described control module 30 includes: flight angle control unit 310, for according to angle
Velocity information determines the control instruction controlling unmanned plane during flying angle, and sends to unmanned plane；Rotor rotary speed controling unit 320,
For determining the control instruction controlling unmanned plane rotor rotating speed according to number of contacts and contact force value, and send to unmanned plane.
Wherein, flight angle control unit 310 can be by the unmanned plane interaction control device angle speed in three directions of x, y, z
Degree information is stored in the control instruction controlling unmanned plane during flying angle, and sends to unmanned plane, and unmanned plane receives this control and refers to
When making, the gyro sensor on unmanned plane is utilized to adjust the flight angle of unmanned plane, to exist with unmanned plane interaction control device
The angular velocity information in three directions of x, y, z keeps consistent, therefore tilts unmanned plane interaction control device as user to a direction
Time, unmanned plane tilts identical angle to identical direction accordingly, so simplifies the control operation of user, improves user's
Operating handle.
Wherein, for rotor wing unmanned aerial vehicle, it is possible not only to realize unmanned plane during flying direction by changing variable rotor speed
Control, it is also possible to realize control to unmanned plane during flying speed, also can change unmanned plane according to rotor rotation speed change speed and exist
Acceleration on heading.Therefore, corresponding can change unmanned plane rotor by the operation information in change touch control operation to turn
Speed, so changes the heading of unmanned plane, flight speed and the acceleration on heading.
The technical scheme of the present embodiment, on the one hand, determine the control controlling unmanned plane during flying angle according to angular velocity information
Instruction, user only achieves that the control of the flight angle to unmanned plane by waving unmanned plane interaction control device；The opposing party
Face, determines the control instruction controlling unmanned plane rotor rotating speed according to number of contacts and contact force value, revolves by changing unmanned plane
Wing rotating speed changes unmanned plane during flying direction and the speed on heading and acceleration, i.e. user only pass through pressing operation
The Comprehensive Control to unmanned plane during flying direction and flight speed can be realized, in conjunction with the two aspect, for user, only pass through
Wave controlling device and coordinating pressing operation can realize comprehensive control of flight attitude various to unmanned plane in hands, simplify
The control operation of user, improves the operating experience of user.
On the basis of technique scheme, it is preferred that described unmanned plane interaction control device movement locus includes forward
Tilt, tilt backwards, be tilted to the left and be tilted to the right, then the control instruction determined according to corresponding angles velocity information controls unmanned
The flight angle of machine is for turning forward, tilt backwards, be tilted to the left and being tilted to the right, so that the flight angle of unmanned plane
Keep consistent with the actuation means in user's hands, increase the operating experience of user.
On the basis of technique scheme, it is preferred that described rotor rotary speed controling unit 320 specifically for: according to touch
Point quantity selects the mapping table preset, and determines the control instruction corresponding with force value according to mapping table, and sends extremely
Unmanned plane, is preset with the corresponding relation of at least two group force value and control instruction in described mapping table.
Wherein, according to the difference of number of contacts, different mapping tables can be selected, in different mapping tables with
The control instruction difference that force value is corresponding, the corresponding unmanned plane rotor rotating speed controlled is the most different, the therefore state of flight of unmanned plane
Also different.Preferably, mapping table can corresponding unique number of contacts value, it is also possible to corresponding multiple number of contacts
Value, exemplary, when number of contacts is 2 or 3, selection is all * * mapping table, and this kind is disposed to user by mistake
During by (such as double should accuse the operation of system the most proportionately three refer to operation), still keep former function, it is ensured that steady to unmanned aerial vehicle (UAV) control
Qualitative.
On the basis of technique scheme, described according to number of contacts select mapping table can optimize further
For: when number of contacts is the first preset value, select the first mapping table, with force value pair in described first mapping table
The unmanned plane rotor rotating speed that the control instruction answered is controlled is all higher than equal to rotating speed during hovering；When number of contacts be second preset
During value, select the second mapping table, the nothing that in described second mapping table, the control instruction corresponding with force value is controlled
Man-machine rotor rotating speed is respectively less than equal to rotating speed during hovering.
Wherein, unmanned plane mainly changes the aerostatic buoyancy of unmanned plane by changing variable rotor speed, when aerostatic buoyancy is more than
The when of the gravity of unmanned plane self, unmanned plane will rise, unmanned when aerostatic buoyancy is less than the gravity of unmanned plane self when
Machine just declines, and when aerostatic buoyancy balances each other with unmanned plane self gravitation, unmanned plane just can keep the most constant and be in outstanding
Stopping state, rotor rotating speed when the i.e. unmanned plane of rotating speed when therefore hovering keeps the most constant, if unmanned plane rotor rotating speed is big
Rotating speed when hovering, then it represents that unmanned plane is now in upward flight state, if unmanned plane rotor rotating speed is less than hovering
Rotating speed, then it represents that unmanned plane is now in descending flight state.Therefore, when number of contacts is the first preset value, select the
One mapping table can control unmanned plane upward flight or hovering；When number of contacts is the second preset value, select second
Mapping table can control unmanned plane descending flight or hovering, achieves that unmanned plane thus by changing number of contacts
Control on vertical flight direction.
Wherein, the first preset value and the second preset value can be natural number, and the first preset value and the second preset value not phase
With, the preferably first preset value is set to 1, and the second preset value is set to 2, i.e. when single-point touch, selects the first mapping table,
Unmanned plane upward flight is controlled according to control instruction corresponding with force value in the first mapping table, when two point touch-control,
Select the second mapping table, control under unmanned plane according to control instruction corresponding with force value in the second mapping table
Fall flight.For a user, the only quantity by changing contact achieves that the control to unmanned plane during flying direction, not only grasps
Make convenient and simple, also improve the operating experience of user.
Alternatively, mapping table is selected to be optimized for according to number of contacts: to fall into first pre-when number of contacts
If during scope, selecting the first mapping table, in described first mapping table, the control instruction corresponding with force value is controlled
Unmanned plane rotor rotating speed be all higher than equal to hovering time rotating speed；When number of contacts falls into the second preset range, select second
Mapping table, the unmanned plane rotor rotating speed that in described second mapping table, the control instruction corresponding with force value is controlled is equal
Less than or equal to rotating speed during hovering, wherein, the first preset range and the second preset range are non-intersect.
Exemplary, the first preset range is set to 0 ＜ x≤1, and the second preset range is set to x ＞ 1, and x is natural number,
I.e. when single-point touch, select the first mapping table, when two point touch-control or multi-point touch, select the second corresponding relation
Table.The setting of the first preset range and the second preset range can also is that other numerical range, repeats the most one by one at this, specifically
Set according to actual needs.
On the basis of technique scheme, it is preferred that in the first mapping table, force value is the biggest, then corresponding
The unmanned plane rotor rotating speed that control instruction controls is the biggest；In the second mapping table, force value is the biggest, then corresponding control refers to
The unmanned plane rotor rotating speed that order controls is the least.
When number of contacts is the first preset value, user can change unmanned plane by pressure size when changing touch-control
Rotor rotating speed, thus change the upward flight speed of unmanned plane, the dynamics of pressing is the biggest, and unmanned plane rotor rotating speed is the biggest, nothing
The man-machine rate of climb is the fastest, and increases the fastest by surging, unmanned plane rotor rotation speed change the fastest, unmanned plane upward flight
Acceleration the biggest；Correspondingly, when number of contacts is the second preset value, user can be by changing pressure size during touch-control
Changing the rotor rotating speed of unmanned plane, thus change the descending flight speed of unmanned plane, the dynamics of pressing is the biggest, unmanned plane rotor
Rotating speed is the least, and unmanned plane decrease speed is the fastest, and increases the fastest by surging, unmanned plane rotor rotation speed change the fastest, nothing
The acceleration of man-machine descending flight is the biggest.For a user, only by changing just can realizing nothing by surging of contact
The control of man-machine speed on heading, for user easy to operate simply, further improve the operation of user
Experience.
Exemplary, in the first mapping table, when force value is d1, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is A1, and controllable unmanned plane rotor rotating speed is v1；When force value is d2, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is A2, and controllable unmanned plane rotor rotating speed is v2；When force value is d3, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is A3, and controllable unmanned plane rotor rotating speed is v3；... when force value is dn, corresponding control unmanned plane rotor rotating speed
Control instruction is An, and controllable unmanned plane rotor rotating speed is vn, then the first mapping table can be as shown in table 1, wherein d1
＜ d2 ＜ d3 ＜ ... ＜ dn, v1 ＜ v2 ＜ v3 ＜ ... ＜ vn.
Table 1
Wherein, the dn maximum pressure value that preferably unmanned plane interaction control device can detect, vn is preferably unmanned plane
The maximum that rotor rotating speed can reach.
Exemplary, in the second mapping table, when force value is d1, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is B1, and controllable unmanned plane rotor rotating speed is m1；When force value is d2, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is B2, and controllable unmanned plane rotor rotating speed is m2；When force value is d3, the corresponding control controlling unmanned plane rotor rotating speed
Instruction is B3, and controllable unmanned plane rotor rotating speed is m3；... when force value is dn, corresponding control unmanned plane rotor rotating speed
Control instruction is Bn, and controllable unmanned plane rotor rotating speed is mn, then the second mapping table can be as shown in table 2, wherein d1
＜ d2 ＜ d3 ＜ ... ＜ dn, m1 ＞ m2 ＞ m3 ＞ ... ＞ mn.
| Force value | Control instruction | Rotor rotating speed |
| d1 | B1 | m1 |
| d2 | B2 | m2 |
| d3 | B3 | m3 |
| …… | …… | …… |
| dn | Bn | mn |
Table 2
Wherein, the dn maximum pressure value that preferably unmanned plane interaction control device can detect, mn is preferably unmanned plane
The minima of rotor rotating speed, can be preferably 0.
It is further preferred that in the first mapping table and the second mapping table, the control that minimum pressure values is corresponding
The unmanned plane rotor rotating speed that instruction is controlled is rotating speed during hovering.
Exemplary, for the first mapping table as shown in table 1 and the second mapping table as shown in table 2,
Control instruction A1 corresponding to its minimum pressure values d1 can be identical with B1, and rotor rotating speed v1 with m1 i.e. controlled can be identical, i.e.
It is rotating speed during unmanned plane hovering.
On the basis of technique scheme, it is preferred that described determine control nothing according to number of contacts and contact force value
The control instruction of man-machine rotor rotating speed may include that when for single contact touch-control, according to number of contacts and described single-contact pressure
Force value determines the control instruction controlling unmanned plane rotor rotating speed；When number of contacts is in two or more, the force value to each contact
Obtain final pressure value after comparing/calculating, determine control unmanned plane rotor rotating speed according to number of contacts and final pressure value
Control instruction.So may determine that unique force value, determine the control instruction of correspondence according to this unique force value.
Include it is further preferred that the described force value to each contact obtains final pressure value after comparing/calculating:
Obtain maximum pressure value after the force value of each contact is compared, maximum pressure value is defined as final pressure
Value；Or
Obtain minimum pressure values after the force value of each contact is compared, minimum pressure values is defined as final pressure
Value；Or
Obtain average pressure value after the force value of each contact is calculated, average pressure value is defined as final pressure
Value.
Wherein, when the force value of each contact changes, corresponding final pressure value compares/computation rule phase according to it
Should change.
Embodiment three
The structural representation of a kind of unmanned plane interaction control device that Fig. 3 provides for the embodiment of the present invention three.Such as Fig. 3 institute
Show, on the basis of foregoing embodiments scheme, preferably can also include display module 40, be connected with communication module 10, be used for
The real-time flight state of display unmanned plane.
Wherein, display module 40 can be touch screen, and unmanned plane interaction control device can be received by communication module 10
The data message of the real-time flight state of unmanned plane feedback, and data message is shown in display module 40, to facilitate operation
Person reads.The data message of the real-time flight state of unmanned plane feedback can include current flight direction, flight speed and fly
Line height etc..
Embodiment four
The structural representation of a kind of unmanned plane intersection control routine that Fig. 4 provides for the embodiment of the present invention four, the present embodiment
It is applicable to the situation utilizing electric terminal equipment that unmanned plane interacts control, as shown in Figure 4, this unmanned plane interactive controlling
System specifically includes: unmanned plane 2 and such as the unmanned plane interaction control device 1 described in the various embodiments described above, and described unmanned plane is handed over
Control device 1 mutually to be connected with unmanned plane 2 communication.
Wherein, after unmanned plane interaction control device 1 and unmanned plane 2 wireless connections, unmanned plane interaction control device 1 can be to
Unmanned plane 2 sends various control instruction, and unmanned plane 2 performs the action of correspondence after receiving control instruction, unmanned plane 2 also can be to nothing
The result that man-machine interaction control device 1 feedback performs, and the data message of real-time flight state current for unmanned plane 2 is sent to
Unmanned plane interaction control device 1.
Although various aspects of the invention are given in the independent claim, but the other side of the present invention include from
The feature of described embodiment and/or there is the combination of dependent claims of feature of independent claims, and the most only
It it is the combination be clearly given in claim.
The most to be noted is, although the foregoing describe the example embodiment of the present invention, but these describe not
Should understand in a limiting sense.On the contrary, several changing and modifications can be carried out to want without departing from the most appended right
The scope of the present invention defined in asking.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a unmanned plane interaction control device, it is characterised in that including:
Communication module, for connecting with unmanned plane communication；
Detection module, for detecting the angular velocity information of unmanned plane interaction control device movement locus, and acts on Touch Zone
On the operation information of touch control operation, described operation information includes number of contacts and the force value of each contact；
Control module, for determining the control instruction controlling unmanned plane during flying state according to angular velocity information and operation information, and
Send to unmanned plane.
Unmanned plane interaction control device the most according to claim 1, it is characterised in that described control module includes:
Flight angle control unit, for determining the control instruction controlling unmanned plane during flying angle, concurrently according to angular velocity information
Deliver to unmanned plane；
Rotor rotary speed controling unit, for determining the control controlling unmanned plane rotor rotating speed according to number of contacts and contact force value
Instruction, and send to unmanned plane.
Unmanned plane interaction control device the most according to claim 2, it is characterised in that described unmanned plane interaction control device
Movement locus includes turning forward, tilt backwards, be tilted to the left and being tilted to the right, then determine according to corresponding angles velocity information
Control instruction controls the flight angle of unmanned plane for turning forward, tilt backwards, be tilted to the left and being tilted to the right.
Unmanned plane interaction control device the most according to claim 2, it is characterised in that described rotor rotary speed controling unit has
Body is used for:
Select the mapping table preset according to number of contacts, determine that the control corresponding with force value refers to according to mapping table
Order, and send to unmanned plane, described mapping table is preset with the corresponding relation of at least two group force value and control instruction.
Unmanned plane interaction control device the most according to claim 4, it is characterised in that described right according to number of contacts selection
Relation table is answered to include:
When number of contacts is the first preset value, select the first mapping table, with force value in described first mapping table
The unmanned plane rotor rotating speed that corresponding control instruction is controlled is all higher than equal to rotating speed during hovering；
When number of contacts is the second preset value, select the second mapping table, with force value in described second mapping table
The unmanned plane rotor rotating speed that corresponding control instruction is controlled is respectively less than equal to rotating speed during hovering.
Unmanned plane interaction control device the most according to claim 5, it is characterised in that in the first mapping table, pressure
Force value is the biggest, then the unmanned plane rotor rotating speed that corresponding control instruction controls is the biggest；
In the second mapping table, force value is the biggest, then the unmanned plane rotor rotating speed that corresponding control instruction controls is the least.
7. according to the unmanned plane interaction control device described in claim 5 or 6, it is characterised in that at the first mapping table and
In second mapping table, turning when the unmanned plane rotor rotating speed that control instruction corresponding to minimum pressure values is controlled is hovering
Speed.
Unmanned plane interaction control device the most according to claim 2, it is characterised in that described according to number of contacts with contact
Force value determines that the control instruction controlling unmanned plane rotor rotating speed includes:
When for single contact touch-control, determine according to number of contacts and described single-contact force value and control unmanned plane rotor rotating speed
Control instruction；
When number of contacts is in two or more, after the force value of each contact is compared/calculates, obtain final pressure value, according to
Number of contacts and final pressure value determine the control instruction controlling unmanned plane rotor rotating speed.
Unmanned plane interaction control device the most according to claim 8, it is characterised in that the described force value to each contact is entered
Row obtains final pressure value after comparing/calculating and includes:
Obtain maximum pressure value after the force value of each contact is compared, maximum pressure value is defined as final pressure value；Or
Person
Obtain minimum pressure values after the force value of each contact is compared, minimum pressure values is defined as final pressure value；Or
Person
Obtain average pressure value after the force value of each contact is calculated, average pressure value is defined as final pressure value.
10. a unmanned plane intersection control routine, it is characterised in that including: unmanned plane and such as any one of claim 1-9 institute
The unmanned plane interaction control device stated, described unmanned plane interaction control device is connected with unmanned plane communication.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110531775A (en) * | 2018-05-24 | 2019-12-03 | 深圳臻迪信息技术有限公司 | A kind of unmanned apparatus control method, unmanned device navigation control method and its detection system |
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