CN106155309A - Remote control thereof, Apparatus and system - Google Patents

Remote control thereof, Apparatus and system Download PDF

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Publication number
CN106155309A
CN106155309A CN201610478816.4A CN201610478816A CN106155309A CN 106155309 A CN106155309 A CN 106155309A CN 201610478816 A CN201610478816 A CN 201610478816A CN 106155309 A CN106155309 A CN 106155309A
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China
Prior art keywords
state
control instruction
unmanned vehicle
photographic subjects
motion signal
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CN201610478816.4A
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Chinese (zh)
Inventor
高鹏
孙毅涛
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Beijing Alrobot Technology Development Co Ltd
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Beijing Alrobot Technology Development Co Ltd
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Priority to CN201610478816.4A priority Critical patent/CN106155309A/en
Publication of CN106155309A publication Critical patent/CN106155309A/en
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The present invention relates to a kind of remote control thereof, Apparatus and system.This remote control unit includes: obtaining widget, and for obtaining the remote state of terminal, described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；Acquisition component, for gathering and identify the gesture motion signal of user；Lock-out state command generation unit part, in the case of described remote state is photographic subjects lock-out state, generates corresponding target lock-on state control instruction according to described gesture motion signal；Send parts, for described target lock-on state control instruction is sent to unmanned vehicle, to control the state of the load bearing component on the state of flight of described unmanned vehicle and described unmanned vehicle so that on described load bearing component, the image capture device of carrying carries out locking shooting to photographic subjects.

Description

Remote control thereof, Apparatus and system
Technical field
The present invention relates to unmanned vehicle technical field, particularly relate to a kind of remote control thereof, Apparatus and system.
Background technology
In recent years, the unmanned vehicle (also known as unmanned plane) can being remotely actuated shooting, detect, the field such as search and rescue Achieve extensively application.Under some application scenario, the state of flight of change of flight device may be needed while photographic subjects, It is likely to wish, by the state of flight of change of flight device, photographic subjects is carried out multi-angled shooting, but aircraft once changes Become state of flight (such as position is moved), then photographic subjects is it is possible to offset and even lose in picture.It is it desired to flying During the state of flight of row device is controlled, this photographic subjects is carried out locking shooting and (i.e. makes to be taken target all the time It is maintained in picture, or remains at the precalculated position in picture and/or predetermined state), then user typically requires holding The state of the load bearing component carrying image capture device is also carried out remote control and adjusts, and this considerably increases the operation easier of user.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved in the present invention is, the user operation as how simplified realizes flying at aircraft During the change of row state, the locking to target shoots.
On the one hand, it is proposed that a kind of remote control unit, described remote control unit includes: obtaining widget, for obtaining the distant of terminal Control state, described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；Acquisition component, is used for gathering With the gesture motion signal identifying user；Lock-out state command generation unit part, being used at described remote state is photographic subjects lock In the case of determining state, generate corresponding target lock-on state control instruction according to described gesture motion signal；Send parts, use In described target lock-on state control instruction is sent to unmanned vehicle, to control flying of described unmanned vehicle The state of the load bearing component in row state and described unmanned vehicle so that the image acquisition of carrying on described load bearing component Equipment carries out locking shooting to photographic subjects.
On the other hand, it is proposed that a kind of remote control unit, described remote control unit includes: command reception parts, receives from end The control instruction of end, described control instruction is corresponding with the remote state of the gesture motion signal of user and described terminal, described Remote state includes photographic subjects lock-out state and photographic subjects unlocked state；Lock-out state Instruction Control Unit, is used for In the case of described remote state is photographic subjects lock-out state, control nolo flight based on the control instruction received The state of the load bearing component in the state of flight of device and described unmanned vehicle so that the figure of carrying on described load bearing component Shoot as collecting device carries out locking to photographic subjects.
On the other hand, it is proposed that a kind of remote control thereof, it is characterised in that described remote control thereof includes: obtain the distant of terminal Control state, described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；Gather and identify user's Gesture motion signal；In the case of described remote state is photographic subjects lock-out state, raw according to described gesture motion signal Become corresponding target lock-on state control instruction；Described target lock-on state control instruction is sent to unmanned vehicle, To control the state of the load bearing component on the state of flight of described unmanned vehicle and described unmanned vehicle so that On described load bearing component, the image capture device of carrying carries out locking shooting to photographic subjects.
In a kind of possible embodiment, described remote control thereof also includes: distant in the display screen display of described terminal Control state toggle control, in response to user's operation to described remote state toggle control, at described photographic subjects lock-out state And switch between the non-locking state of described photographic subjects.
In a kind of possible embodiment, described remote control thereof also includes: be described shooting mesh at described remote state In the case of mark lock-out state, prompting user chooses target area, and the operation choosing target area in response to user determines target Region.
In a kind of possible embodiment, described remote control thereof also includes: prompting user selects in described target area Select photographic subjects, in described target area, select the operation of photographic subjects in response to user, determine photographic subjects.
In a kind of possible embodiment, described remote control thereof also includes: photographic subjects determined by Jiang notifies to institute State unmanned vehicle so that described unmanned vehicle to determined by photographic subjects be identified, follow the tracks of, in order to base State of flight in the result identifying, following the tracks of and unmanned vehicle controls the supporting part on described unmanned vehicle The state of part.
In a kind of possible embodiment, the gesture motion signal of user includes that user touches the touch formula of described terminal The gesture motion signal of display screen, in the case of described remote state is photographic subjects lock-out state, described gesture motion is believed Number include following in one or more: single contact slides to the left, single contact slides to the right, single contact upward sliding, single contact Slide downward, double-contact deviate from slip near slip and double-contact.
In a kind of possible embodiment, in the case of described remote state is photographic subjects lock-out state, according to Described gesture motion signal generate corresponding target lock-on state control instruction include following in one or more: according to single-tap The gesture motion signal that slides to the left of point, generates the first control instruction, and described first control instruction is used for making described unmanned Aircraft with described photographic subjects as the center of circle, with described unmanned vehicle to the distance of described photographic subjects for radius up time Pin moves, and makes the state of described load bearing component keep constant；The gesture motion signal slided to the right according to single contact, generates the Two control instructions, described second control instruction is used for making described unmanned vehicle with described photographic subjects as the center of circle, with institute Stating unmanned vehicle to the distance of described photographic subjects is that radius moves counterclockwise, and makes the state of described load bearing component protect Hold constant；Gesture motion signal according to single contact upward sliding, generates the 3rd control instruction, and described 3rd control instruction is used for Make described unmanned vehicle move straight down, and make described load bearing component be rotated up；According to single contact slide downward Gesture motion signal, generate the 4th control instruction, described 4th control instruction is used for making described unmanned vehicle vertical Move up, and make described load bearing component rotate down；According to double-contact near the gesture motion signal slided, generate the 5th control System instruction, described 5th control instruction is for making described unmanned vehicle along the line side between itself and described photographic subjects To away from described photographic subjects, and the state of described load bearing component is made to keep constant；The gesture deviating from slip according to double-contact is moved Making signal, generate the 6th control instruction, described 6th control instruction is used for making described unmanned vehicle along itself and described bat Take the photograph line direction between target near described photographic subjects, and make the state of described load bearing component keep constant.
In a kind of possible embodiment, described remote control thereof also includes: described remote state be photographic subjects not In the case of lock-out state, generate corresponding target unlocked state control instruction, described mesh according to described gesture motion signal Mark unlocked state control instruction is for controlling the state of flight of described unmanned vehicle or described unmanned vehicle On the state of described load bearing component.
In a kind of possible embodiment, the gesture motion signal of user includes that user touches the touch formula of described terminal The gesture motion signal of display screen, in the case of described remote state is photographic subjects unlocked state, described gesture motion Signal include following in one or more: single contact slides to the left, single contact slides to the right, single contact upward sliding, single-tap Point slide downward, double-contact deviate from slip, single contact is double-clicked, double-contact close slip, the parallel upward sliding of double-contact, double-contact Parallel slide downward, double-contact turn clockwise slip, double-contact is counterclockwise rotational slide.
In a kind of possible embodiment, in the case of described remote state is photographic subjects unlocked state, root According to described gesture motion signal generate corresponding target unlocked state control instruction include following in one or more: according to The gesture motion signal that single contact slides to the left, generates the 7th control instruction, and described 7th control instruction is used for making described unmanned Drive aircraft level to move right；The gesture motion signal slided to the right according to single contact, generates the 8th control instruction, described 8th control instruction is used for making described unmanned vehicle level be moved to the left；Gesture motion according to single contact upward sliding Signal, generates the 9th control instruction, and described 9th control instruction is used for making described unmanned vehicle move straight down；Root According to the gesture motion signal of single contact slide downward, generating the tenth control instruction, described tenth control instruction is used for making described nothing People drives aircraft and moves straight up；Deviate from slip according to double-contact or gesture motion signal that single contact is double-clicked, generate the 11 control instructions, described 11st control instruction is used for making the horizontal forward movement of described unmanned vehicle；Touch according to double Point, near the gesture motion signal slided, generates the 12nd control instruction, and described 12nd control instruction is used for making described unmanned Drive aircraft level to be moved rearwards by；According to the gesture motion signal of the parallel upward sliding of double-contact, generate the 13rd control and refer to Order, described 13rd control instruction is used for making described load bearing component rotate down；Gesture according to the parallel slide downward of double-contact Actuating signal, generates the 14th control instruction, and described 14th control instruction is used for making described load bearing component be rotated up；According to Double-contact turn clockwise slide gesture motion signal, generate the 15th control instruction, described 15th control instruction is used for Described unmanned vehicle level centered by self specified point is made to rotate counterclockwise；According to double-contact rotational slide counterclockwise Gesture motion signal, generate the 16th control instruction, described 16th control instruction is used for making described unmanned vehicle Centered by self specified point, level turns clockwise.
On the other hand, it is proposed that a kind of remote control thereof, it is characterised in that described remote control thereof includes: receive self terminal Control instruction, described control instruction is corresponding with the remote state of the gesture motion signal of user and described terminal, described distant Control state includes photographic subjects lock-out state and photographic subjects unlocked state；It is that photographic subjects locks shape at described remote state In the case of state, control the state of flight of unmanned vehicle based on the control instruction received and described unmanned fly The state of the load bearing component on row device so that on described load bearing component, photographic subjects is locked by the image capture device of carrying Shooting.
In a kind of possible embodiment, described remote control thereof also includes: receive the notice of self terminal, described notice The photographic subjects determined including described terminal；It is identified for described photographic subjects, follows the tracks of, based on the result identified, follow the tracks of With the state that the state of flight of unmanned vehicle controls load bearing component on described unmanned vehicle.
In a kind of possible embodiment, in the case of described remote state is photographic subjects lock-out state, based on The control instruction received is to control the supporting part on the state of flight of unmanned vehicle and described unmanned vehicle The state of part include following in one or more: the gesture motion letter slided to the left at the control instruction received and single contact In the case of number corresponding, controlling described unmanned vehicle based on the control instruction received with described photographic subjects is The center of circle, move clockwise for radius to the distance of described photographic subjects with described unmanned vehicle, and control described carrying The state of parts keeps constant；The feelings that the gesture motion signal that slides to the right with single contact in the control instruction received is corresponding Under condition, control described unmanned vehicle with described photographic subjects as the center of circle, with described based on the control instruction received Unmanned vehicle is that radius moves counterclockwise to the distance of described photographic subjects, and the state controlling described load bearing component is protected Hold constant；In the case of the control instruction received is corresponding with the gesture motion signal of single contact upward sliding, based on institute The control instruction received controls described unmanned vehicle and moves straight down, and controls described load bearing component and upwards turn Dynamic；In the case of the control instruction received is corresponding with the gesture motion signal of single contact slide downward, based on being received Control instruction control described unmanned vehicle and move straight up, and control described load bearing component and rotate down；? In the case of the control instruction the received gesture motion signal slided close with double-contact is corresponding, based on the control received Instruction controls described unmanned vehicle along the line direction between itself and described photographic subjects away from described photographic subjects, Keep constant with the state controlling described load bearing component；The gesture motion of slip is deviated from the control instruction received and double-contact In the case of signal is corresponding, control described unmanned vehicle along it with described shooting based on the control instruction received Line direction between target is near described photographic subjects, and the state controlling described load bearing component keeps constant.
In a kind of possible embodiment, described remote control thereof also includes: described remote state be photographic subjects not In the case of lock-out state, control the state of flight of described unmanned vehicle or described based on the control instruction received The state of the load bearing component on unmanned vehicle.
In a kind of possible embodiment, in the case of described remote state is photographic subjects unlocked state, base In the control instruction received on the state of flight or the described unmanned vehicle that control described unmanned vehicle The state of load bearing component include following in one or more: the gesture slided to the left at the control instruction received and single contact In the case of actuating signal is corresponding, controls described unmanned vehicle level based on the control instruction received and move right Dynamic；In the case of the gesture motion signal that slides to the right with single contact in the control instruction received is corresponding, based on being received Control instruction control described unmanned vehicle level and be moved to the left；In the control instruction received with single contact upwards Slide gesture motion signal corresponding in the case of, control described unmanned vehicle based on the control instruction received Move straight down；In the case of the control instruction received is corresponding with the gesture motion signal of single contact slide downward, Control described unmanned vehicle based on the control instruction received to move straight up；The control instruction received with Double-contact deviate from slip or single contact double-click gesture motion signal corresponding in the case of, based on the control instruction received come Control the horizontal forward movement of described unmanned vehicle；Move near the gesture slided with double-contact in the control instruction received Make signal corresponding in the case of, control described unmanned vehicle level based on the control instruction received and be moved back by Dynamic；In the case of the gesture motion signal of the parallel upward sliding of the control instruction received and double-contact is corresponding, based on institute The control instruction received controls described load bearing component and rotates down；In the control instruction received with double-contact parallel to downslide In the case of dynamic gesture motion signal is corresponding, controls described load bearing component based on the control instruction received and upwards turn Dynamic；The control instruction received turn clockwise with double-contact the gesture motion signal slided corresponding in the case of, based on The control instruction received rotates counterclockwise to control described unmanned vehicle level centered by self specified point；Institute In the case of the gesture motion signal of control instruction rotational slide counterclockwise with double-contact that receives is corresponding, based on received Control instruction controls described unmanned vehicle level centered by self specified point and turns clockwise.
Beneficial effect
By obtaining the remote state of terminal, gather and identify the gesture motion signal of user, be shooting at remote state In the case of target lock-on state, generate corresponding target lock-on state control instruction according to gesture motion signal, and by target Lock-out state control instruction sends to unmanned vehicle, to control the state of flight of described unmanned vehicle and described The state of the load bearing component on unmanned vehicle, it uses complicated loaded down with trivial details operation without user, it becomes possible to the most right Unmanned vehicle and load bearing component carry out state adjustment, it is possible to make the image capture device carried on load bearing component to shooting Target carries out locking shooting, enhances Consumer's Experience.
According to below with reference to the accompanying drawings detailed description of illustrative embodiments, the further feature of the present invention and aspect being become Clear.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates the present invention's with description Exemplary embodiment, feature and aspect, and for explaining the principle of the present invention.
Fig. 1 illustrates the flow chart of remote control thereof according to an embodiment of the invention；
Fig. 2 illustrates the applied environment schematic diagram of remote control thereof according to an embodiment of the invention；
Fig. 3 illustrates the schematic diagram of display remoting state toggle control in remote control thereof according to an embodiment of the invention；
Fig. 4 a illustrates the gesture motion signal that single contact slides to the left；
Fig. 4 b illustrates the gesture motion signal that single contact slides to the right；
Fig. 4 c illustrates the gesture motion signal of single contact upward sliding；
Fig. 4 d illustrates the gesture motion signal of single contact slide downward；
Fig. 4 e illustrates that double-contact deviates from the gesture motion signal of slip；
Fig. 4 f illustrates that double-contact is near the gesture motion signal slided；
Fig. 4 g illustrates the gesture motion signal of the parallel upward sliding of double-contact；
Fig. 4 h illustrates the gesture motion signal of the parallel slide downward of double-contact；
Fig. 4 i illustrate double-contact turn clockwise slide gesture motion signal；
Fig. 4 j illustrates the gesture motion signal of double-contact rotational slide counterclockwise；
Fig. 5 illustrates the flow chart of remote control thereof according to another embodiment of the present invention；
Fig. 6 illustrates the structure chart of remote control unit according to an embodiment of the invention；
Fig. 7 illustrates the structure chart of another remote control unit according to an embodiment of the invention；
Fig. 8 illustrates the structure chart of remote control unit according to another embodiment of the present invention；
Fig. 9 illustrates the structure chart of another remote control unit according to another embodiment of the present invention；
Figure 10 illustrates the structure chart of remote control system according to an embodiment of the invention；
Figure 11 illustrates the structured flowchart of a kind of remote control equipment according to another embodiment of the invention.
Detailed description of the invention
Various exemplary embodiments, feature and the aspect of the present invention is described in detail below with reference to accompanying drawing.In accompanying drawing identical Reference represent the same or analogous element of function.Although the various aspects of embodiment shown in the drawings, but remove Non-specifically is pointed out, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here as " exemplary " Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate the present invention, detailed description of the invention below gives numerous details. It will be appreciated by those skilled in the art that do not have some detail, the present invention equally implements.In some instances, for Method well known to those skilled in the art, means, element and circuit are not described in detail, in order to highlight the purport of the present invention.
Embodiment 1
Fig. 1 illustrates the flow chart of remote control thereof according to an embodiment of the invention.This remote control thereof can be applicable to terminal, as Shown in Fig. 1, this remote control thereof specifically includes that
Step 101, obtains the remote state of terminal, and described remote state includes photographic subjects lock-out state and photographic subjects Unlocked state；
Step 102, gathers and identifies the gesture motion signal of user；
Step 103, in the case of described remote state is photographic subjects lock-out state, according to described gesture motion signal Generate corresponding target lock-on state control instruction；
Step 104, sends described target lock-on state control instruction to unmanned vehicle, described unmanned to control The state of the load bearing component in the state of flight of driving aircraft and described unmanned vehicle so that on described load bearing component The image capture device of carrying carries out locking shooting to photographic subjects.
The remote control thereof that the embodiment of the present invention provides, it is possible to obtain the remote state of terminal, gather and identify the hands of user Gesture actuating signal, in the case of remote state is photographic subjects lock-out state, generates corresponding mesh according to gesture motion signal Mark lock-out state control instruction, and target lock-on state control instruction is sent to unmanned vehicle, to control described nothing People drives the state of the load bearing component on the state of flight of aircraft and described unmanned vehicle, and it uses multiple without user Miscellaneous loaded down with trivial details operation, it becomes possible to rapidly unmanned vehicle and load bearing component are carried out state adjustment, it is possible to make supporting part On part, the image capture device of carrying carries out locking shooting to photographic subjects, enhances Consumer's Experience.
In one example, the remote control thereof that the embodiment of the present invention provides can be applicable in the system shown in Fig. 2, such as Fig. 2 Shown in, unmanned vehicle 220 can pass through wireless network (such as WIFI network) and terminal 210 (such as smart mobile phone, flat board Computer or there is the dedicated remote control of video capability) communicate and video signal transmission, terminal 210 touch aobvious Display screen can show the picture that unmanned vehicle 220 shoots in real time, and user is available on the touching display screen of terminal 210 Easy gesture motion regulates and controls the supporting part entrained by the state of unmanned vehicle 220 and/or unmanned vehicle The state of part 230 (such as The Cloud Terrace), makes the image capture device 240 (such as photographic head) that load bearing component 230 is carried to shooting Target carries out locking shooting.Below using smart mobile phone as terminal, using The Cloud Terrace as load bearing component and using photographic head as image As a example by collecting device, illustrate that user chooses photographic subjects and the gesture motion according to user is come in conjunction with Fig. 3 and Fig. 4 a to Fig. 4 f Adjust the state of unmanned vehicle and the state of The Cloud Terrace so that the photographic head of The Cloud Terrace carrying carries out locking bat to photographic subjects The concrete example of some taken the photograph.
In one example, this remote control thereof may also include that and can display remoting state cut on the display screen of described terminal Change control, may be in response to user's operation to described remote state toggle control, in photographic subjects lock-out state and photographic subjects Switch between non-locking state.
For example, as it is shown on figure 3, view of finding a view can be shown on the touching display screen of smart mobile phone, use can be responded The operation of touching display screen, display state switching push button (i.e. remote state toggle control) are clicked in family；Response user is again single Hit the operation of touching display screen, can hidden state switching push button.Current lock-out state can be shown on state switching push button (i.e. remote state), clicks on state switching push button, can be in " locked " (i.e. photographic subjects lock-out state) and " non-locking " (shooting Target unlocked state) switch between two states.
In this way, user can be switched to photographic subjects lock-out state when needs locking shooting, need not During locking shooting, it is switched to photographic subjects unlocked state, thus is controlled the most flexibly.And, it is also possible at this Two different set gesture control modes it are respectively provided with, to adapt to the control needs that user is different further under two states.
In one example, this remote control thereof may also include that at described remote state be described photographic subjects lock-out state In the case of, user can be pointed out to choose target area, may be in response to user and choose the operation of target area, determine target area.
For example, user can click on " non-locking ", is switched to photographic subjects lock-out state, and terminal can point out user touching Touching formula display screen left-hand seat animated frame to choose target area, user can singly refer to the target area selecting to find a view in view, can draw The rectangle of optional position, rectangular shape can change along with the movement of finger, and when finger lifts, terminal can determine that this target area Territory.
In one example, this remote control thereof may also include that and user can be pointed out to select to shoot mesh in described target area Mark, may be in response to user and selects the operation of photographic subjects in described target area, determine photographic subjects.
For example, after determining target area, terminal can identify some photographic subjects in target area, can point out User selects photographic subjects in this target area, may be in response to user and selects the operation of photographic subjects in the target area, really Determining photographic subjects, terminal can make state switching push button be in " locked " state.
Using the above-mentioned mode first selecting target area reselection photographic subjects, terminal unit has only to selected mesh Photographic subjects in mark region is identified, and improves terminal processes efficiency.
In one example, this remote control thereof may also include that can by determined by photographic subjects notify to described nobody drive Sail aircraft so that described unmanned vehicle to determined by photographic subjects be identified, follow the tracks of, in order to based on identify, The result followed the tracks of and the state of flight of unmanned vehicle control the shape of the load bearing component on described unmanned vehicle State.
For example, the photographic subjects that user chooses in the target area can be notified to unmanned vehicle by terminal, Unmanned vehicle can use smooth flow sensor of the prior art and optical flow algorithm to be identified this photographic subjects, with Track, say, that along with photographic subjects movement in picture, unmanned vehicle can recognize this photographic subjects all the time and exist Change in location situation in picture, according to this situation of change and the state of flight of unmanned vehicle, can control carrying The state of parts, will provide more specifically example with regard to this point below.
In one example, the gesture motion signal of user can include that user touches the touch formula display screen of described terminal Gesture motion signal, in the case of described remote state is photographic subjects lock-out state, described gesture motion signal can include One or more in below: single contact slides (as shown in fig. 4 a) to the left, single contact slides to the right (as shown in Figure 4 b), single-tap Point upward sliding (as illustrated in fig. 4 c), single contact slide downward (as shown in figure 4d), double-contact are near sliding (as shown in fig. 4f) Slip (as shown in fig 4e) is deviated from double-contact.Above gesture motion signal all can be realized by one hand, simple to operation.
In one example, in the case of described remote state is photographic subjects lock-out state, according to single contact to the left The gesture motion signal (as shown in fig. 4 a) slided, can generate the first control instruction, and described first control instruction can be used for making institute State unmanned vehicle with described photographic subjects as the center of circle, with the distance of described unmanned vehicle to described photographic subjects Move clockwise for radius, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep constant.It should be noted that at this In each embodiment of literary composition, object is to rotate clockwise or rotate counterclockwise, relevant with viewing angle, is to bow with observer herein Angle observe moving object definition, those skilled in the art it is conceivable that equivalent scheme, such as with look up angle definition The rotation direction of moving object, or control unmanned vehicle moves in a reverse direction.
In one example, in the case of described remote state is photographic subjects lock-out state, according to single contact to the right The gesture motion signal (as shown in Figure 4 b) slided, can generate the second control instruction, and described second control instruction can be used for making institute State unmanned vehicle with described photographic subjects as the center of circle, with the distance of described unmanned vehicle to described photographic subjects Move counterclockwise for radius, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep constant.
In one example, in the case of described remote state is photographic subjects lock-out state, according to single contact upwards The gesture motion signal (as illustrated in fig. 4 c) slided, can generate the 3rd control instruction, and described 3rd control instruction can be used for making institute State unmanned vehicle to move straight down, and described load bearing component (such as The Cloud Terrace) can be made to be rotated up.
In one example, in the case of described remote state is photographic subjects lock-out state, downward according to single contact The gesture motion signal (as shown in figure 4d) slided, can generate the 4th control instruction, and described 4th control instruction can be used for making institute State unmanned vehicle to move straight up, and described load bearing component (such as The Cloud Terrace) can be made to rotate down.
In two examples above, load bearing component is upwards, the amplitude that moves down can be according to unmanned vehicle pair Photographic subjects is identified, follow the tracks of result and the state of flight of unmanned vehicle determine, hereinafter will be given more with regard to this Specific example.
In one example, in the case of described remote state is photographic subjects lock-out state, close according to double-contact The gesture motion signal (as shown in fig. 4f) slided, can generate the 5th control instruction, and described 5th control instruction can be used for making institute State unmanned vehicle along the line direction between itself and described photographic subjects away from described photographic subjects, and hold described in can making The state carrying parts (such as The Cloud Terrace) keeps constant.
In one example, in the case of described remote state is photographic subjects lock-out state, deviate from according to double-contact The gesture motion signal (as shown in fig 4e) slided, can generate the 6th control instruction, and described 6th control instruction can be used for making institute State unmanned vehicle along the line direction between itself and described photographic subjects near described photographic subjects, and hold described in can making The state carrying parts (such as The Cloud Terrace) keeps constant.
Above example, it is possible to make user without using complicated loaded down with trivial details operation, it becomes possible to rapidly to nolo flight Device and load bearing component carry out state adjustment, it is possible to make the image capture device of carrying on load bearing component lock photographic subjects Shooting, enhances Consumer's Experience.
In one example, this remote control thereof may also include that at described remote state be photographic subjects unlocked state In the case of, corresponding target unlocked state control instruction, described target non-locking can be generated according to described gesture motion signal State control instruction can be used for controlling the institute on the state of flight of described unmanned vehicle or described unmanned vehicle State the state of load bearing component.
For example, as it is shown on figure 3, user can click on " locked " enters photographic subjects unlocked state, at remote control shape In the case of state is photographic subjects unlocked state, user can control nolo flight by easy gesture motion signal Device upwards, downwards, to the left, move right or clockwise, rotate counterclockwise or control The Cloud Terrace upwards, downwards, clockwise, counterclockwise Rotate, photographic head can be made to change viewfinder range by above-mentioned control, facilitate user to catch new photographic subjects.Photographic subjects is unlocked Determining under state, the control mode of the unmanned vehicle that various gestures are corresponding or the control mode of load bearing component can be with shootings Difference under target lock-on state, thus realize being more suitable for user specifically needs, the operation of flexible and convenient.
In one example, the gesture motion signal of user can include that user touches the touch formula display screen of described terminal Gesture motion signal, in the case of described remote state is photographic subjects unlocked state, described gesture motion signal can wrap Include following in one or more: single contact slides (as shown in fig. 4 a) to the left, single contact slides to the right (as shown in Figure 4 b), single Contact upward sliding (as illustrated in fig. 4 c), single contact slide downward (as shown in figure 4d), double-contact deviate from slip (such as Fig. 4 e institute Show), single contact double-click, double-contact near slide (as shown in fig. 4f), the parallel upward sliding of double-contact (as shown in figure 4g), double touch Put parallel slide downward (as shown in figure 4h), double-contact turns clockwise slip (as shown in figure 4i), double-contact rotates counterclockwise Slide (as shown in figure 4j).Above gesture motion signal all can be realized by one hand, simple to operation.
In one example, in the case of described remote state is photographic subjects unlocked state, according to single contact to The gesture motion signal (as shown in fig. 4 a) of left slip, can generate the 7th control instruction, and described 7th control instruction can be used for making Described unmanned vehicle level moves right.
In one example, in the case of described remote state is photographic subjects unlocked state, according to single contact to The gesture motion signal (as shown in Figure 4 b) of right slip, can generate the 8th control instruction, and described 8th control instruction can be used for making Described unmanned vehicle level is moved to the left.
In one example, in the case of described remote state is photographic subjects unlocked state, according to single contact to The gesture motion signal (as illustrated in fig. 4 c) of upper slip, can generate the 9th control instruction, and described 9th control instruction can be used for making Described unmanned vehicle moves straight down.
In one example, in the case of described remote state is photographic subjects unlocked state, according to single contact to The gesture motion signal (as shown in figure 4d) of lower slider, can generate the tenth control instruction, and described tenth control instruction can be used for making Described unmanned vehicle moves straight up.
In one example, in the case of described remote state is photographic subjects unlocked state, carry on the back according to double-contact The gesture motion signal double-clicked from slide (as shown in fig 4e) or single contact, can generate the 11st control instruction, and the described 11st Control instruction can be used for making the horizontal forward movement of described unmanned vehicle.
In one example, in the case of described remote state is photographic subjects unlocked state, lean on according to double-contact The nearly gesture motion signal (as shown in fig. 4f) slided, can generate the 12nd control instruction, and described 12nd control instruction can be used It is moved rearwards by making described unmanned vehicle level.
In one example, in the case of described remote state is photographic subjects unlocked state, according to double-contact also The gesture motion signal (as shown in figure 4g) of row upward sliding, can generate the 13rd control instruction, described 13rd control instruction Can be used for making described load bearing component (such as The Cloud Terrace) rotate down.
In one example, in the case of described remote state is photographic subjects unlocked state, according to double-contact also The gesture motion signal (as shown in figure 4h) of row slide downward, can generate the 14th control instruction, described 14th control instruction Can be used for making described load bearing component (such as The Cloud Terrace) be rotated up.
In one example, in the case of described remote state is photographic subjects unlocked state, suitable according to double-contact The gesture motion signal (as shown in figure 4i) of hour hands rotational slide, can generate the 15th control instruction, and the described 15th controls to refer to Order can be used for making described unmanned vehicle level centered by self specified point (such as its center point) rotate counterclockwise.
In one example, in the case of described remote state is photographic subjects unlocked state, inverse according to double-contact The gesture motion signal (as shown in figure 4j) of hour hands rotational slide, can generate the 16th control instruction, and the described 16th controls to refer to Order can be used for making described unmanned vehicle level centered by self specified point (such as its center point) turn clockwise.
Embodiment 2
Fig. 5 illustrates the flow chart of remote control thereof according to another embodiment of the present invention.This remote control thereof can be applicable to unmanned Drive aircraft, as it is shown in figure 5, this remote control thereof specifically includes that
Step 501, receives the control instruction of self terminal, described control instruction and the gesture motion signal of user and described The remote state of terminal is corresponding, and described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；
Step 502, in the case of described remote state is photographic subjects lock-out state, based on the control instruction received Control the state of load bearing component on the state of flight of unmanned vehicle and described unmanned vehicle so that described On load bearing component, the image capture device of carrying carries out locking shooting to photographic subjects.
The gesture motion signal of the control instruction of self terminal, described control instruction and user and described terminal is come by reception Remote state corresponding, in the case of remote state is photographic subjects lock-out state, based on the control instruction received come The state of the load bearing component in the state of flight of control unmanned vehicle and described unmanned vehicle, it is without user Use complicated loaded down with trivial details operation, it becomes possible to rapidly unmanned vehicle and load bearing component are carried out state adjustment, it is possible to make On load bearing component, the image capture device of carrying carries out locking shooting to photographic subjects, enhances Consumer's Experience.
In one example, above-mentioned control instruction can comprise the information of the remote state of instruction terminal, and instruction user The information of gesture motion signal.
In one example, this control instruction can be converted to control the flight control of the state of flight of unmanned vehicle Make the state control instruction of the state of the load bearing component instructing and controlling on described unmanned vehicle, and can be by flight control System instruction is supplied to the driver part (such as driving motor) of unmanned vehicle, to control the flight of unmanned vehicle State；State control instruction can be supplied to load bearing component (such as The Cloud Terrace), to control state (the such as side of rotation of load bearing component To and amplitude).Certainly, in the case of making load bearing component holding constant, it is also possible to generate state control instruction.
Span of control limit of control (distance move on such as, moved down, the angle of rotation to the state of flight of unmanned vehicle Deng), fixed value can be redefined for, or determine according to the amplitude of gesture, the present invention is without limitation.
In one example, this remote control thereof may also include that the notice receiving self terminal, and described notice includes described end The photographic subjects that end determines；It is identified for described photographic subjects, follows the tracks of, and based on the result identifying, following the tracks of and unmanned The state of flight driving aircraft controls the state of the load bearing component on described unmanned vehicle.
For example, unmanned vehicle can receive the notice of self terminal, and this notice can include that user is in terminal The photographic subjects chosen in target area, unmanned vehicle can use smooth flow sensor of the prior art and optical flow algorithm Photographic subjects is identified, follow the tracks of or use other sensors and other algorithms are identified photographic subjects and follow the tracks of, this This is not restricted by invention.By identifying, following the tracks of, unmanned vehicle can recognize this photographic subjects all the time in picture Change in location situation, according to this situation of change and the state of flight of unmanned vehicle, can control the shape of load bearing component State.Such as, unmanned vehicle, according to the control signal received, determines that remote control equipment is in photographic subjects lock-out state, And user gives the single contact gesture motion signal to upper (lower) slip, therefore can generate corresponding flight control instruction and make nothing People drive aircraft straight down (on) mobile, unmanned vehicle is recognizable, track up target, determines that photographic subjects exists The distance of the upper (lower) shifting in position in picture, can according to unmanned vehicle downwards (on) distance of movement and photographic subjects be at picture The distance of movement in face calculates the amplitude of cloud platform rotation, makes The Cloud Terrace according to this amplitude to upper (lower) rotation.
In one example, the remote control thereof that the embodiment of the present invention provides can be applicable in the system shown in Fig. 2, about this The explanation of system refers to implement 1, the most for simplicity's sake, repeats no more.Below using smart mobile phone as terminal, make with The Cloud Terrace For load bearing component and using photographic head as image capture device as a example by, illustrate that user chooses photographic subjects in conjunction with Fig. 4 a to Fig. 4 f And adjust the state of unmanned vehicle and the state of The Cloud Terrace according to the gesture motion of user so that the shooting of The Cloud Terrace carrying Head carries out some concrete examples of locking shooting to photographic subjects.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received In the case of gesture motion signal (as shown in fig. 4 a) that control instruction is slided to the left with single contact is corresponding, based on received Control instruction controls described unmanned vehicle with described photographic subjects as the center of circle, with described unmanned vehicle to institute The distance stating photographic subjects is that radius moves clockwise, and the state controlling described load bearing component (such as The Cloud Terrace) keeps constant.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received In the case of gesture motion signal (as shown in Figure 4 b) that control instruction is slided to the right with single contact is corresponding, based on received Control instruction controls described unmanned vehicle with described photographic subjects as the center of circle, with described unmanned vehicle to institute The distance stating photographic subjects is that radius moves counterclockwise, and the state controlling described load bearing component (such as The Cloud Terrace) keeps constant.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received In the case of control instruction is corresponding with the gesture motion signal (as illustrated in fig. 4 c) of single contact upward sliding, based on received Control instruction controls described unmanned vehicle and moves straight down, and controls described load bearing component (such as The Cloud Terrace) upwards Rotating, rotation amplitude can determine according to mode described above.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received In the case of control instruction is corresponding with the gesture motion signal (as shown in figure 4d) of single contact slide downward, based on received Control instruction controls described unmanned vehicle and moves straight up, and it is downward to control described load bearing component (such as The Cloud Terrace) Rotating, rotation amplitude can determine according to mode described above.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received In the case of the control instruction gesture motion signal (as shown in fig. 4f) slided close with double-contact is corresponding, based on received Control instruction controls described unmanned vehicle along the line direction between itself and described photographic subjects away from described shooting Target, and the state holding controlling described load bearing component (such as The Cloud Terrace) is constant.
In one example, in the case of described remote state is photographic subjects lock-out state, and can received Control instruction deviate from double-contact the gesture motion signal (as shown in fig 4e) of slip corresponding in the case of, based on received Control instruction controls described unmanned vehicle along the line direction between itself and described photographic subjects near described shooting Target, and the state controlling described load bearing component (such as The Cloud Terrace) keeps constant shooting control instruction.
Above example, it is possible to make user without using complicated loaded down with trivial details operation, it becomes possible to rapidly to nolo flight Device and load bearing component carry out state adjustment, it is possible to make the image capture device of the upper carrying of load bearing component (such as The Cloud Terrace) to shooting mesh Mark carries out locking shooting, enhances Consumer's Experience.
In one example, this remote control thereof may also include that at described remote state be photographic subjects unlocked state In the case of, the state of flight of described unmanned vehicle or described unmanned can be controlled based on the control instruction received The state of carry-on load bearing component.Such as, user can control nolo flight by easy gesture motion signal Device upwards, downwards, to the left, move right or clockwise, rotate counterclockwise or control The Cloud Terrace upwards, downwards, clockwise, counterclockwise Rotate, photographic head can be made to change viewfinder range by above-mentioned control, facilitate user to catch new photographic subjects.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received The gesture motion signal (as shown in fig. 4 a) that slides to the left with single contact of control instruction corresponding in the case of, based on being received Control instruction control described unmanned vehicle level and move right.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received The gesture motion signal (as shown in Figure 4 b) that slides to the right with single contact of control instruction corresponding in the case of, based on being received Control instruction control described unmanned vehicle level and be moved to the left.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received Control instruction corresponding with the gesture motion signal (as illustrated in fig. 4 c) of single contact upward sliding in the case of, based on being received Control instruction control described unmanned vehicle and move straight down.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received Control instruction corresponding with the gesture motion signal (as shown in figure 4d) of single contact slide downward in the case of, based on being received Control instruction control described unmanned vehicle and move straight up.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received Control instruction deviate from the situation that gesture motion signal that slip (as shown in fig 4e) or single contact double-click is corresponding with double-contact Under, control the horizontal forward movement of described unmanned vehicle based on the control instruction received.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received Control instruction and double-contact in the case of the gesture motion signal (as shown in fig. 4f) slided is corresponding, based on being received Control instruction control described unmanned vehicle level and be moved rearwards by.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received The gesture motion signal (as shown in figure 4g) of control instruction upward sliding parallel with double-contact corresponding in the case of, based on institute The control instruction received controls described load bearing component (such as The Cloud Terrace) and rotates down.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received The gesture motion signal (as shown in figure 4h) of control instruction slide downward parallel with double-contact corresponding in the case of, based on institute The control instruction received controls described load bearing component (such as The Cloud Terrace) and is rotated up.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received Control instruction turn clockwise with double-contact slide gesture motion signal (as shown in figure 4i) corresponding in the case of, based on The control instruction received is to control described unmanned vehicle centered by self specified point (such as by its center point) Level rotates counterclockwise.
In one example, in the case of described remote state is photographic subjects unlocked state, and can received The gesture motion signal (as shown in figure 4j) of control instruction rotational slide counterclockwise with double-contact corresponding in the case of, based on The control instruction received is to control described unmanned vehicle centered by self specified point (such as by its center point) Level turns clockwise.
Embodiment 3
Fig. 6 illustrates the structure chart of remote control unit according to an embodiment of the invention.This remote control unit 600 can be applicable to end End, as shown in Figure 6, this remote control unit 600 specifically includes that
Obtaining widget 610, for obtaining the remote state of terminal, described remote state include photographic subjects lock-out state and Photographic subjects unlocked state；
Acquisition component 620, for gathering and identify the gesture motion signal of user；
Lock-out state command generation unit part 630, is used in the case of described remote state is photographic subjects lock-out state, Corresponding target lock-on state control instruction is generated according to described gesture motion signal；
Send parts 640, for described target lock-on state control instruction being sent to unmanned vehicle, to control The state of the load bearing component in the state of flight of described unmanned vehicle and described unmanned vehicle so that described in hold Carry the image capture device of carrying on parts and described photographic subjects is carried out locking shooting.
The remote control unit that the embodiment of the present invention provides, it is possible to obtain the remote state of terminal, gather and identify the hands of user Gesture actuating signal, in the case of remote state is photographic subjects lock-out state, generates corresponding mesh according to gesture motion signal Mark lock-out state control instruction, and target lock-on state control instruction is sent to unmanned vehicle, to control described nothing People drives the state of the load bearing component on the state of flight of aircraft and described unmanned vehicle, and it uses multiple without user Miscellaneous loaded down with trivial details operation, it becomes possible to rapidly unmanned vehicle and load bearing component are carried out state adjustment, it is possible to make supporting part On part, the image capture device of carrying carries out locking shooting to photographic subjects, enhances Consumer's Experience.
In one example, the remote control unit 600 that the embodiment of the present invention provides can be applicable in the system shown in Fig. 2, closes Explanation in this system refers to implement 1, the most for simplicity's sake, repeats no more.Below using smart mobile phone as terminal, with cloud Platform as load bearing component and using photographic head as image capture device as a example by, illustrate that user selects in conjunction with Fig. 3 and Fig. 4 a to Fig. 4 f Take photographic subjects and the gesture motion according to user adjusts the state of unmanned vehicle and the state of The Cloud Terrace so that The Cloud Terrace The photographic head of carrying carries out some concrete examples of locking shooting to photographic subjects.
In one example, as it is shown in fig. 7, this remote control unit 600 may also include that state switching part 650, can be used for Display remoting state toggle control on the display screen of described terminal, may be in response to the user behaviour to described remote state toggle control Make, switch between described photographic subjects lock-out state and the non-locking state of described photographic subjects.
For example, as it is shown on figure 3, status bar shows/hide that parts can show on the touching display screen of smart mobile phone Show view of finding a view, the operation of user click touching display screen, (the i.e. remote state switching control of display state switching push button can be responded Part)；Response user clicks the operation of touching display screen again, can hidden state switching push button.State switching part 650 can be Show current lock-out state (i.e. remote state) on state switching push button, click on state switching push button, can at " locked " (i.e. Photographic subjects lock-out state) and " non-locking " (photographic subjects unlocked state) two states between switch.
In this way, user can be switched to photographic subjects lock-out state when needs locking shooting, need not During locking shooting, it is switched to photographic subjects unlocked state, thus is controlled the most flexibly.And, it is also possible at this Two different set gesture control modes it are respectively provided with, to adapt to the control needs that user is different further under two states.
In one example, as it is shown in fig. 7, this remote control unit 600 may also include that unnecessary area determining means 660, available In the case of being described photographic subjects lock-out state at described remote state, prompting user chooses target area, may be in response to User chooses the operation of target area, determines target area.
For example, user can click on " non-locking ", is switched to photographic subjects lock-out state, unnecessary area determining means 660 can point out user in touching display screen left-hand seat animated frame to choose target area, and user can singly refer to that selection is found a view in view Target area, the rectangle of optional position can be drawn, rectangular shape can change along with the movement of finger, when finger lifts, Unnecessary area determining means 660 can determine that this target area.
In one example, as it is shown in fig. 7, this remote control unit 600 may also include that photographic subjects determines parts 670, available In described target area, select photographic subjects in prompting user, may be in response to user and select to shoot mesh in described target area Target operates, and determines photographic subjects.
For example, after unnecessary area determining means 660 determines target area, photographic subjects determines that parts 670 can be Identify some photographic subjects in target area, user can be pointed out to select photographic subjects in this target area, may be in response to use Family selects the operation of photographic subjects in the target area, determines photographic subjects, and terminal can make state switching push button be in " to lock Fixed " state.
Using the above-mentioned mode first selecting target area reselection photographic subjects, terminal unit has only to selected mesh Photographic subjects in mark region is identified, and improves terminal processes efficiency.
In one example, as it is shown in fig. 7, this remote control unit 600 may also include that notifying parts 680, can be used for by really Fixed photographic subjects notifies to described unmanned vehicle so that described unmanned vehicle to determined by photographic subjects It is identified, follows the tracks of, in order to state of flight based on the result identifying, following the tracks of and unmanned vehicle controls described unmanned Drive the state of carry-on load bearing component.
For example, the photographic subjects that user chooses in the target area can be notified to unmanned by notifying parts 680 Aircraft, unmanned vehicle can use smooth flow sensor of the prior art and optical flow algorithm to know this photographic subjects Not, follow the tracks of, say, that along with photographic subjects movement in picture, unmanned vehicle can recognize this shooting all the time Target change in location situation in picture, according to this situation of change and the state of flight of unmanned vehicle, can control The state of load bearing component processed, will provide more specifically example with regard to this point below.
In one example, the gesture motion signal of user can include that user touches the touch formula display screen of described terminal Gesture motion signal, in the case of described remote state is photographic subjects lock-out state, described gesture motion signal can include One or more in below: single contact slides (as shown in fig. 4 a) to the left, single contact slides to the right (as shown in Figure 4 b), single-tap Point upward sliding (as illustrated in fig. 4 c), single contact slide downward (as shown in figure 4d), double-contact are near sliding (as shown in fig. 4f) Slip (as shown in fig 4e) is deviated from double-contact.Above gesture motion signal all can be realized by one hand, simple to operation.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, the gesture motion signal (as shown in fig. 4 a) slided to the left according to single contact, the first control instruction can be generated, described First control instruction can be used for making described unmanned vehicle with described photographic subjects as the center of circle, with described nolo flight Device is that radius moves clockwise to the distance of described photographic subjects, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep Constant.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, the gesture motion signal (as shown in Figure 4 b) slided to the right according to single contact, the second control instruction can be generated, described Second control instruction can be used for making described unmanned vehicle with described photographic subjects as the center of circle, with described nolo flight Device is that radius moves counterclockwise to the distance of described photographic subjects, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep Constant.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, according to the gesture motion signal (as illustrated in fig. 4 c) of single contact upward sliding, the 3rd control instruction can be generated, described 3rd control instruction can be used for making described unmanned vehicle move straight down, and can make described load bearing component (such as cloud Platform) it is rotated up.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, according to the gesture motion signal (as shown in figure 4d) of single contact slide downward, the 4th control instruction can be generated, described 4th control instruction can be used for making described unmanned vehicle move straight up, and can make described load bearing component (such as cloud Platform) rotate down.
In two examples above, load bearing component is upwards, the amplitude that moves down can be according to unmanned vehicle pair Photographic subjects is identified, follow the tracks of result and the state of flight of unmanned vehicle determine, hereinafter will be given more with regard to this Specific example.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, according to double-contact near the gesture motion signal (as shown in fig. 4f) slided, the 5th control instruction can be generated, described 5th control instruction can be used for making described unmanned vehicle along the line direction between itself and described photographic subjects away from institute State photographic subjects, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep constant.
In one example, lock-out state command generation unit part 630 is photographic subjects lock-out state at described remote state In the case of, deviate from the gesture motion signal (as shown in fig 4e) of slip according to double-contact, the 6th control instruction can be generated, described 6th control instruction can be used for making described unmanned vehicle along the line direction between itself and described photographic subjects near institute State photographic subjects, and the state of described load bearing component (such as The Cloud Terrace) can be made to keep constant.
Above example, it is possible to make user without using complicated loaded down with trivial details operation, it becomes possible to rapidly to nolo flight Device and load bearing component carry out state adjustment, it is possible to make the image capture device of carrying on load bearing component lock photographic subjects Shooting, enhances Consumer's Experience.
In one example, as it is shown in fig. 7, this remote control unit 600 may also include that unlocked state command generation unit part 690, can be used in the case of described remote state is photographic subjects unlocked state, generate according to described gesture motion signal Corresponding target unlocked state control instruction, described target unlocked state control instruction can be used for controlling described unmanned The state of the described load bearing component in the state of flight of aircraft or described unmanned vehicle.
For example, as it is shown on figure 3, user can click on " locked " enters photographic subjects unlocked state, at remote control shape In the case of state is photographic subjects unlocked state, unlocked state command generation unit part 690 can be according to the gesture motion of user Signal generates corresponding target unlocked state control instruction to control unmanned vehicle upwards, downwards, to the left, to the right Mobile or clockwise, rotate counterclockwise or control The Cloud Terrace upwards, downwards, clockwise, rotate counterclockwise, can be made by above-mentioned control Photographic head changes viewfinder range, facilitates user to catch new photographic subjects.Under photographic subjects unlocked state, various gestures are corresponding The control mode of unmanned vehicle or the control mode of load bearing component can be different under photographic subjects lock-out state, from And realize being more suitable for user specifically needs, the operation of flexible and convenient.
In one example, the gesture motion signal of user can include that user touches the touch formula display screen of described terminal Gesture motion signal, in the case of described remote state is photographic subjects unlocked state, described gesture motion signal can wrap Include following in one or more: single contact slides (as shown in fig. 4 a) to the left, single contact slides to the right (as shown in Figure 4 b), single Contact upward sliding (as illustrated in fig. 4 c), single contact slide downward (as shown in figure 4d), double-contact deviate from slip (such as Fig. 4 e institute Show), single contact double-click, double-contact near slide (as shown in fig. 4f), the parallel upward sliding of double-contact (as shown in figure 4g), double touch Put parallel slide downward (as shown in figure 4h), double-contact turns clockwise slip (as shown in figure 4i), double-contact rotates counterclockwise Slide (as shown in figure 4j).Above gesture motion signal all can be realized by one hand, simple to operation.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, the gesture motion signal (as shown in fig. 4 a) slided to the left according to single contact, the 7th control instruction can be generated, Described 7th control instruction can be used for making described unmanned vehicle level move right.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, the gesture motion signal (as shown in Figure 4 b) slided to the right according to single contact, the 8th control instruction can be generated, Described 8th control instruction can be used for making described unmanned vehicle level be moved to the left.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to the gesture motion signal (as illustrated in fig. 4 c) of single contact upward sliding, the 9th control instruction can be generated, Described 9th control instruction can be used for making described unmanned vehicle move straight down.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to the gesture motion signal (as shown in figure 4d) of single contact slide downward, the tenth control instruction can be generated, Described tenth control instruction can be used for making described unmanned vehicle move straight up.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, deviate from slip (as shown in fig 4e) or the gesture motion signal of single contact double-click according to double-contact, can generate 11st control instruction, described 11st control instruction can be used for making the horizontal forward movement of described unmanned vehicle.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to double-contact near the gesture motion signal (as shown in fig. 4f) slided, the 12nd control can be generated and refer to Order, described 12nd control instruction can be used for making described unmanned vehicle level be moved rearwards by.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to the gesture motion signal (as shown in figure 4g) of the parallel upward sliding of double-contact, the 13rd control can be generated System instruction, described 13rd control instruction can be used for making described load bearing component (such as The Cloud Terrace) rotate down.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to the gesture motion signal (as shown in figure 4h) of the parallel slide downward of double-contact, the 14th control can be generated System instruction, described 14th control instruction can be used for making described load bearing component (such as The Cloud Terrace) be rotated up.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, the gesture motion signal (as shown in figure 4i) of the slip that turns clockwise according to double-contact, the 15th can be generated Control instruction, described 15th control instruction can be used for making described unmanned vehicle with self specified point (such as in self Heart point) centered by level rotate counterclockwise.
In one example, unlocked state command generation unit part 690 is photographic subjects non-locking at described remote state In the case of state, according to the gesture motion signal (as shown in figure 4j) of double-contact rotational slide counterclockwise, the 16th can be generated Control instruction, described 16th control instruction can be used for making described unmanned vehicle with self specified point (such as in self Heart point) centered by level turn clockwise.
Embodiment 4
Fig. 8 illustrates the structure chart of remote control unit according to another embodiment of the present invention.This remote control unit 800 can be applicable to nothing People drives aircraft, and as shown in Figure 8, this remote control unit 800 specifically includes that
Command reception parts 810, receive the gesture motion letter of the control instruction of self terminal, described control instruction and user Number and the remote state of described terminal corresponding, described remote state includes photographic subjects lock-out state and photographic subjects non-locking State；
Lock-out state Instruction Control Unit 820, is used in the case of described remote state is photographic subjects lock-out state, Holding in the state of flight of unmanned vehicle and described unmanned vehicle is controlled based on the control instruction received Carry the state of parts so that on described load bearing component, the image capture device of carrying carries out locking shooting to photographic subjects.
The remote control unit that the embodiment of the present invention provides, it is possible to carried out the control instruction of self terminal by reception, described control refers to Make corresponding with the remote state of the gesture motion signal of user and described terminal, be photographic subjects lock-out state at remote state In the case of, control the state of flight of unmanned vehicle and described nolo flight based on the control instruction received The state of the load bearing component on device, it uses complicated loaded down with trivial details operation without user, it becomes possible to rapidly to nolo flight Device and load bearing component carry out state adjustment, it is possible to make the image capture device of carrying on load bearing component lock photographic subjects Shooting, enhances Consumer's Experience.
In one example, above-mentioned control instruction can comprise the information of the remote state of instruction terminal, and instruction user The information of gesture motion signal.
In one example, this control instruction can be converted to control unmanned by lock-out state Instruction Control Unit 820 The shape of the state of the load bearing component in the flight control instruction of the state of flight of aircraft and the described unmanned vehicle of control State control instruction, and flight control instruction can be supplied to the driver part (such as driving motor) of unmanned vehicle, To control the state of flight of unmanned vehicle；State control instruction can be supplied to load bearing component (such as The Cloud Terrace), with control The state (such as rotation direction and amplitude) of load bearing component processed.Certainly, in the case of making load bearing component holding constant, it is also possible to Generation state control instruction.
Span of control limit of control (distance move on such as, moved down, the angle of rotation to the state of flight of unmanned vehicle Deng), fixed value can be redefined for, or determine according to the amplitude of gesture, the present invention is without limitation.
In one example, as it is shown in figure 9, this remote control unit 800 may also include that notice receives parts 830, can be used for connecing Receiving the notice of self terminal, described notice includes the photographic subjects that described terminal determines；Tracking unit 840, is useful for institute Stating photographic subjects to be identified, follow the tracks of, lock-out state Instruction Control Unit 820 can be specifically for based on the result identified, follow the tracks of With the state that the state of flight of unmanned vehicle controls load bearing component on described unmanned vehicle.
For example, notice receives parts 830 can receive the notice of self terminal, and this notice can include that user is in terminal The photographic subjects chosen in target area, tracking unit 840 can use smooth flow sensor of the prior art and optical flow algorithm pair Photographic subjects is identified, follows the tracks of or uses other sensors and other algorithms are identified photographic subjects and follow the tracks of, this Bright this is not restricted.By identifying, following the tracks of, unmanned vehicle can recognize this photographic subjects position in picture all the time Putting situation of change, lock-out state Instruction Control Unit 820 can be according to the flight shape of this situation of change and unmanned vehicle State, controls the state of load bearing component.Such as, unmanned vehicle, according to the control signal received, determines remote control equipment It is in photographic subjects lock-out state, and user gives the single contact gesture motion signal to upper (lower) slip, therefore locks shape State Instruction Control Unit 820 can generate corresponding flight control instruction make unmanned vehicle straight down (on) mobile, with Recognizable, the track up target of track parts 840, determines the distance of the upper (lower) shifting in photographic subjects position in picture, lock-out state Instruction Control Unit 820 can according to unmanned vehicle downwards (on) distance of movement and photographic subjects movement in picture Distance calculates the amplitude of cloud platform rotation, makes The Cloud Terrace according to this amplitude to upper (lower) rotation.
In one example, the remote control unit that the embodiment of the present invention provides can be applicable in the system shown in Fig. 2, about this The explanation of system refers to implement 1, the most for simplicity's sake, repeats no more.Below using smart mobile phone as terminal, make with The Cloud Terrace For load bearing component and using photographic head as image capture device as a example by, illustrate that user chooses photographic subjects in conjunction with Fig. 4 a to Fig. 4 f And adjust the state of unmanned vehicle and the state of The Cloud Terrace according to the gesture motion of user so that the shooting of The Cloud Terrace carrying Head carries out some concrete examples of locking shooting to photographic subjects.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state, and the gesture motion signal (as shown in fig. 4 a) slided to the left with single contact in the control instruction received is relative In the case of Ying, based on the control instruction received control described unmanned vehicle with described photographic subjects as the center of circle, Move clockwise for radius to the distance of described photographic subjects with described unmanned vehicle, and control described load bearing component The state of (such as The Cloud Terrace) keeps constant.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state, and the gesture motion signal (as shown in Figure 4 b) slided to the right with single contact in the control instruction received is relative In the case of Ying, based on the control instruction received control described unmanned vehicle with described photographic subjects as the center of circle, Move counterclockwise for radius to the distance of described photographic subjects with described unmanned vehicle, and control described load bearing component The state of (such as The Cloud Terrace) keeps constant.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state and relative with the gesture motion signal (as illustrated in fig. 4 c) of single contact upward sliding in the control instruction received In the case of Ying, control described unmanned vehicle based on the control instruction received and move straight down, and control institute Stating load bearing component (such as The Cloud Terrace) to be rotated up, rotation amplitude can determine according to mode described above.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state and relative with the gesture motion signal (as shown in figure 4d) of single contact slide downward in the control instruction received In the case of Ying, control described unmanned vehicle based on the control instruction received and move straight up, and control institute Stating load bearing component (such as The Cloud Terrace) to rotate down, rotation amplitude can determine according to mode described above.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state and relative near the gesture motion signal (as shown in fig. 4f) slided with double-contact in the control instruction received In the case of Ying, control described unmanned vehicle along between itself and described photographic subjects based on the control instruction received Line direction away from described photographic subjects, and the state controlling described load bearing component (such as The Cloud Terrace) keeps constant.
In one example, lock-out state Instruction Control Unit 820 can be that photographic subjects locks shape at described remote state In the case of state, and it is relative to deviate from the gesture motion signal (as shown in fig 4e) of slip with double-contact in the control instruction received In the case of Ying, control described unmanned vehicle along between itself and described photographic subjects based on the control instruction received Line direction near described photographic subjects, and the state controlling described load bearing component (such as The Cloud Terrace) keeps constant shooting control System instruction.
Above example, it is possible to make user without using complicated loaded down with trivial details operation, it becomes possible to rapidly to nolo flight Device and load bearing component carry out state adjustment, it is possible to make the image capture device of the upper carrying of load bearing component (such as The Cloud Terrace) to shooting mesh Mark carries out locking shooting, enhances Consumer's Experience.
In one example, as it is shown in figure 9, this remote control unit 800 may also include that unlocked state Instruction Control Unit 850, can be used for, in the case of described remote state is photographic subjects unlocked state, controlling based on the control instruction received Make the state of load bearing component on the state of flight of described unmanned vehicle or described unmanned vehicle.Such as, use Family can by easy gesture motion signal control unmanned vehicle upwards, downwards, to the left, move right or up time Pin, rotate counterclockwise or control The Cloud Terrace upwards, downwards, clockwise, rotate counterclockwise, photographic head can be made to change by above-mentioned control Viewfinder range, facilitates user to catch new photographic subjects.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and the gesture motion signal (as shown in fig. 4 a) slided to the left at the control instruction received and single contact In the case of corresponding, control described unmanned vehicle level based on the control instruction received and move right.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and the gesture motion signal (as shown in Figure 4 b) slided to the right at the control instruction received and single contact In the case of corresponding, control described unmanned vehicle level based on the control instruction received and be moved to the left.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the gesture motion signal (as illustrated in fig. 4 c) of the control instruction received Yu single contact upward sliding In the case of corresponding, control described unmanned vehicle based on the control instruction received and move straight down.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the gesture motion signal (as shown in figure 4d) of the control instruction received Yu single contact slide downward In the case of corresponding, control described unmanned vehicle based on the control instruction received and move straight up.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and deviate from slips (as shown in fig 4e) or single contact double-click at the control instruction received and double-contact In the case of gesture motion signal is corresponding, based on the control instruction received control described unmanned vehicle level to Front movement.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the close gesture motion signal (as shown in fig. 4f) slided of the control instruction received and double-contact In the case of corresponding, control described unmanned vehicle level based on the control instruction received and be moved rearwards by.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the gesture motion signal of the control instruction received and the parallel upward sliding of double-contact (such as Fig. 4 g Shown in) corresponding in the case of, control described load bearing component (such as The Cloud Terrace) based on the control instruction received and rotate down.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the gesture motion signal of the control instruction received and the parallel slide downward of double-contact (such as Fig. 4 h Shown in) corresponding in the case of, control described load bearing component (such as The Cloud Terrace) based on the control instruction received and be rotated up.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and turn clockwise the gesture motion signal slided (such as figure at the control instruction received and double-contact Shown in 4i) corresponding in the case of, based on the control instruction received control described unmanned vehicle with self specify Centered by point (such as by its center point), level rotates counterclockwise.
In one example, unlocked state Instruction Control Unit 850 can be that photographic subjects is unlocked at described remote state In the case of determining state, and at the gesture motion signal of the control instruction received and double-contact rotational slide counterclockwise (such as figure Shown in 4j) corresponding in the case of, based on the control instruction received control described unmanned vehicle with self specify Centered by point (such as by its center point), level turns clockwise.
Embodiment 5
Figure 10 illustrates the structure chart of remote control system according to an embodiment of the invention.This remote control system 1000 mainly includes reality Executing the remote control unit 800 in remote control unit 600 and embodiment 4 in example 3, wherein, remote control unit 800 is mounted in nolo flight On device.
Wherein, during remote control unit 600 is placed in the terminal units such as smart mobile phone, panel computer, remote controller.
The remote control system that the embodiment of the present invention provides, it is possible to obtain the remote state of terminal, gather and identify the hands of user Gesture actuating signal, in the case of remote state is photographic subjects lock-out state, generates corresponding mesh according to gesture motion signal Mark lock-out state control instruction, and target lock-on state control instruction is sent to unmanned vehicle, to control described nothing People drives the state of the load bearing component on the state of flight of aircraft and described unmanned vehicle, and it uses multiple without user Miscellaneous loaded down with trivial details operation, it becomes possible to rapidly unmanned vehicle and load bearing component are carried out state adjustment, it is possible to make supporting part On part, the image capture device of carrying carries out locking shooting to photographic subjects, enhances Consumer's Experience.
Embodiment 6
Figure 11 shows the structured flowchart of a kind of remote control equipment of an alternative embodiment of the invention.Described remote control equipment 1100 can be to possess the host server of computing capability, personal computer PC or portable portable computer or end End etc..Calculating node is not implemented and limits by the specific embodiment of the invention.
Described remote control equipment 1100 includes processor (processor) 1110, communication interface (Communications Interface) 1120, memorizer (memory) 1130 and bus 1140.Wherein, processor 1110, communication interface 1120 and Memorizer 1130 completes mutual communication by bus 1140.
Communication interface 1120 is used for and network device communications, and wherein the network equipment includes such as Virtual Machine Manager center, is total to Enjoy storage etc..
Processor 1110 is used for performing program.Processor 1110 is probably a central processor CPU, or special collection Become circuit ASIC (Application Specific Integrated Circuit), or be configured to implement the present invention One or more integrated circuits of embodiment.
Memorizer 1130 is used for depositing file.Memorizer 1130 may comprise high-speed RAM memorizer, it is also possible to also includes non- Volatile memory (non-volatile memory), for example, at least one disk memory.Memorizer 1130 can also be to deposit Memory array.Memorizer 1130 is also possible to by piecemeal, and described piece can be by certain rule sets synthesis virtual volume.
In a kind of possible embodiment, said procedure can be the program code including computer-managed instruction.This journey Sequence is particularly used in and realizes the operation of each step in the operation of each step in embodiment 1 or embodiment 2.
Those of ordinary skill in the art are it is to be appreciated that each exemplary cell in embodiment described herein and algorithm Step, it is possible to being implemented in combination in of electronic hardware or computer software and electronic hardware.These functions are actually with hardware also It is that software form realizes, depends on application-specific and the design constraint of technical scheme.Professional and technical personnel can be for Specific application selects different methods to realize described function, but this realization is it is not considered that exceed the model of the present invention Enclose.
If using the form of computer software realize described function and as independent production marketing or use time, then exist To a certain extent it is believed that all or part of (part such as contributed prior art) of technical scheme is Embody in form of a computer software product.This computer software product is generally stored inside the non-volatile of embodied on computer readable In storage medium, including some instructions with so that computer equipment (can be that personal computer, server or network set Standby etc.) perform all or part of step of various embodiments of the present invention method.And aforesaid storage medium include USB flash disk, portable hard drive, Read only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic The various medium that can store program code such as dish or CD.
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 be as the criterion with described scope of the claims.

Claims (18)

1. a remote control unit, it is characterised in that described remote control unit includes:
Obtaining widget, for obtaining the remote state of terminal, described remote state includes photographic subjects lock-out state and shooting mesh Mark unlocked state；
Acquisition component, for gathering and identify the gesture motion signal of user；
Lock-out state command generation unit part, in the case of described remote state is photographic subjects lock-out state, according to institute State gesture motion signal and generate corresponding target lock-on state control instruction；
Send parts, for sending described target lock-on state control instruction to unmanned vehicle, to control described nothing People drives the state of the load bearing component on the state of flight of aircraft and described unmanned vehicle so that described load bearing component The image capture device of upper carrying carries out locking shooting to photographic subjects.
Remote control unit the most according to claim 1, it is characterised in that described remote control unit also includes:
State switching part, for display remoting state toggle control on the display screen of described terminal, in response to user to institute State the operation of remote state toggle control, cut between described photographic subjects lock-out state and the non-locking state of photographic subjects Change.
Remote control unit the most according to claim 1, it is characterised in that described remote control unit also includes:
Unnecessary area determining means, in the case of described remote state is described photographic subjects lock-out state, prompting is used Target area is chosen at family, the operation choosing target area in response to user, determines target area.
Remote control unit the most according to claim 3, it is characterised in that described remote control unit also includes:
Photographic subjects determines parts, is used for pointing out user to select photographic subjects in described target area, in response to user in institute State the operation selecting photographic subjects in target area, determine photographic subjects.
Remote control unit the most according to claim 4, it is characterised in that described remote control unit also includes:
Notifying parts, notifies to described unmanned vehicle for photographic subjects determined by general, so that described unmanned Aircraft to determined by photographic subjects be identified, follow the tracks of, in order to based on identify, follow the tracks of result and unmanned vehicle State of flight control the state of the load bearing component on described unmanned vehicle.
Remote control unit the most according to claim 1, it is characterised in that the gesture motion signal of user includes that user touches institute State the gesture motion signal of the touch formula display screen of terminal, in the case of described remote state is photographic subjects lock-out state, Described gesture motion signal include following in one or more:
Single contact slides to the left, single contact slides to the right, single contact upward sliding, single contact slide downward, double-contact are close sliding Dynamic and double-contact deviates from slip.
Remote control unit the most according to claim 6, it is characterised in that described lock-out state command generation unit part specifically for One or more in below:
The gesture motion signal slided to the left according to single contact, generates the first control instruction, and described first control instruction is used for making Described unmanned vehicle with described photographic subjects as the center of circle, with described unmanned vehicle to described photographic subjects away from Move clockwise from for radius, and make the state of described load bearing component keep constant；
The gesture motion signal slided to the right according to single contact, generates the second control instruction, and described second control instruction is used for making Described unmanned vehicle with described photographic subjects as the center of circle, with described unmanned vehicle to described photographic subjects away from Move counterclockwise from for radius, and make the state of described load bearing component keep constant；
Gesture motion signal according to single contact upward sliding, generates the 3rd control instruction, and described 3rd control instruction is used for making Described unmanned vehicle moves straight down, and makes described load bearing component be rotated up；
Gesture motion signal according to single contact slide downward, generates the 4th control instruction, and described 4th control instruction is used for making Described unmanned vehicle moves straight up, and makes described load bearing component rotate down；
According to double-contact near the gesture motion signal slided, generating the 5th control instruction, described 5th control instruction is used for making Described unmanned vehicle, and holds described in making along the line direction between itself and described photographic subjects away from described photographic subjects The state carrying parts keeps constant；
Deviating from the gesture motion signal of slip according to double-contact, generate the 6th control instruction, described 6th control instruction is used for making Described unmanned vehicle, and holds described in making along the line direction between itself and described photographic subjects near described photographic subjects The state carrying parts keeps constant.
Remote control unit the most according to claim 1, it is characterised in that described remote control unit also includes:
Unlocked state command generation unit part, is used in the case of described remote state is photographic subjects unlocked state, root Corresponding target unlocked state control instruction, described target unlocked state control instruction is generated according to described gesture motion signal The shape of the described load bearing component in the state of flight controlling described unmanned vehicle or described unmanned vehicle State.
Remote control unit the most according to claim 8, it is characterised in that wherein, the gesture motion signal of user includes user Touch the gesture motion signal of the touch formula display screen of described terminal, be photographic subjects unlocked state at described remote state In the case of, described gesture motion signal include following in one or more:
Single contact slides to the left, single contact slides to the right, single contact upward sliding, single contact slide downward, double-contact deviate from cunning Dynamic, single contact is double-clicked, double-contact close slip, the parallel upward sliding of double-contact, the parallel slide downward of double-contact, double-contact up time Pin rotational slide, double-contact is counterclockwise rotational slide.
Remote control unit the most according to claim 9, it is characterised in that described unlocked state command generation unit part is concrete One or more in following:
The gesture motion signal slided to the left according to single contact, generates the 7th control instruction, and described 7th control instruction is used for making Described unmanned vehicle level moves right；
The gesture motion signal slided to the right according to single contact, generates the 8th control instruction, and described 8th control instruction is used for making Described unmanned vehicle level is moved to the left；
Gesture motion signal according to single contact upward sliding, generates the 9th control instruction, and described 9th control instruction is used for making Described unmanned vehicle moves straight down；
Gesture motion signal according to single contact slide downward, generates the tenth control instruction, and described tenth control instruction is used for making Described unmanned vehicle moves straight up；
Deviate from according to double-contact and slide or the gesture motion signal of single contact double-click, generation the 11st control instruction, the described tenth One control instruction is used for making the horizontal forward movement of described unmanned vehicle；
According to double-contact near the gesture motion signal slided, generating the 12nd control instruction, described 12nd control instruction is used It is moved rearwards by making described unmanned vehicle level；
According to the gesture motion signal of the parallel upward sliding of double-contact, generating the 13rd control instruction, the described 13rd controls to refer to Order is used for making described load bearing component rotate down；
According to the gesture motion signal of the parallel slide downward of double-contact, generating the 14th control instruction, the described 14th controls to refer to Order is used for making described load bearing component be rotated up；
According to double-contact turn clockwise slide gesture motion signal, generate the 15th control instruction, described 15th control Instruction is used for making described unmanned vehicle level centered by self specified point rotate counterclockwise；
According to the gesture motion signal of double-contact rotational slide counterclockwise, generating the 16th control instruction, the described 16th controls Instruction is used for making described unmanned vehicle level centered by self specified point turn clockwise.
11. 1 kinds of remote control units, it is characterised in that described remote control unit includes:
Command reception parts, receive gesture motion signal and the institute of the control instruction of self terminal, described control instruction and user The remote state stating terminal is corresponding, and described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；
Lock-out state Instruction Control Unit, in the case of described remote state is photographic subjects lock-out state, based on institute The control instruction received controls the load bearing component on the state of flight of unmanned vehicle and described unmanned vehicle State so that on described load bearing component carrying image capture device photographic subjects is carried out locking shooting.
12. remote control units according to claim 11, it is characterised in that described remote control unit also includes:
Notice receives parts, and for receiving the notice of self terminal, described notice includes the photographic subjects that described terminal determines；
Tracking unit, for being identified for described photographic subjects, follow the tracks of,
Wherein, described lock-out state Instruction Control Unit specifically for: based on identify, follow the tracks of result and unmanned vehicle State of flight control the state of the load bearing component on described unmanned vehicle.
13. remote control units according to claim 11, it is characterised in that described lock-out state Instruction Control Unit is specifically used One or more in following:
In the case of the gesture motion signal that slides to the left with single contact in the control instruction received is corresponding, based on being received Control instruction control described unmanned vehicle with described photographic subjects as the center of circle, arrive with described unmanned vehicle The distance of described photographic subjects is that radius moves clockwise, and the state controlling described load bearing component keeps constant；
In the case of the gesture motion signal that slides to the right with single contact in the control instruction received is corresponding, based on being received Control instruction control described unmanned vehicle with described photographic subjects as the center of circle, arrive with described unmanned vehicle The distance of described photographic subjects is that radius moves counterclockwise, and the state controlling described load bearing component keeps constant；
In the case of the control instruction received is corresponding with the gesture motion signal of single contact upward sliding, based on being received Control instruction control described unmanned vehicle and move straight down, and control described load bearing component and be rotated up；
In the case of the control instruction received is corresponding with the gesture motion signal of single contact slide downward, based on being received Control instruction control described unmanned vehicle and move straight up, and control described load bearing component and rotate down；
In the case of the close gesture motion signal slided of the control instruction received and double-contact is corresponding, based on being received Control instruction control described unmanned vehicle along the line direction between itself and described photographic subjects away from described bat Take the photograph target, and the state controlling described load bearing component keeps constant；
The control instruction received deviate from double-contact the gesture motion signal of slip corresponding in the case of, based on being received Control instruction control described unmanned vehicle along the line direction between itself and described photographic subjects near described bat Take the photograph target, and the state controlling described load bearing component keeps constant.
14. remote control units according to claim 11, it is characterised in that described remote control unit also includes:
Unlocked state Instruction Control Unit, is used in the case of described remote state is photographic subjects unlocked state, base In the control instruction received on the state of flight or the described unmanned vehicle that control described unmanned vehicle The state of load bearing component.
15. remote control units according to claim 14, it is characterised in that described unlocked state Instruction Control Unit is concrete One or more in following:
In the case of the gesture motion signal that slides to the left with single contact in the control instruction received is corresponding, based on being received Control instruction control described unmanned vehicle level and move right；
In the case of the gesture motion signal that slides to the right with single contact in the control instruction received is corresponding, based on being received Control instruction control described unmanned vehicle level and be moved to the left；
In the case of the control instruction received is corresponding with the gesture motion signal of single contact upward sliding, based on being received Control instruction control described unmanned vehicle and move straight down；
In the case of the control instruction received is corresponding with the gesture motion signal of single contact slide downward, based on being received Control instruction control described unmanned vehicle and move straight up；
In the situation that the gesture motion signal that the control instruction received deviates from slip with double-contact or single contact is double-clicked is corresponding Under, control the horizontal forward movement of described unmanned vehicle based on the control instruction received；
In the case of the close gesture motion signal slided of the control instruction received and double-contact is corresponding, based on being received Control instruction control described unmanned vehicle level and be moved rearwards by；
In the case of the gesture motion signal of the parallel upward sliding of the control instruction received and double-contact is corresponding, based on institute The control instruction received controls described load bearing component and rotates down；
In the case of the gesture motion signal of the parallel slide downward of the control instruction received and double-contact is corresponding, based on institute The control instruction received controls described load bearing component and is rotated up；
The control instruction received turn clockwise with double-contact the gesture motion signal slided corresponding in the case of, based on The control instruction received rotates counterclockwise to control described unmanned vehicle level centered by self specified point；
In the case of the gesture motion signal of the control instruction received and double-contact rotational slide counterclockwise is corresponding, based on The control instruction received turns clockwise to control described unmanned vehicle level centered by self specified point.
16. 1 kinds of remote control systems, it is characterised in that described remote control system includes: according to any one institute in claim 1 to 10 The remote control unit stated and according to the remote control unit described in any one in claim 11 to 15, wherein, according to claim 11 In 15, the remote control unit described in any one is mounted on unmanned vehicle.
17. 1 kinds of remote control thereofs, it is characterised in that described remote control thereof includes:
Obtaining the remote state of terminal, described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；
Gather and identify the gesture motion signal of user；
In the case of described remote state is photographic subjects lock-out state, generate corresponding mesh according to described gesture motion signal Mark lock-out state control instruction；
Described target lock-on state control instruction is sent to unmanned vehicle, to control described unmanned vehicle The state of the load bearing component in state of flight and described unmanned vehicle so that on described load bearing component, the image of carrying is adopted Collection equipment carries out locking shooting to photographic subjects.
18. 1 kinds of remote control thereofs, it is characterised in that described remote control thereof includes:
Receive gesture motion signal and the remote control shape of described terminal of the control instruction of self terminal, described control instruction and user State is corresponding, and described remote state includes photographic subjects lock-out state and photographic subjects unlocked state；
In the case of described remote state is photographic subjects lock-out state, controls nobody based on the control instruction received and drive Sail the state of load bearing component on the state of flight of aircraft and described unmanned vehicle so that hold on described load bearing component The image capture device carried carries out locking shooting to photographic subjects.
CN201610478816.4A 2016-06-27 2016-06-27 Remote control thereof, Apparatus and system Pending CN106155309A (en)

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