CN106155069A - UAV Flight Control device, method and remote terminal - Google Patents
UAV Flight Control device, method and remote terminal Download PDFInfo
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- CN106155069A CN106155069A CN201610519232.7A CN201610519232A CN106155069A CN 106155069 A CN106155069 A CN 106155069A CN 201610519232 A CN201610519232 A CN 201610519232A CN 106155069 A CN106155069 A CN 106155069A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw 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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Selective Calling Equipment (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The embodiment of the present invention proposes a kind of UAV Flight Control device, method and remote terminal, and described UAV Flight Control method includes: detecting acts on the length of described remote terminal by operation；In described length by the time-continuing process of operation, obtain the attitude data of described remote terminal；According to described attitude data, generate the first control instruction mated with described attitude data；Described first control instruction is sent to unmanned plane, and wherein, described first control instruction is for controlling the flight path of described unmanned plane.The present invention by operation trigger body sense control model by long, be become safer by can be allowed the flight operation of unmanned plane, thus decrease various flight accident and accident.Meanwhile, the flight also reducing unmanned plane controls difficulty, and unmanned plane new hand can also operate, improve Consumer's Experience.
Description
Technical field
The present invention relates to UAV Flight Control technical field, in particular to a kind of UAV Flight Control device,
Method and remote terminal.
Background technology
In the correlation technique of unmanned plane product, the control mode for unmanned plane generally has two kinds.The first is the most logical
Crossing hand-held remote control and control unmanned plane during flying, another kind is the angle of inclination pair by the remote terminal such as mobile phone or wearable device
Unmanned plane carries out motion sensing control.
Wherein, had the disadvantage in that by the method for hand-held remote control control unmanned plane during flying
A., the when of buying unmanned plane, the purchase cost of hand-held remote control can be increased；
B. hand-held remote control build is relatively big, and when user goes out, it is empty that carrying handle remote controller can occupy the certain storage of user
Between；
The most general hand-held remote control is required for coordinating mobile phone terminal to use, and operates relatively cumbersome.
The shortcoming that unmanned plane is carried out motion sensing control by the angle of inclination of the remote terminal such as mobile phone or wearable device is:
When remote terminal one is connected to unmanned plane, unmanned plane will enter motion sensing control pattern, the body-sensing control of response remote terminal immediately
System instruction, has certain danger and operation easier, and, enter after motion sensing control pattern at unmanned plane, unmanned plane along with
The motion sensing control instruction of remote terminal carries out corresponding flare maneuver, if remote terminal imprudence during idle is changed appearance
, the most easily there is maloperation in state, is not suitable for unmanned plane neophyty operation and uses.
Summary of the invention
It is an object of the invention to provide a kind of UAV Flight Control device, method and remote terminal, unmanned to improve
The safety of machine flight control and convenience.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows:
First aspect, embodiments provides a kind of UAV Flight Control device, is applied to remote terminal, described
UAV Flight Control device includes: detecting module, acts on the length of described remote terminal by operation for detecting；Obtain mould
Block, in the time-continuing process pressing operation in described length, obtains the attitude data of described remote terminal；Generation module, is used for depending on
According to described attitude data, generate the first control instruction mated with described attitude data；Sending module, for by described first control
Instruction processed is sent to unmanned plane, and wherein, described first control instruction is for controlling the flight path of described unmanned plane.
Second aspect, the embodiment of the present invention additionally provides a kind of UAV Flight Control method, is applied to remote terminal, institute
State UAV Flight Control method to include: detecting acts on the length of described remote terminal by operation；Described length holding by operation
During Xu, obtain the attitude data of described remote terminal；According to described attitude data, generation is mated with described attitude data
First control instruction；Described first control instruction is sent to unmanned plane, and wherein, described first control instruction is used for controlling described
The flight path of unmanned plane.
The third aspect, the embodiment of the present invention additionally provides a kind of remote terminal, and described remote terminal includes: memorizer；Place
Reason device；And UAV Flight Control device, described UAV Flight Control device is installed in described memorizer and includes one
Individual or multiple software function modules performed by described processor, described UAV Flight Control device includes: detecting module, uses
The length of described remote terminal is acted on by operation in detecting；Acquisition module, in the time-continuing process pressing operation in described length, obtains
Take the attitude data of described remote terminal；Generation module, for according to described attitude data, generates and mates with described attitude data
The first control instruction；Sending module, for described first control instruction is sent to unmanned plane, wherein, described first controls
Instruction is for controlling the flight path of described unmanned plane.
A kind of UAV Flight Control device, method and the remote terminal that the embodiment of the present invention provides, is acted on by detecting
Length in remote terminal presses operation；In described length by the time-continuing process of operation, obtain the attitude data of remote terminal；According to appearance
State data, generate the first control instruction mated with attitude data；First control instruction is sent to unmanned plane, wherein, described
First control instruction is for controlling the flight path of described unmanned plane.So, by long by operation trigger body sense control model, can
To allow the flight operation of unmanned plane become safer, thus decrease various flight accident and accident.Meanwhile, nothing is also reduced
Man-machine flight controls difficulty, and unmanned plane new hand can also operate, improve Consumer's Experience.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
What Fig. 1 showed UAV Flight Control device, method and the remote terminal that present pre-ferred embodiments provides should
Use environment schematic.
Fig. 2 shows the schematic diagram of a kind of display interface of the remote terminal that present pre-ferred embodiments provides.
Fig. 3 shows the schematic diagram of the another kind of display interface of the remote terminal that present pre-ferred embodiments provides.
Fig. 4 shows the structured flowchart of the remote terminal that present pre-ferred embodiments provides.
Fig. 5 shows the functional block diagram of the UAV Flight Control device that present pre-ferred embodiments provides.
Fig. 6 shows the coordinate system schematic diagram at the remote terminal place that present pre-ferred embodiments provides.
Fig. 7 shows the flow chart of the UAV Flight Control method that present pre-ferred embodiments provides.
Detailed description of the invention
UAV Flight Control device, method and the remote terminal that the embodiment of the present invention is provided can be applicable to such as Fig. 1 institute
In the applied environment shown.As it is shown in figure 1, remote terminal 100 can send control instruction to unmanned plane by wireless network 300
200, after unmanned plane 200 receives described control instruction, the flare maneuver corresponding with described control instruction can be performed.
In the present embodiment, described remote terminal 100 may be, but not limited to, smart mobile phone, PC (personal
Computer, PC), panel computer, personal digital assistant (personal digital assistant, PDA), mobile Internet access set
Standby (mobile Internet device, MID) etc., it is preferable that in the present embodiment, remote terminal 100 is smart mobile phone or intelligence
Can panel computer.The operating system of described remote terminal 100 may be, but not limited to, Android (Android) system, IOS
(iPhone operating system) system, Windows phone system, Windows system etc..Preferably, the present embodiment
In, the operating system of described remote terminal 100 is IOS system.
Fig. 2 shows the remote terminal of a kind of UAV Flight Control device and method applying the embodiment of the present invention
A kind of display interface of 100.Display interface can be Touch Screen 114, and Touch Screen 114 includes the first operating area 120, uses
Family can carry out pressing operation at the first operating area 120, and such as long by operation or clicking operation, described pressing operation can be
Specifically act on some virtual key of the first operating area 120, such as virtual key 121.
Fig. 3 shows the remote terminal of a kind of UAV Flight Control device and method applying the embodiment of the present invention
The another kind of display interface of 100.Display interface can be Touch Screen 114, and Touch Screen 114 is provided with the first operating area 120
With the second operating area 140, user can carry out touch control operation at the first operating area 120 and the second operating area 140.Enter one
Step, user can carry out pressing operation at the first operating area 120, and such as long by operation or clicking operation, described pressing is grasped
Work can also act on some virtual key of the first operating area 120, such as virtual key 121；Virtual key 121 is also
Can identify as the operation instruction of the first operating area 120, to indicate described first operating area 120 at described Touch Screen
Region on 114, such as, virtual key 121 is in the left side of Touch Screen 114, it indicates that the left side of Touch Screen 114 is first
Operating area 120, if virtual key 121 is on the right side of Touch Screen 114, it indicates that the right side of Touch Screen 114 is the first behaviour
Make region 120.User can carry out slide at the second operating area 140, and such as, the finger of user is at the second operating area
140 slide along A, B, C, D four direction shown in Fig. 3, or can also slide along other more directions.Need explanation
It is that the first operating area 120 and the second operating area 140 are not limited to region, two, the left and right shown in Fig. 3, it is also possible to for
Upper and lower two regions, or be other any two regions on Touch Screen 114.It addition, the physical button of remote terminal 100
Can also be pressed, carry out above-mentioned pressing operation, such as volume key 111 or homepage key 113 and be long pressed, being pressed of physical button
Operate and realize the same function and effect with being pressed of above-mentioned first operating area 120.
Fig. 4 shows the remote terminal of a kind of UAV Flight Control device and method applying the embodiment of the present invention
The structured flowchart of 100.As shown in Figure 4, remote terminal 100 includes memorizer 102, storage control 104, one or more (figures
In only illustrate one) processor 106, Peripheral Interface 108, radio frequency unit 110, audio unit 112 and Touch Screen 114.
Described memorizer 102, storage control 104, one or more processor 106, Peripheral Interface 108, radio frequency unit
110, audio unit 112 and each element of Touch Screen 114 are electrically connected with, the most directly or indirectly to realize data
Transmission or mutual, such as, these assemblies pass through the mutual communication of one or more communication bus/holding wire 116.Described unmanned plane flies
Row controls device 400 and includes that at least one can be stored in described memorizer 102 with the form of software or firmware (firmware)
Or it is solidificated in the software function module in the operating system (operating system, OS) of described remote terminal 100.
Memorizer 102 can be used for storing software program and module, such as the UAV Flight Control in the embodiment of the present invention
Programmed instruction/module that device and method is corresponding.Described processor 106 is for performing holding of storage in described memorizer 102
Row module, such as software function module included by UAV Flight Control device 400 and computer program etc..
Memorizer 102 can include high speed random access memory, may also include nonvolatile memory, such as one or more magnetic
Property storage device, flash memory or other non-volatile solid state memories.Processor 106 and other possible assemblies are to storage
The access of device 102 can be carried out under the control of storage control 104.
Various input/output devices are coupled to processor 106 and memorizer 102 by Peripheral Interface 108.Implement at some
In example, Peripheral Interface 108, processor 106 and storage control 104 can realize in one single chip.In some other reality
In example, they can be realized by independent chip respectively.
Radio frequency unit 110 is used for receiving and send radio wave signal (such as electromagnetic wave), it is achieved radio wave and telecommunications
Number mutual conversion, thus realize the radio communication between described remote terminal 100 and unmanned plane 200.
Audio unit 112 provides a user with audio interface, and it can include one or more mike, one or more raises
Sound device and voicefrequency circuit.
Touch Screen 114 provides an output and inputting interface between remote terminal 100 and user simultaneously.In this enforcement
In example, described Touch Screen 114 supports single-point and multi-point touch operation, and such as, this Touch Screen 114 can be to support that single-point is with many
The capacitance type touch control screen of some touch control operation or resistance type touch control screen etc..Support that single-point and multi-point touch operation make Touch Screen 114
Can sense the touch control operation simultaneously produced from one or more positions on this Touch Screen 114, and this is sensed
Multi-point touch operation transfers to processor 106 to process.
Be appreciated that the structure shown in Fig. 4 be only signal, remote terminal 100 may also include more more than shown in Fig. 4 or
Less assembly, or there is the configuration different from shown in Fig. 4.Each assembly shown in Fig. 4 can use hardware, software or its
Combination realizes.
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Generally exist
Can arrange and design with various different configurations with the assembly of the embodiment of the present invention that illustrates described in accompanying drawing herein.Cause
This, be not intended to limit claimed invention to the detailed description of the embodiments of the invention provided in the accompanying drawings below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently.Meanwhile, the present invention's
In description, term " first ", " second " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint relative importance.
First embodiment
Refer to Fig. 5, it is shown that the functional module of the UAV Flight Control device 400 that present pre-ferred embodiments provides
Figure.The UAV Flight Control device 400 that present pre-ferred embodiments provides includes: detecting module 410, acquisition module 420, life
Become module 430 and sending module 440.
Detecting module 410, for detecting remote control terminal 100 whether with unmanned plane 200 successful connection.
In embodiments of the present invention, remote terminal 100 can be attached by wireless network 300 with unmanned plane 200, excellent
Choosing, in embodiments of the present invention, wireless network 300 is WIFI.Remote terminal 100 is detected with unmanned at detecting module 410
During machine 200 successful connection, detecting module 410 can send control signal to the audio unit 112 of remote terminal 100, passes through sound
Frequently unit 112 sends auditory tone cues information, such as " successful connection ", to remind the company of user's remote terminal 100 and unmanned plane 200
Connect state.
Sending module 440, for, after described remote terminal 100 with described unmanned plane 200 wireless connections success, sending
Hovering instruction is to unmanned plane 200.
In embodiments of the present invention, after remote terminal 100 is connected with unmanned plane 200, remote terminal 100 can be by set
Connect the word (Socket) transmission means with UDP (User Datagram Protocol, UDP), with the frequency of 50HZ
Rate sends control instruction to UAV Flight Control device (flying control).Described control instruction is director data bag, this director data bag
Including 4 for controlling the data of unmanned plane 200 heading, above-mentioned 4 data are to control to fly about unmanned plane respectively
It is worth before and after flight before and after left and right value, control unmanned plane, controls rising depreciation and controlling unmanned plane rotation of unmanned plane lifting
Rotational value.Above-mentioned 4 data can be set span, in present pre-ferred embodiments, the value model of above-mentioned 4 data
Enclosing and be 1100 to 1900, default value is 1500, and in other embodiments, span is alternatively other numerical rangies, acquiescence
Value can also be other values.When the value of above-mentioned 4 data is all default value 1500, control instruction is hovering instruction；When above-mentioned 4
When any one in individual data is not 1500, control instruction be control unmanned plane 200 flight except hover in addition to other refer to
Order.Such as, before and after will be greater than 1500 in advance value be defined as control unmanned plane 200 fly backward, will less than 1500 before and after value
It is defined as controlling unmanned plane 200 flight forward, will be greater than the left and right value of 1500 and be defined as control unmanned plane and fly to the left, will be less than
The left and right value of 1500 is defined as controlling unmanned plane 200 and flies to the right, and the liter depreciation that will be greater than 1500 is defined as control unmanned plane 200
Upwards fly, the liter depreciation less than 1500 is defined as controls unmanned plane 200 and flies downwards, will be greater than the rotational value definition of 1500
For control unmanned plane 200 to anticlockwise, it is defined as the rotational value less than 1500 controlling unmanned plane 200 to right rotation.
Wherein, unmanned plane 200 refers to unmanned plane 200 in horizontal plane to the flight of front, rear, left and right four direction
Front, rear, left and right four direction flight.Unmanned plane 200 rotates to left and right and refers to that direction is axial before and after unmanned plane 200,
Clockwise or counterclockwise.
Further, a global variable can be set, be used for judging whether unmanned plane 200 is in motion sensing control pattern,
When global variable is " NO ", unmanned plane 200 is not in motion sensing control pattern, and sending module 440 sends hovering to unmanned plane 200
Instruction；When global variable is " YES ", unmanned plane 200 is in motion sensing control pattern, and sending module 440 sends to unmanned plane 200
Control instruction under motion sensing control pattern.Under motion sensing control pattern, remote terminal 100 can be by the gyroscope carried, angle
The attitude data of the detecting remote control terminals 100 such as sensor, and control unmanned plane 200 further according to this attitude data.
After remote terminal 100 and described unmanned plane 200 are by WIFI successful connection, global variable is " NO ", now,
Control instruction include before and after value, left and right value, rise depreciation, rotational value and be default value 1500, instruction of i.e. hovering, sending module
440 can send hovering instruction with the frequency of 50HZ to unmanned plane 200.
Detecting module 410, is additionally operable to detect and acts on the length of described remote terminal 100 by operation.
In embodiments of the present invention, described length can be the of the Touch Screen 114 acting on remote terminal 100 by operation
The length of one operating area 120 or physical button, by operation, can be defined by operation long in advance, such as, and Touch Screen 114
The first operating area 120 or physical button be then defined as being long pressed behaviour when being exceeded Preset Time (such as 2s) by Continued depression
Make.It is not necessarily one of the first operating area 120 acting on Touch Screen 114 by operation fixes it should be noted that long
On point, during length is by operation, as long as the finger of user is without departing from the first operating area 120 of Touch Screen 114, even if
In the first operating area 120, produce certain displacement be referred to as long by operation.
In embodiments of the present invention, when the first operating area 120 of the Touch Screen 114 pressing remote terminal 100 with the head of a household
Or during first virtual key 121 of operating area 120, the touching signals on Touch Screen 114 sends to processor 106, by
Reason device 106 generates the first length according to touching signals and presses operational order, and detecting module 410 can detect this first length and refer to by operation
Order, so, detecting module 410 can detect user and act on the length of described Touch Screen 114 by operation.Or, work as user
When length presses physical button (the such as volume key 111 or homepage key 113) of remote terminal 100, the pressing signal of physical button sends
To processor 106, processor 106 generating the second length according to pressing signal and press operational order, detecting module 410 can detect
This second length presses operational order, and so, detecting module 410 can detect the physical button acting on described remote terminal 100
Length by operation.
Further, detecting act on remote terminal 100 Touch Screen 114 the first operating area 120 length by
Before operation, generation module 430 can also generate operation instruction mark (such as virtual key at described first operating area 120
121 or other symbol logos), operation instruction mark instruction described first operating area 120 region on Touch Screen 114.
Length can trigger unmanned plane 200 by operation and enter motion sensing control pattern, after entering motion sensing control pattern, and unmanned plane
Flight controller can control unmanned plane 200 fly according to the attitude data of remote terminal 100.
Acquisition module 420, in the time-continuing process pressing operation in described length, obtains the attitude of described remote terminal 100
Data.
During the first operating area 120 of remote terminal 100 or physical button are long pressed, global variable becomes
" YES ", now, acquisition module 420 can obtain the attitude number of described remote terminal 100 with certain frequency (such as 50HZ)
According to.
The attitude data of remote terminal 100 includes incline direction and the angle of inclination of remote terminal, such as, remote terminal to
Left bank the first angle, second angle that is tilted to the right, the third angle that turns forward, tilt backwards fourth angle.Attitude data can
Think user temporarily to the operation of remote terminal 100 to control the incline direction of remote terminal 100 and angle of inclination.Such as, when
When remote terminal 100 is in a horizontal plane after entering motion sensing control pattern, user is by the way of upset remote terminal 100
Controlling remote terminal 100 and be tilted to the left 30 degree, attitude data the most now is that remote terminal is tilted to the left 30 degree.When user again
Controlling remote terminal by the way of upset remote terminal 100 and be tilted to the right 50 degree, attitude data the most now is remote terminal
It is tilted to the right 50 degree.Attitude data can also be for the angle tilted being placed in advance of remote terminal 100 and anteversion and retroversion
Oblique angle, is now adjusted remote terminal 100 without user temporarily.Such as, remote terminal 100 is entering motion sensing control
Before pattern, the position being placed in advance is relative to a horizontal plane for being tilted to the left 40 degree, and attitude data the most now is that remote control is whole
End 100 is tilted to the left 40 degree.Needing to say, after remote terminal 100 enters motion sensing control pattern, this attitude data still may be used
It is detected.
Wherein, the incline direction of remote terminal 100 and angle of inclination are coordinate systems based on remote terminal 100 place, example
As, refer to Fig. 6, with the center of gravity of remote terminal 100 for initial point O, with the straight line parallel with the long limit of remote terminal 100 as X-axis,
With the straight line parallel with the minor face of remote terminal 100 as Y-axis, remote terminal 100 is tilted to the left i.e.: to initial point O in terms of +Y direction,
Remote terminal 100 Y-axis of having mercy on turns clockwise, and remote terminal 100 is tilted to the right i.e.: to initial point O, remote terminal in terms of +Y direction
100 Y-axis of having mercy on rotate counterclockwise, and remote terminal 100 turns forward i.e.: to initial point O in terms of +X direction, and remote terminal 100 X-axis of having mercy on is suitable
Hour hands rotate, and remote terminal 100 tilts backwards i.e.: to initial point O in terms of +X direction, and remote terminal 100 X-axis of having mercy on rotates counterclockwise.
Generation module 430, for according to described attitude data, generates the first control mated with described attitude data and refers to
Order.
In embodiments of the present invention, the angle that generation module 430 can tilt according to remote terminal, according to certain
Algorithm calculates the left and right value in director data bag, the angle that generation module 430 can tilt forward and back according to remote terminal, according to
Certain algorithm calculates value before and after in director data bag.Then, the left and right that generation module 430 will calculate according to attitude data
Value and being front and back worth, and the liter depreciation of acquiescence and rotational value pack, and generates the first control instruction.In the present embodiment, distant
Liter depreciation that the attitude data of control terminal 100 is not used in computations packet and rotational value, when with the head of a household by remote control eventually
During the first operating area 120 of end 100, rising depreciation and rotational value is default value 1500, and the change rising depreciation and rotational value will be
Follow-up it is described in detail.
The incline direction of remote terminal 100 can be corresponding with the heading of unmanned plane 200, such as, remote terminal 100 to
Left bank, unmanned plane 200 flies the most to the left, and remote terminal 100 is tilted to the right, and unmanned plane 200 flies the most to the right, remote terminal
100 turn forward, unmanned plane 200 then flight forward, and remote terminal 100 tilts backwards, and unmanned plane 200 flies the most backward.More
Concrete, such as, when remote terminal 100 is tilted to the left 40 degree, and remote terminal 100 does not tilts at fore-and-aft direction, then generate mould
The angle that block 430 can be tilted to the left according to remote terminal 100, calculating left and right value according to certain algorithm is 1700, front and back
Value is 1500, by left and right value, is front and back worth and liter depreciation and the rotational value given tacit consent to are packaged as the first control instruction, unmanned plane 200
Flight controller after receiving this first control instruction, unmanned plane 200 will be controlled and fly to the left.Work as remote terminal
100 are tilted to the right 40 degree, and remote terminal 100 does not tilts at fore-and-aft direction, then generation module 430 can be according to remote terminal
100 angles being tilted to the right, calculating left and right value according to certain algorithm is 1300, and front and back value is 1500, is worth left and right, front and back
Value and the liter depreciation of acquiescence and rotational value are packaged as the first control instruction, and the flight controller of unmanned plane 200 is receiving this
After first control instruction, unmanned plane 200 will be controlled and fly to the right.The computational methods being front and back worth and the computational methods of left and right value
Identical, do not repeat them here.
It should be noted that remote terminal 100 can all tilt certain angle on fore-and-aft direction and left and right directions, this
Time, in remote terminal 100 first control instruction before and after value and left and right value be not the most 1500, such as, remote terminal 100 is to left front
Side tilts, and the angle of inclination of remote terminal 100 can be decomposed into angle of inclination to the left and inclination forward by generation module 430
Angle, and calculate left and right value (such as 1600) and front and back value (such as 1400) respectively according to certain algorithm, and by left and right value,
The liter depreciation being front and back worth and give tacit consent to and rotational value are packaged as the first control instruction, UAV Flight Control device receive this
After one control instruction, i.e. control unmanned plane 200 and fly to left front.
Further, the size at the angle of inclination of remote terminal 100 can to left and right value or front and back value be directly proportional, left and right be worth
Or front and back value can be directly proportional in the flight speed of correspondence direction to unmanned plane 200, therefore, the angle of inclination of remote terminal 100
Can be directly proportional in the flight speed of correspondence direction to unmanned plane 200.Such as, when remote terminal 100 be tilted to the left 20 degree time, raw
Becoming module 430 to calculate left and right value according to certain algorithm is 1600, and now, unmanned plane 200 flight speed to the left is 0.5m/
s；When remote terminal 100 be tilted to the left 40 degree time, generation module 430 according to certain algorithm calculate left and right value be 1700, this
Time, the flight speed that unmanned plane 200 flies to the left is 1m/s.
Sending module 440, is additionally operable to be sent to described first control instruction unmanned plane 200, and wherein, described first controls
Instruction is for controlling the flight path of described unmanned plane 200.
In embodiments of the present invention, after the first control instruction is generated by generation module 430, sending module 440 can be by
The UAV Flight Control device (flying control) that first control instruction is sent on unmanned plane 200, flying control can control to refer to according to first
Order controls unmanned plane 200 on the direction corresponding with the first control instruction, with the speed flight corresponding with the first control instruction.Need
It is noted that acquisition module 420 can obtain the attitude number of described remote terminal 100 with certain frequency (such as 50HZ)
According to, then the first control instruction mated with described attitude data is generated by generation module 430, therefore, the first control instruction also may be used
To be sent to unmanned plane 200 with certain frequency (such as 50HZ).
Further, described detecting module 410 is additionally operable to acting on length the continuing by operation of described remote terminal 100
During, detecting acts on the slide of the second operating area 140 of described remote terminal 100.
In the embodiment of the present invention, user presses the physical button of remote terminal 100 or the same of the first operating area 120 in length
Time, it is also possible to carry out slide at the second operating area 140, such as, slide along A, B, C, D four direction shown in Fig. 3, use
Family can be detected by detecting module 410 at the slide of the second operating area 140.
Generation module 430 is additionally operable to, according to described slide and described attitude data, generate the second control instruction.
In the embodiment of the present invention, when user slides along A, B, C, D four direction at the second operating area 140, along A direction
Slide can be defined as liter depreciation and increase, the slide along B direction can be defined as liter depreciation to be reduced, along C direction
The distance slided can be defined as rotational value to be increased, and the distance slided along D direction can be defined as rotational value and reduce.Therefore, raw
Become module 430 can calculate according to the slide along A, B direction and rise depreciation, calculate rotation according to the slide along C, D direction
Turn value.
Further, the distance slided along A, B direction can be directly proportional to a liter depreciation, and rising depreciation can be with unmanned plane 200
Flight speed at above-below direction is directly proportional, and therefore, the distance slided along A, B direction can be with unmanned plane 200 at above-below direction
Flight speed be directly proportional.The distance slided along C, D direction can be directly proportional to rotational value, and rotational value can be with unmanned plane 200
The anglec of rotation at left and right directions is directly proportional, and therefore, the distance slided along C, D direction can be with unmanned plane 200 at left and right directions
The anglec of rotation be directly proportional.Such as, during along A direction slip 1cm, generation module 430 calculates a liter depreciation according to certain algorithm
Being 1600, now, the speed that unmanned plane 200 upwards flies is 0.5m/s；During along A direction slip 2cm, generation module 430 basis
It is 1700 that certain algorithm calculates liter depreciation, and now, the speed that unmanned plane 200 upwards flies is 1m/s.Slide along C direction
During 1cm, it is 1600 that generation module 430 calculates rotational value according to certain algorithm, and now, unmanned plane 200 is to the angle of anticlockwise
Degree is 10 degree；During along C direction slip 2cm, it is 1700, now, nothing that generation module 430 calculates rotational value according to certain algorithm
Man-machine 200 is 20 degree to the angle of anticlockwise.
Generation module 430 calculates liter depreciation and rotational value according to described slide, and according to described attitude data
Calculate front and back value and left and right value (refer to narrating content above), and by the liter depreciation calculated, rotational value, front and back value and
Left and right value is packaged into director data bag, to generate the second control instruction.
Sending module 440 is additionally operable to described second control instruction is sent to described unmanned plane.
In embodiments of the present invention, after the second control instruction is generated by generation module 430, sending module 440 can be by
The UAV Flight Control device (flying control) that second control instruction is sent on unmanned plane 200, flying control can control to refer to according to second
Order controls unmanned plane 200 on the direction corresponding with the second control instruction, with the speed flight corresponding with the second control instruction.
It should be noted that the second control instruction is a liter depreciation, rotational value, front and back value and left and right value be overlapped after
An instruction, such as, the liter depreciation in the second control instruction is 1600, and rotational value is 1500, and front and back value is 1700, left and right be worth
It is 1500, then, this second control instruction is and controls the instruction that unmanned plane 200 flies rearwardly and upwardly.
Sending module 440 be additionally operable to act on the length of described remote terminal 100 by operation at the end of, send hovering instruction
To described unmanned plane 200.
In the embodiment of the present invention, acting on the first operating area 120 or the length of physical button of described remote terminal 100
At the end of operation, it is used for judging that the global variable whether unmanned plane 200 is in motion sensing control pattern becomes " NO ", now, sends out
Send module 440 can send a liter depreciation, rotational value, front and back value and left and right value and be the control instruction (instruction of i.e. hovering) of 1500
To unmanned plane 200, unmanned plane 200 i.e. performs hovering action after receiving hovering instruction.
If it addition, user not does not carries out growing by operation stating remote terminal 100, and only carrying out at the second operating area 140
Slide, then, generation module 430 can generate the 3rd control instruction, in the 3rd control instruction, value and left and right front and back
Value is 1500, and unmanned plane 200 does not have displacement on direction, front, rear, left and right.Unmanned plane 200 can control to refer to according to the 3rd
Order performs upwards flight, downwards flight, to anticlockwise and dextrorotary action.
Second embodiment
Refer to Fig. 7, it is shown that the flow chart of the UAV Flight Control method that present pre-ferred embodiments provides.This
The UAV Flight Control method that bright preferred embodiment provides comprises the following steps:
Step S1, detecting remote control terminal 100 whether with unmanned plane 200 successful connection.
In embodiments of the present invention, step S1 can be performed by detecting module 410.Remote terminal 100 and unmanned plane 200 can
To be attached by wireless network 300, it is preferred that in embodiments of the present invention, wireless network 300 is WIFI.When remote control is whole
When end 100 and unmanned plane 200 successful connection, perform step S2, when remote terminal 100 is not connected with successfully with unmanned plane 200, distant
The flight of control terminal 100 controls unavailable, and unmanned plane 200 will not respond the control instruction that remote terminal 100 sends.
Step S2, after described remote terminal 100 with described unmanned plane 200 wireless connections success, sends hovering instruction
To unmanned plane 200.
In embodiments of the present invention, step S2 can be performed by sending module 440.Remote terminal 100 is with unmanned plane 200 even
After connecing, remote terminal 100 can pass through socket (Socket) with UDP (User Datagram
Protocol, UDP) transmission means, send control instruction with the frequency of 50HZ to UAV Flight Control device (flying control).Described
Control instruction is director data bag, this director data bag include 4 for the data controlling unmanned plane 200 heading, these 4
Data be respectively control the left and right value of flight about unmanned plane, control unmanned plane before and after fly before and after be worth, control unmanned plane liter
The rotational value that the liter depreciation of fall and control unmanned plane rotate.These 4 data can be set span, in the present invention relatively
In good embodiment, the span of these 4 data is 1100 to 1900, and in other embodiments, span is alternatively it
His numerical range.When the value of these 4 data is all 1500, control instruction is hovering instruction；In these 4 data any one
Individual when being not 1500, control instruction is that other in addition to hovering controlling unmanned plane 200 flight instruct.
Further, a global variable can be set, be used for judging whether unmanned plane 200 is in motion sensing control pattern,
When global variable is " NO ", unmanned plane 200 is not in motion sensing manipulation pattern, and sending module 440 sends hovering to unmanned plane 200
Instruction；When global variable is " YES ", unmanned plane 200 is in motion sensing control pattern, and sending module 440 sends to unmanned plane 200
Control instruction under motion sensing control pattern.
After remote terminal 100 and described unmanned plane 200 are by WIFI successful connection, global variable is " NO ", now,
Control instruction include before and after value, left and right value, rise depreciation, rotational value and be 1500, instruction of i.e. hovering, sending module 440 is permissible
Hovering instruction is sent to unmanned plane 200 with the frequency of 50HZ.
Step S3, detecting acts on the length of described remote terminal 100 by operation.
In embodiments of the present invention, step S3 can be performed by detecting module 410.When pressing remote terminal 100 with the head of a household
When the first operating area 120 of Touch Screen 114 or remote terminal 100 physical button, detecting module 410 can detect effect
Length in first operating area 120 of Touch Screen 114 of described remote terminal 100 or the physical button of remote terminal 100 is pressed
Operation, in embodiments of the present invention, can be defined by operation the length acting on described remote terminal 100 in advance, such as,
First operating area 120 or physical button are then defined as being long pressed when being exceeded Preset Time (such as 2s) by Continued depression.If detecing
Measure and act on the length of described remote terminal 100 by operation, then performing step S4, acting on described remote terminal if not detecting
The length of 100 by operation, then performs step S2.
Further, before step S3, it is also possible to include step S31, operation instruction is generated at the first operating area 120
Mark (such as virtual key 121 or other symbol logos), operation instruction mark indicates described first operating area 120 at touch-control
Region on screen 114.Wherein, step S31 can be performed by generation module 430.
Step S4, unmanned plane 200 enters motion sensing control pattern.
In embodiments of the present invention, act on the length of described remote terminal 100 to trigger unmanned plane 200 by operation and enter
Motion sensing control pattern.
Step S5, in described length by the time-continuing process of operation, obtains the attitude data of described remote terminal 100.
In embodiments of the present invention, step S5 can be performed by acquisition module 420.The first operation at remote terminal 100
During region 120 or physical button are long pressed, global variable becomes " YES ", and now, acquisition module 420 can be with necessarily
Frequency (such as 50HZ) obtain the attitude data of described remote terminal 100.
Step S6, according to described attitude data, generates the first control instruction mated with described attitude data.
In embodiments of the present invention, step S6 can be performed by generation module 430.The attitude data bag of remote terminal 100
Including angle of inclination and the incline direction of remote terminal 100, the incline direction of remote terminal 100 can be with the flight of unmanned plane 200
Direction is corresponding, and such as, remote terminal 100 is tilted to the left, and unmanned plane 200 flies the most to the left, and remote terminal 100 is tilted to the right, nothing
Man-machine 200 are flown to the right, and remote terminal 100 turns forward, unmanned plane 200 then flight forward, and remote terminal 100 retreats
Tiltedly, unmanned plane 200 flies the most backward.The angle that generation module 430 can tilt according to remote terminal, according to certain calculation
Method calculates the left and right value in director data bag, and the angle that generation module 430 can tilt forward and back according to remote terminal, according to one
Fixed algorithm calculates value before and after in director data bag.Then, the left and right value that generation module 430 will calculate according to attitude data
Front and back it is worth, and the liter depreciation of acquiescence and rotational value are packed, and generate the first control instruction.
In the present embodiment, the liter depreciation during the attitude data of remote terminal 100 is not used to computations packet and
Rotational value, when pressing the first operating area 120 of remote terminal 100 with the head of a household, rises depreciation and rotational value is default value 1500, rise
The change of depreciation and rotational value will be described in detail follow-up.
Further, the angle of inclination of remote terminal 100 can to left and right value or front and back value be directly proportional, left and right value or front and back
Value can be directly proportional in the flight speed of correspondence direction to unmanned plane 200, and therefore, the angle of inclination of remote terminal 100 can be with
Unmanned plane 200 is directly proportional in the flight speed of correspondence direction.Such as, when remote terminal 100 be tilted to the left 20 degree time, generation module
430 according to certain algorithm calculate left and right value be 1600, now, unmanned plane 200 flight speed to the left is 0.5m/s；When distant
Control terminal 100 be tilted to the left 40 degree time, generation module 430 according to certain algorithm calculate left and right value be 1700, now, nobody
The flight speed that machine 200 flies to the left is 1m/s.
In embodiments of the present invention, after the first control instruction is generated by generation module 430, it is also possible to include controlling first
The step of the UAV Flight Control device (flying control) that system instruction is sent on unmanned plane 200, this step can be by sending module 440
Performing, the first control instruction is for controlling the flight path of described unmanned plane 200, and flying control can control according to the first control instruction
Unmanned plane 200 is on the direction corresponding with the first control instruction, with the speed flight corresponding with the first control instruction.
Step S7, in acting on the length of described remote terminal 100 time-continuing process by operation, detecting acts on described distant
The slide of the second operating area 140 of the Touch Screen 114 of control terminal 100.
In the embodiment of the present invention, step S7 can be performed by detecting module 410.User presses touching of remote terminal 100 long
When the first operating area 120 of control screen 114 or physical button, it is also possible to the second operating area 140 at Touch Screen 114 enters
Line slip operates, and such as, slides along A, B, C, D four direction shown in Fig. 3, and user grasps in the slip of the second operating area 140
Work can be detected by detecting module 410.If detecting the slip of the second operating area 140 acting on described remote terminal 100
Operation, then perform step S8, if not detecting the slide of the second operating area 140 acting on described remote terminal 100,
Then perform step S5.
Step S8, according to described slide and described attitude data, generates the second control instruction.
In the embodiment of the present invention, step S8 can be performed by generation module 430.When user is on the second operating area 140 edge
When A, B, C, D four direction slides, the slide along A direction can be defined as liter depreciation to be increased, along the slide in B direction
Can be defined as liter depreciation to reduce, the distance slided along C direction can be defined as rotational value to be increased, the distance slided along D direction
Rotational value can be defined as reduce.Therefore, generation module 430 can calculate according to the slide along A, B direction and rise depreciation, depends on
Rotational value is calculated according to the slide along C, D direction.
Further, the distance slided along A, B direction can be directly proportional to a liter depreciation, and rising depreciation can be with unmanned plane 200
Flight speed at above-below direction is directly proportional, and therefore, the distance slided along A, B direction can be with unmanned plane 200 at above-below direction
Flight speed be directly proportional.The distance slided along C, D direction can be directly proportional to rotational value, and rotational value can be with unmanned plane 200
The anglec of rotation at left and right directions is directly proportional, and therefore, the distance slided along C, D direction can be with unmanned plane 200 at left and right directions
The anglec of rotation be directly proportional.
Generation module 430 calculates liter depreciation and rotational value according to described slide, and according to described attitude data
Calculate front and back value and left and right value (refer to narrating content above), and by the liter depreciation calculated, rotational value, front and back value and
Left and right value is packaged into director data bag, to generate the second control instruction.
In embodiments of the present invention, after the second control instruction is generated by generation module 430, it is also possible to include controlling second
The step of the UAV Flight Control device (flying control) that system instruction is sent on unmanned plane 200, this step can be by sending module 440
Perform.Fly control and can control unmanned plane 200 on the direction corresponding with the second control instruction, with the according to the second control instruction
The speed flight that two control instructions are corresponding.
Step S9, detecting acts on whether the length of described remote terminal 100 is terminated by operation.
In embodiments of the present invention, step S9 can be performed by detecting module 410.When detecting module 410 does not detects work
When the first operating area 120 of described remote terminal 100 or the length of physical button press operation, i.e. can determine that described in acting on
The length of remote terminal 100 is over by operation.It should be noted that step S9 can be in the long time-continuing process by operation
Point performs any time.Terminate by operation if long, then perform step S10, do not terminate by operation if long, then perform step S5.
Step S10, sends hovering instruction extremely described unmanned plane 200, and unmanned plane 200 exits motion sensing control pattern and hovers.
In the embodiment of the present invention, in step S10, hovering instruction can be sent to described unmanned plane by sending module 440
200.Act on the length of described remote terminal 100 by operation at the end of, be used for judging whether unmanned plane 200 is in motion sensing control
The global variable of pattern becomes " NO ", and now, unmanned plane 200 exits motion sensing control pattern.Sending module 440 can send lifting
Value, rotational value, front and back value and left and right value are the control instruction (instruction of i.e. hovering) of 1500 to unmanned plane 200, unmanned plane 200
Hovering action is i.e. performed after receiving hovering instruction.
A kind of UAV Flight Control device, method and the remote terminal that the present invention provides, acts on remote control by detecting
The length of terminal is by operation；In described length by the time-continuing process of operation, obtain the attitude data of remote terminal；According to attitude number
According to, generate the first control instruction mated with attitude data；First control instruction is sent to unmanned plane, wherein, described first
Control instruction is for controlling the flight path of described unmanned plane.So, by long by operation trigger body sense control model, Ke Yirang
The flight operation of unmanned plane becomes safer, thus decreases various flight accident and accident.Meanwhile, unmanned plane is also reduced
Flight control difficulty, unmanned plane new hand can also operate, improve Consumer's Experience.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other mode realizes.Device embodiment described above is only schematically, such as, and the flow chart in accompanying drawing and block diagram
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this, each square frame in flow chart or block diagram can represent a module, program segment or the one of code
Part, a part for described module, program segment or code comprises holding of one or more logic function for realizing regulation
Row instruction.It should also be noted that at some as in the implementation replaced, the function marked in square frame can also be to be different from
The order marked in accompanying drawing occurs.Such as, two continuous print square frames can essentially perform substantially in parallel, and they are the most also
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of the square frame in individual square frame and block diagram and/or flow chart, can be with function or the special base of action performing regulation
System in hardware realizes, or can realize with the combination of specialized hardware with computer instruction.
It addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation
Point, it is also possible to it is modules individualism, it is also possible to two or more modules are integrated to form an independent part.
If described function is using the form realization of software function module and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should be noted that in this article, the relational terms of such as first and second or the like is used merely to a reality
Body or operation separate with another entity or operating space, and deposit between not necessarily requiring or imply these entities or operating
Relation or order in any this reality.And, term " includes ", " comprising " or its any other variant are intended to
Comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that those are wanted
Element, but also include other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that
Including process, method, article or the equipment of described key element there is also other identical element.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should also be noted that similar label and letter exist
Figure below represents similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, is then not required in accompanying drawing subsequently
It is defined further and explains.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in change or replace, should contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (13)
1. a UAV Flight Control device, is applied to remote terminal, it is characterised in that described UAV Flight Control device
Including:
Detecting module, acts on the length of described remote terminal by operation for detecting；
Acquisition module, in the time-continuing process pressing operation in described length, obtains the attitude data of described remote terminal；
Generation module, for according to described attitude data, generating the first control instruction mated with described attitude data；
Sending module, for described first control instruction is sent to unmanned plane, wherein, described first control instruction is used for controlling
The flight path of described unmanned plane.
2. UAV Flight Control device as claimed in claim 1, it is characterised in that described detecting module be additionally operable to down to
One of few:
Detecting acts on the length of the Touch Screen of described remote terminal by operation；
Detecting acts on the length of the physical button of described remote terminal by operation.
3. UAV Flight Control device as claimed in claim 2, it is characterised in that described detecting module is additionally operable to detecting and makees
Length for the first operating area of the Touch Screen of described remote terminal presses operation.
4. UAV Flight Control device as claimed in claim 3, it is characterised in that act on described remote terminal in detecting
The length of the first operating area of Touch Screen by operation before, described generation module is additionally operable at described first operating area raw
Become operation instruction mark, described operation instruction mark instruction described first operating area region on described Touch Screen.
5. UAV Flight Control device as claimed in claim 1, it is characterised in that in described length by the time-continuing process of operation
In, described detecting module is additionally operable to detect the slip behaviour of the second operating area of the Touch Screen acting on described remote terminal
Make；Described generation module is additionally operable to, according to described slide and described attitude data, generate the second control instruction；Described
Sending module to be additionally operable to described second control instruction and be sent to described unmanned plane, wherein, described second control instruction is used for controlling
The flight path of described unmanned plane.
6. UAV Flight Control method as claimed in claim 1, it is characterised in that the attitude data bag of described remote terminal
Include incline direction and the angle of inclination of described remote terminal, wherein, the incline direction of described remote terminal and angle of inclination based on
The coordinate system at described remote terminal place；
Wherein, the incline direction of described remote terminal is corresponding with the heading of described unmanned plane；
The size at the angle of inclination of described remote terminal is directly proportional in the flight speed of correspondence direction to described unmanned plane.
7. a UAV Flight Control method, is applied to remote terminal, it is characterised in that described UAV Flight Control method
Including:
Detecting acts on the length of described remote terminal by operation；
In described length by the time-continuing process of operation, obtain the attitude data of described remote terminal；
According to described attitude data, generate the first control instruction mated with described attitude data；
Described first control instruction is sent to unmanned plane, and wherein, described first control instruction is for controlling described unmanned plane
Flight path.
8. UAV Flight Control method as claimed in claim 7, it is characterised in that described detecting acts on described remote control eventually
The length of end includes at least one of by operation:
Detecting acts on the length of the Touch Screen of described remote terminal by operation；
Detecting acts on the length of the physical button of described remote terminal by operation.
9. UAV Flight Control device as claimed in claim 8, it is characterised in that described detecting acts on described remote control eventually
The length of the Touch Screen of end is included by operation: detecting acts on the length of the first operating area of the Touch Screen of described remote terminal
By operation.
10. UAV Flight Control device as claimed in claim 9, it is characterised in that act on described remote control eventually in detecting
Before the length of the first operating area of the Touch Screen of end is by operation, including:
Generating operation instruction mark at described first operating area, described operation instruction mark indicates described first operating area to exist
Region on described Touch Screen.
11. UAV Flight Control methods as claimed in claim 7, it is characterised in that in described length by the lasting mistake of operation
Cheng Zhong, also includes the slide detecting the second operating area of the Touch Screen acting on described remote terminal；According to described
Slide and described attitude data, generate the second control instruction；Described second control instruction is sent to described unmanned plane,
Wherein, described second control instruction is for controlling the flight path of described unmanned plane.
12. UAV Flight Control methods as claimed in claim 7, it is characterised in that the attitude data of described remote terminal
Including incline direction and the angle of inclination of described remote terminal, wherein, the incline direction of described remote terminal and angle of inclination base
Coordinate system in described remote terminal place；
Wherein, the incline direction of described remote terminal is corresponding with the heading of described unmanned plane；
The size at the angle of inclination of described remote terminal is directly proportional in the flight speed of correspondence direction to described unmanned plane.
13. 1 kinds of remote terminals, it is characterised in that described remote terminal includes:
Memorizer；
Processor；And
UAV Flight Control device, described UAV Flight Control device is installed in described memorizer and includes one or many
The individual software function module performed by described processor, described UAV Flight Control device includes:
Detecting module, acts on the length of described remote terminal by operation for detecting；
Acquisition module, in the time-continuing process pressing operation in described length, obtains the attitude data of described remote terminal；
Generation module, for according to described attitude data, generating the first control instruction mated with described attitude data；
Sending module, for described first control instruction is sent to unmanned plane, wherein, described first control instruction is used for controlling
The flight path of described unmanned plane.
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| CN201610519232.7A CN106155069A (en) | 2016-07-04 | 2016-07-04 | UAV Flight Control device, method and remote terminal |
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| CN201610519232.7A CN106155069A (en) | 2016-07-04 | 2016-07-04 | UAV Flight Control device, method and remote terminal |
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| CN110377053A (en) * | 2016-12-02 | 2019-10-25 | 广州亿航智能技术有限公司 | The flight control method and device of unmanned plane |
| CN110471446A (en) * | 2019-08-23 | 2019-11-19 | 深圳市千代创新电子科技有限公司 | The control method of remotely-piloted vehicle, apparatus and system |
| CN113220035A (en) * | 2021-05-19 | 2021-08-06 | 广东艾檬电子科技有限公司 | Method and device for controlling orientation of unmanned aerial vehicle |
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