CN106662881A - Control method, system and user terminal for unmanned aircraft - Google Patents
Control method, system and user terminal for unmanned aircraft Download PDFInfo
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- CN106662881A CN106662881A CN201680002303.4A CN201680002303A CN106662881A CN 106662881 A CN106662881 A CN 106662881A CN 201680002303 A CN201680002303 A CN 201680002303A CN 106662881 A CN106662881 A CN 106662881A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000003756 stirring Methods 0.000 claims description 46
- 230000009471 action Effects 0.000 claims description 10
- 230000007423 decrease Effects 0.000 claims description 9
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- 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)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention provides an unmanned aircraft control method comprising: setting virtual rods (301, 302) on a display screen; sensing a user's toggle operation of the virtual rods (301, 302); and controlling the unmanned aircraft through the toggle operation. The invention also comprises a control system for an unmanned aerial vehicle, and a user terminal.
Description
Technical field
The invention belongs to telecontrol engineering field, and in particular to the control method and system of unmanned vehicle, and user's end
End.
Background technology
With becoming increasingly popular for unmanned vehicle, the field and environment also variation all the more using unmanned vehicle, people
Want to control unmanned vehicle in more various mode.But, special remote control is generally used at present to control nothing
People's aircraft, if user does not carry with remote control, cannot realize the control to unmanned vehicle.And, different shaped
Number unmanned vehicle need to be equipped with different remote controls.Function solidification inside remote control, it is impossible to the liter of unmanned vehicle
Level and accordingly update.This cause the user very big inconvenience, also counteracts that the further popularization of unmanned vehicle.
The content of the invention
One aspect of the present invention provides a kind of control method of unmanned vehicle, including：Show on the display screen
Virtual rocking bar；Sensing user stirs operation to virtual rocking bar；And according to it is described stir operation unmanned vehicle is controlled
System.
Another aspect of the present invention provides a kind of control system of unmanned vehicle, including：Processor；And storage
Device, be stored with machine readable instructions；Wherein, computing device instruction, to control to show virtual rocking bar on the display screen, and
Unmanned vehicle is controlled according to operation of stirring of the user to virtual rocking bar.
Another aspect of the present invention provides a kind of user terminal, including display screen and system as above,
The display screen is used for operation display interface, and the system is used for the content for controlling to be shown in the display screen.
Another aspect of the present invention provides a kind of control system of unmanned vehicle, including：Virtual rocking bar shows mould
Block, shows on the display screen virtual rocking bar；Virtual sensing rocker module, sensing user stirs operation to virtual rocking bar；With
And remote control module, it is controlled according to the operation unmanned vehicle of stirring.
Another aspect of the present invention provides a kind of computer software includes machine readable instructions, and the instruction is being located
When reason device is performed so that computing device method as above.
Another aspect of the present invention provides a kind of non-volatile memory medium, including machine readable instructions, the finger
Order is being when executed by so that computing device method as above.
Description of the drawings
For a more complete understanding of the present invention and its advantage, referring now to the following description for combining accompanying drawing, wherein：
Fig. 1 diagrammatically illustrates a kind of application scenarios according to embodiments of the present invention.
Fig. 2 diagrammatically illustrates the structured flowchart of user terminal according to embodiments of the present invention.
Fig. 3 diagrammatically illustrates display interface according to embodiments of the present invention on the display screen.
Fig. 4 diagrammatically illustrates another display interface according to embodiments of the present invention on the display screen.
Fig. 5 diagrammatically illustrates another display interface according to embodiments of the present invention on the display screen.
Fig. 6 diagrammatically illustrates another display interface according to embodiments of the present invention on the display screen.
Fig. 7 diagrammatically illustrates another display interface according to embodiments of the present invention on the display screen.
Fig. 8 diagrammatically illustrates another display interface according to embodiments of the present invention on the display screen.
Fig. 9 diagrammatically illustrates the structured flowchart of user terminal according to embodiments of the present invention.
Specific embodiment
According to combining accompanying drawing to the described in detail below of exemplary embodiment of the present, other side, the advantage of the present invention
With prominent features for those skilled in the art will become clear from.
In the present invention, term " including " and " containing " and its derivative mean including and it is unrestricted；Term "or" is bag
Containing property, mean and/or.
In this manual, following various embodiments for describing the principle of the invention simply explanation, should not be with any
Mode is construed to limit the scope of invention.The comprehensive understanding that is used to help described below referring to the drawings is by claim and its equivalent
The exemplary embodiment of the invention that thing is limited.It is described below including various details helping understand, but these details should
Think what is be merely exemplary.Therefore, it will be appreciated by those of ordinary skill in the art that without departing substantially from scope and spirit of the present invention
In the case of, embodiment described herein can be made various changes and modifications.Additionally, for clarity and brevity,
Eliminate the description of known function and structure.Additionally, running through accompanying drawing, same reference numerals are used for same or analogous function and behaviour
Make.
Fig. 1 diagrammatically illustrates a kind of application scenarios according to embodiments of the present invention.As shown in figure 1, user terminal 100 pairs
Unmanned vehicle 200 is controlled.
Embodiments in accordance with the present invention, user terminal 100 can be such as mobile terminal such as mobile phone, panel computer, thereon
Operation has application program, and virtual rocking bar is shown on display screen 110.Embodiments in accordance with the present invention, display screen 110 can be with
It is touch-screen, user stirs operational control unmanned vehicle 200 by carrying out to virtual rocking bar on display screen 110.
Fig. 2 diagrammatically illustrates the structured flowchart of user terminal 100 according to embodiments of the present invention.As shown in Fig. 2 the use
Family terminal 100 includes control system 120 and display screen 110.Embodiments in accordance with the present invention, control system 120 can include
Memory 121 and processor 122.
Embodiments in accordance with the present invention, memory 121 is stored with machine readable instructions, and processor 122 performs the instruction,
To control to show virtual rocking bar on display screen 110.
Fig. 3 diagrammatically illustrates the display interface according to embodiments of the present invention on display screen 110.As shown in figure 3, depositing
The execute instruction of reservoir 121, to control to show the first virtual rocking bar 301 and the second virtual rocking bar 302 on display screen 110.Can
To understand, although two virtual rocking bars are shown in figure, but also can only show a virtual rocking bar, or show that more virtually shake
Bar.
Embodiments in accordance with the present invention, can be arranged in the first virtual rocking bar 301 and the second virtual rocking bar 302 aobvious
The left and right sides of display screen curtain, as shown in Figure 3.The dedicated remote control of existing unmanned vehicle generally individually arranges two using left and right
The form of rocking bar, is arranged in such a way virtual rocking bar, can be well matched with the use habit of user, is easier user
Hand is operated, without causing what is switched between dedicated remote control and the operation of virtual rocking bar to be not suitable with.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, to control in the first virtual rocking bar 301
Upper and lower, left and right side respectively shows a mark 303,304,305,306, as shown in figure 3, corresponding respectively to control unmanned vehicle
Rise, decline, rotate counterclockwise and turn clockwise.Correspondingly, embodiments in accordance with the present invention, processor 122 can also be held
Row instruction, to control to stir operation upwards, downwards, to the left or to the right to the first virtual rocking bar according to user, correspondingly controls
Unmanned vehicle rising, decline, rotate counterclockwise turn clockwise.Embodiments in accordance with the present invention, here clockwise and
Can be counterclockwise from terms of depression angle clockwise and counterclockwise.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, to control in the second virtual rocking bar 302
Upper and lower, left and right side respectively shows a mark 307,308,309,310, as shown in figure 3, corresponding respectively to control unmanned vehicle
Flight forward, backward flight, to the left fly and fly to the right.Correspondingly, embodiments in accordance with the present invention, processor 122 may be used also
With execute instruction, operation is stirred upwards, downwards, to the left or to the right to the second virtual rocking bar according to user with control, correspondingly
Control unmanned vehicle flight forward, backward flight, to the left flight are flown to the right.
It is appreciated that the position of the virtual rocking bar 302 of the first virtual rocking bar 301 and second is also interchangeable, and first empty
The identification function intended on the virtual rocking bar 302 of rocking bar 301 and second is alternatively other configurations, is such as configured to the Japan commonly used on market
Hand, U.S.'s hand, middle national champion etc..
Fig. 4 diagrammatically illustrates the display interface according to embodiments of the present invention on display screen 110.It is of the invention
Embodiment, processor 122 can also carry out instruction, to control the display pattern icon 311 on display screen 110, and in sense
User is measured to during the touch operation of mode icon 311, virtual rocking bar being shown on the display screen.By Setting pattern icon
311, virtual rocking bar operation interface only can be recalled when needing, and other moment can then allow user to use other application
Interface, increased the application diversity of user terminal.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, to control to be shown on display screen 110
At least one icon 311～317, as shown in Figure 3.When user is sensed the first and/or second virtual rocking bar is carried out stirring behaviour
When making, processor 122 can also carry out instruction, one or more icons in hidden icons 311～317.It is of the invention
Embodiment, icon 311～317 for example can include：Mode icon 311, exit icon 312, the icon 313 that makes a return voyage automatically, playback
Icon 314, camera arranges icon 315, shoots icon 316, camera/camcorder switching icon 317, head directional icon 318, but
Not limited to this.Embodiments in accordance with the present invention, processor 122 can also carry out instruction, to control to exit icon when user touches
When 312, virtual rocking bar operator scheme is exited.Embodiments in accordance with the present invention, processor 122 can also carry out instruction, to allow
User changes the course axle rotational angle of head by the slide block on slip head directional icon 318, so as to control head side
To.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, with user to the first virtual rocking bar 301
When carrying out stirring operation, one or more icons near the side of the first virtual rocking bar 301, one or more of icons are hidden
At least one of the following can be included：Mode icon 311, exit icon 312 or the icon 313 that makes a return voyage automatically.As shown in figure 5,
When the first virtual rocking bar 301 of user operation, the icon on the left of screen-concealing.Embodiments in accordance with the present invention, processor 122 is also
Can be with execute instruction, when user carries out stirring operation to the first virtual rocking bar 301, to hide specific one or multiple figures
Mark, one or more of icons can for example include at least one of the following：Mode icon 311, exit icon 312 or
Automatically make a return voyage icon 313, but not limited to this.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, with user to the second virtual rocking bar 302
When carrying out stirring operation, one or more icons near the side of the second virtual rocking bar 302, one or more of icons are hidden
At least one of the following can be included：Playback icon 314, camera arranges icon 315, shoots icon 316, camera/camcorder
Switching icon 317 or head directional icon 318.As shown in fig. 6, when the second virtual rocking bar 302 of user operation, screen-concealing
The icon on right side.Embodiments in accordance with the present invention, processor 122 can also carry out instruction, with user to the second virtual rocking bar
302 when carrying out stirring operation, hides specific one or multiple icons, and one or more of icons for example can include following
At least one of：Playback icon 314, camera arrange icon 315, shoot icon 316, camera/camcorder switching icon 317,
Or head directional icon 318, but not limited to this.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, with user simultaneously to the first virtual rocking bar
301 and the second virtual rocking bar 302 when carrying out stirring operation, the icon of screen-concealing both sides, as shown in Figure 7.
By hiding one or more icons in the virtual rocking bar of user operation, operation interface can be made more succinct, and
And reduce user the possibility for causing maloperation is touched unintentionally to onscreen icons.
Fig. 8 diagrammatically illustrates the display interface according to embodiments of the present invention on display screen 110.It is of the invention
Embodiment, processor 122 can also carry out instruction, to control to show hovering icon 319 on display screen 110, and in sense
User is measured to during the touch operation of the icon 319 that hovers, hiding the first virtual rocking bar 301 and the second virtual rocking bar 302.
It is appreciated that in the present embodiment, the hovering icon 319 can be omitted, also can be by clicking on " joystick " icon
To switch the hiding or display of the first virtual rocking bar 301 and the second virtual rocking bar 302.
Embodiments in accordance with the present invention, processor 122 can also carry out instruction, and to control to work as aircraft current state is received
To hover, and when the operation input of user is not sensed in preset time period, hide virtual rocking bar.Or, according to the present invention
Embodiment, processor 122 can also carry out instruction, to control, when user input deliberate action is sensed, to hide and virtually shake
Bar.It is described to receive aircraft current state to hover, that is, receive the parameter feedbacks such as the current attitude of aircraft, speed and judge
Aircraft current state is known for hovering.
Fig. 9 diagrammatically illustrates the structured flowchart of user terminal 900 according to embodiments of the present invention.As shown in figure 9, the use
Family terminal 900 includes control system 920 and display screen 910.
Embodiments in accordance with the present invention, control system 920 can include virtual rocking bar display module 921, in display screen
Virtual rocking bar is shown on 910.Embodiments in accordance with the present invention, can show the first virtual rocking bar and/or the second virtual rocking bar.Such as
Shown in Fig. 3, the first virtual rocking bar 301 and the second virtual rocking bar 302 can be shown on display screen 110.It is appreciated that, although
Two virtual rocking bars are shown in figure, but also can only show a virtual rocking bar, or show more virtual rocking bars.
Embodiments in accordance with the present invention, can be arranged in the first virtual rocking bar 301 and the second virtual rocking bar 302 aobvious
The left and right sides of display screen curtain, as shown in Figure 3.The dedicated remote control of existing unmanned vehicle generally individually arranges two using left and right
The form of rocking bar, is arranged in such a way virtual rocking bar, can be well matched with the use habit of user, is easier user
Hand is operated, without causing what is switched between dedicated remote control and the operation of virtual rocking bar to be not suitable with.
Embodiments in accordance with the present invention, control system 920 can also include virtual sensing rocker module 922, sense user
Operation is stirred to virtual rocking bar.Control system 920 can also include remote control module 930, and operation is stirred to nobody according to described
Aircraft is controlled.
Embodiments in accordance with the present invention, control system 920 can also include the first mark display module 923, empty first
The upper and lower, left and right side for intending rocking bar 301 respectively shows a mark 303～306, correspond respectively to control unmanned vehicle rise,
Decline, rotate counterclockwise and turn clockwise, as shown in Figure 3.It is virtual to first that virtual sensing rocker module 922 senses user
Rocking bar 301 stirs upwards, downwards, to the left or to the right operation, and remote control module 930 stirs operation, correspondingly control according to user
Unmanned vehicle rising processed, decline, rotate counterclockwise turn clockwise.
Embodiments in accordance with the present invention, control system 920 can also include the second mark display module 924, empty second
The upper and lower, left and right side for intending rocking bar 302 respectively shows a mark 307～310, as shown in figure 3, nobody flies to correspond respectively to control
Row device flight forward, backward flight, to the left fly and fly to the right.It is empty to second that virtual sensing rocker module 922 senses user
That intends rocking bar 302 stirs upwards, downwards, to the left or to the right operation, and remote control module 930 stirs operation according to user, correspondingly
Control unmanned vehicle flight forward, backward flight, to the left flight are flown to the right.
Embodiments in accordance with the present invention, control system 920 can also include icon display module 925, on the display screen
Display pattern icon 311, as shown in Figure 3 and Figure 4.Control system 920 can also include icon sensing module 926, sense user
Touch operation to mode icon 311.When user is sensed to the touch operation of mode icon, virtual rocking bar display module
921 show on the display screen virtual rocking bar.
Embodiments in accordance with the present invention, icon display module 925 show on the display screen at least one icon 311～
317, as shown in Figure 3.Control system 920 can also include icon hiding module 927, when virtual sensing rocker module 922 is sensed
When carrying out stirring operation to the first and/or second virtual rocking bar to user, icon hiding module 927 can with hidden icons 311～
One or more icons in 317.Embodiments in accordance with the present invention, icon 311～317 for example can include：Mode icon
311st, exit icon 312, the icon 313 that makes a return voyage automatically, playback icon 314, camera arrange icon 315, shoot icon 316, camera/
Camera switching icon 317, head directional icon 318, but not limited to this.
Embodiments in accordance with the present invention, when virtual sensing rocker module 922 is sensing user to the first virtual rocking bar 301
When carrying out stirring operation, icon hiding module 927 hides one or more icons near the side of the first virtual rocking bar 301, institute
Stating one or more icons can include at least one of the following：Mode icon 311, exit icon 312 or the figure that makes a return voyage automatically
Mark 313.As shown in figure 5, when the first virtual rocking bar 301 of user operation, can be with the icon on the left of screen-concealing.According to the present invention
Embodiment, icon hiding module 927 can be hidden specific with when user carries out stirring operation to the first virtual rocking bar 301
One or more icons, one or more of icons can for example include at least one of the following：Mode icon 311,
Exit icon 312 or the icon 313 that makes a return voyage automatically, but not limited to this.
Embodiments in accordance with the present invention, when virtual sensing rocker module 922 is sensing user to the second virtual rocking bar 302
When carrying out stirring operation, icon hiding module 927 hides one or more icons near the side of the second virtual rocking bar 302, institute
Stating one or more icons can include at least one of the following：Playback icon 314, camera arranges icon 315, shoots icon
316th, camera/camcorder switching icon 317 or head directional icon 318.As shown in fig. 6, working as the virtual rocking bar of user operation second
When 302, can be with the icon on the right side of screen-concealing.Embodiments in accordance with the present invention, icon hiding module 927 can be with user couple
When second virtual rocking bar 302 carries out stirring operation, specific one or multiple icons are hidden, one or more of icons are for example
At least one of the following can be included：Playback icon 314, camera arranges icon 315, shoots icon 316, camera/camcorder
Switching icon 317 or head directional icon 318, but not limited to this.
Embodiments in accordance with the present invention, when virtual sensing rocker module 922 senses user simultaneously to the first virtual rocking bar
301 and the second virtual rocking bar 302 when carrying out stirring operation, icon hiding module 927 can such as be schemed with the icon of screen-concealing both sides
Shown in 7.
By hiding one or more icons in the virtual rocking bar of user operation, operation interface can be made more succinct, and
And reduce user the possibility for causing maloperation is touched unintentionally to onscreen icons.
Embodiments in accordance with the present invention, icon display module 925 can also on the display screen show hovering icon 319,
As shown in Figure 8.Icon sensing module 926 can sense touch operation of the user to the icon that hovers.Control system 920 can also be wrapped
Include virtual rocking bar hidden module 928, when sense user to hover icon touch operation when, virtual rocking bar hidden module 928
Hide virtual rocking bar.Embodiments in accordance with the present invention, virtual rocking bar hidden module 928 can be receiving aircraft current state
Hovering, and when the operation input of user is not sensed in preset time period, hide virtual rocking bar.
Embodiments in accordance with the present invention, control system 920 can also include deliberate action sensing module 929, sense user
The deliberate action of input.When user input deliberate action is sensed, virtual rocking bar hidden module 928 can be hidden virtually shakes
Bar.
A kind of embodiments in accordance with the present invention, computer software includes machine readable instructions, and the instruction is by processor
During execution so that operation of the computing device above with reference to described in Fig. 2～8.
Embodiments in accordance with the present invention, a kind of non-volatile memory medium, including machine readable instructions, the instruction is in quilt
During computing device so that computing device method as above.
Said method, device, unit and/or module according to various embodiments of the present invention can be by the electricity that has computing capability
Sub- equipment performs the software comprising computer instruction to realize.The system can include storage device, described above to realize
Various storages.The electronic equipment for having computing capability can include general processor, digital signal processor, dedicated processes
Device, re-configurable processor etc. are able to carry out the device of computer instruction, but not limited to this.Perform such instruction and cause electricity
Sub- equipment is configured to perform above-mentioned operations of the invention.Above-mentioned each equipment and/or module can be in an electronics
Realize in equipment, it is also possible to realize in distinct electronic apparatuses.These softwares can be stored in a computer-readable storage medium.
Computer-readable recording medium storage one or more programs (software module), one or more of programs include instruction, when
When one or more processors in electronic equipment perform the instruction, the instruction causes electronic equipment to perform the side of the present invention
Method.
These softwares can be stored as volatile memory or the form of Nonvolatile memory devices (is such as similar to ROM etc.
Storage device), it is whether erasable or rewritable, or form (such as RAM, storage core for being stored as memory
Piece, equipment or integrated circuit), or it is stored in (such as, CD, DVD, disk or magnetic on light computer-readable recording medium or magnetic computer-readable recording medium
Band etc.).It should be appreciated that storage device and storage medium are adapted for storing the machine readable storage dress of one or more programs
The embodiment put, one program or multiple programs include instruction, when executed, realize the enforcement of the present invention
Example.Embodiment provides the machine-readable storage device of program and this program of storage, and described program is included for realizing the present invention
Any one claim described in device or method code.Furthermore, it is possible to via any medium (such as, via wired
The signal of communication that connection or wireless connection are carried) to send a telegram here and transmit these programs, multiple embodiments suitably include these programs.
Method, device, unit and/or module according to various embodiments of the present invention can also use such as field programmable gate
System, the system in encapsulation on array (FPGA), programmable logic array (PLA), on-chip system, substrate, special integrated electricity
Road (ASIC) can come real for carrying out the hardware such as integrated or encapsulation any other rational method or firmware to circuit
It is existing, or with software, three kinds of implementations of hardware and firmware it is appropriately combined realizing.The system can include storage device,
To realize storage as described above.When realizing in such ways, software, hardware and/or the firmware for being used be programmed or
It is designed as performing corresponding said method of the invention, step and/or function.Those skilled in the art can be according to actual need
Come one or more in these systems and module suitably, or a part therein or some use it is different upper
State implementation to realize.These implementations each fall within protection scope of the present invention.
Although illustrating and describing the present invention, art technology with reference to the certain exemplary embodiments of the present invention
Personnel it should be understood that in the case of the spirit and scope of the present invention limited without departing substantially from claims and its equivalent,
The various changes in form and details can be carried out to the present invention.Therefore, the scope of the present invention should not necessarily be limited by above-described embodiment,
But not only should be determined by claims, also it is defined by the equivalent of claims.
Claims (52)
1. a kind of control method of unmanned vehicle, including：
Virtual rocking bar is shown on the display screen；
Sensing user stirs operation to virtual rocking bar；And
According to it is described stir operation unmanned vehicle is controlled.
2. method according to claim 1, also includes：
Display pattern icon on the display screen；And
Touch operation of the sensing user to mode icon,
Wherein：
Show that virtual rocking bar is included when user is sensed to the touch operation of mode icon, in display screen on the display screen
It is upper to show virtual rocking bar.
3. method according to claim 1, wherein, show that virtual rocking bar includes showing that first virtually shakes on the display screen
Bar and/or the second virtual rocking bar.
4. method according to claim 3, wherein, the first virtual rocking bar and the second virtual rocking bar are arranged in display screen
The left and right sides of curtain.
5. method according to claim 3, also includes：
Respectively show a mark in the upper and lower, left and right side of the first virtual rocking bar, correspond respectively to control unmanned vehicle rise,
Decline, rotate counterclockwise and turn clockwise.
6. method according to claim 5, wherein：
Sensing user to virtual rocking bar stir operation include sensing user to the first virtual rocking bar upwards, downwards, to the left or
Operation is stirred to the right；And
Stir operation and unmanned vehicle is controlled stirs operation including according to user according to described, correspondingly control nobody
Aircraft rising, decline, rotate counterclockwise turn clockwise.
7. method according to claim 3, also includes：
A mark is respectively shown in the upper and lower, left and right side of the second virtual rocking bar, corresponds respectively to control unmanned vehicle forward
Fly, fly backward, fly to the left and fly to the right.
8. method according to claim 7, wherein：
Sensing user to virtual rocking bar stir operation include sensing user to the second virtual rocking bar upwards, downwards, to the left or
Operation is stirred to the right；And
Stir operation and unmanned vehicle is controlled stirs operation including according to user according to described, correspondingly control nobody
Aircraft forward flight, backward flight, to the left flight are flown to the right.
9. method according to claim 4, also includes：
At least one icon is shown on the display screen；
When sensing user the first virtual rocking bar being carried out stirring operation, one or more icons in display screen are hidden.
10. method according to claim 9, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described first virtual rocking bar in display screen curtain.
11. methods according to claim 9 or 10, wherein, one or more of icons include it is following at least one
It is individual：Mode icon, exit icon or the icon that makes a return voyage automatically.
12. methods according to claim 4, also include：
At least one icon is shown on the display screen；
When sensing user the second virtual rocking bar being carried out stirring operation, one or more icons in display screen are hidden.
13. methods according to claim 12, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described second virtual rocking bar in display screen curtain.
14. methods according to claim 12 or 13, wherein, one or more of icons include it is following at least one
It is individual：Playback icon, camera arrange icon, shoot icon, camera/camcorder switching icon or head directional icon.
15. methods according to claim 1, also include：
Hovering icon is shown on the display screen；
Touch operation of the sensing user to the icon that hovers；And
When sense user to hover icon touch operation when, hide virtual rocking bar.
16. methods according to claim 1, also include：
When receiving aircraft current state to hover, and the operation input of user not being sensed in preset time period, hide
Virtual rocking bar.
17. methods according to claim 1, also include：
The deliberate action of sensing user input；And
When user input deliberate action is sensed, virtual rocking bar is hidden.
A kind of 18. control systems of unmanned vehicle, including：
Processor；And
Memory, be stored with machine readable instructions；
Wherein, computing device instruction, to control to show virtual rocking bar on the display screen, and according to user to virtual rocking bar
Stir operation unmanned vehicle is controlled.
19. systems according to claim 18, wherein, processor also execute instruction, to control：
Display pattern icon on the display screen；And
When user is sensed to the touch operation of mode icon, virtual rocking bar is shown on the display screen.
20. systems according to claim 18, wherein, show that virtual rocking bar includes showing that first is virtual on the display screen
Rocking bar and/or the second virtual rocking bar.
21. systems according to claim 20, wherein, the first virtual rocking bar and the second virtual rocking bar are arranged in display
The left and right sides of screen.
22. systems according to claim 20, wherein：
Processor also execute instruction is right respectively to control respectively to show a mark in the upper and lower, left and right side of the first virtual rocking bar
In control unmanned vehicle rising, decline, rotate counterclockwise and should turn clockwise.
23. systems according to claim 22, wherein, operation is stirred to unmanned vehicle to virtual rocking bar according to user
Be controlled including：
Operation is stirred upwards, downwards, to the left or to the right to the first virtual rocking bar according to user, unmanned flight is correspondingly controlled
Device rising, decline, rotate counterclockwise turn clockwise.
24. systems according to claim 20, wherein：
Processor also execute instruction is right respectively to control respectively to show a mark in the upper and lower, left and right side of the second virtual rocking bar
Should fly in unmanned vehicle flight forward, backward flight, to the left flight is controlled and to the right.
25. systems according to claim 24, wherein, operation is stirred to unmanned vehicle to virtual rocking bar according to user
Be controlled including：
Operation is stirred upwards, downwards, to the left or to the right to the second virtual rocking bar according to user, unmanned flight is correspondingly controlled
Device flight forward, backward flight, to the left flight are flown to the right.
26. systems according to claim 21, wherein, processor also execute instruction, to control：
At least one icon is shown on the display screen；
When sensing user the first virtual rocking bar being carried out stirring operation, one or more icons in display screen are hidden.
27. systems according to claim 26, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described first virtual rocking bar in display screen curtain.
28. systems according to claim 26 or 27, wherein, one or more of icons include it is following at least one
It is individual：Mode icon, exit icon or the icon that makes a return voyage automatically.
29. systems according to claim 17, wherein, processor also execute instruction, to control：
At least one icon is shown on the display screen；
When sensing user the second virtual rocking bar being carried out stirring operation, one or more icons in display screen are hidden.
30. systems according to claim 29, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described second virtual rocking bar in display screen curtain.
31. systems according to claim 29 or 30, wherein, one or more of control icons include it is following in extremely
It is few one：Playback icon, camera arrange icon, shoot icon, camera/camcorder switching icon or head directional icon.
32. systems according to claim 18, wherein, processor also execute instruction, to control：
Hovering icon is shown on screen；And
Sense user to hover icon touch operation when, hide virtual rocking bar.
33. systems according to claim 18, wherein, processor also execute instruction, to control：
When receiving aircraft current state to hover, and the operation input of user not being sensed in preset time period, hide
Virtual rocking bar.
34. systems according to claim 18, wherein, processor also execute instruction, to control：
When user input deliberate action is sensed, virtual rocking bar is hidden.
A kind of 35. control systems of unmanned vehicle, including：
Virtual rocking bar display module, shows on the display screen virtual rocking bar；
Virtual sensing rocker module, sensing user stirs operation to virtual rocking bar；And
Remote control module, according to it is described stir operation unmanned vehicle is controlled.
36. systems according to claim 35, also include：
Icon display module, on the display screen display pattern icon；
Icon sensing module, senses touch operation of the user to mode icon；And
Wherein, show that virtual rocking bar is included when user is sensed to the touch operation of mode icon on the display screen, aobvious
Virtual rocking bar is shown on display screen curtain.
37. systems according to claim 35, wherein, show that virtual rocking bar includes showing that first is virtual on the display screen
Rocking bar and/or the second virtual rocking bar.
38. systems according to claim 37, wherein, the first virtual rocking bar and the second virtual rocking bar are arranged in display
The left and right sides of screen.
39. systems according to claim 37, also include：
First mark display module, in the upper and lower, left and right side of the first virtual rocking bar a mark is respectively shown, corresponds respectively to control
Unmanned vehicle processed rises, declines, rotate counterclockwise and turn clockwise.
40. systems according to claim 39, wherein：
Sensing user to virtual rocking bar stir operation include sensing user to the first virtual rocking bar upwards, downwards, to the left or
Operation is stirred to the right；And
Stir operation and unmanned vehicle is controlled stirs operation including according to user according to described, correspondingly control nobody
Aircraft rising, decline, rotate counterclockwise turn clockwise.
41. systems according to claim 37, also include：
Second mark display module, in the upper and lower, left and right side of the second virtual rocking bar a mark is respectively shown, corresponds respectively to control
Unmanned vehicle flight forward processed, backward flight, to the left fly and fly to the right.
42. systems according to claim 41, wherein：
Sensing user to virtual rocking bar stir operation include sensing user to the second virtual rocking bar upwards, downwards, to the left or
Operation is stirred to the right；And
Stir operation and unmanned vehicle is controlled stirs operation including according to user according to described, correspondingly control nobody
Aircraft forward flight, backward flight, to the left flight are flown to the right.
43. systems according to claim 38, also include：
Icon display module, shows on the display screen at least one icon；And
Icon hiding module, when sensing user the first virtual rocking bar being carried out stirring operation, hides in display screen
Individual or multiple icons.
44. systems according to claim 43, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described first virtual rocking bar in display screen curtain.
45. systems according to claim 43 or 44, wherein, one or more of icons include it is following at least one
It is individual：Mode icon, exit icon or the icon that makes a return voyage automatically.
46. systems according to claim 38, also include：
Icon display module, shows on the display screen at least one icon；
Icon hiding module, when sensing user the second virtual rocking bar being carried out stirring operation, hides in display screen
Individual or multiple icons.
47. systems according to claim 46, wherein, hiding one or more icons in display screen includes hiding aobvious
Near one or more icons of the side of the described second virtual rocking bar in display screen curtain.
48. systems according to claim 46 or 47, wherein, one or more of icons include it is following at least one
It is individual：Playback icon, camera arrange icon, shoot icon, camera/camcorder switching icon or head directional icon.
49. systems according to claim 35, also include：
Icon display module, shows on the display screen hovering icon；
Icon sensing module, senses touch operation of the user to the icon that hovers；And
Virtual rocking bar hidden module, when user is sensed to the touch operation of the icon that hovers, hides virtual rocking bar.
50. systems according to claim 35, also include：
Virtual rocking bar hidden module, is hovering when aircraft current state is received, and user is not sensed in preset time period
Operation be input into when, hide virtual rocking bar.
51. systems according to claim 35, also include：
Deliberate action sensing module, senses the deliberate action of user input；And
Virtual rocking bar hidden module, when user input deliberate action is sensed, hides virtual rocking bar.
A kind of 52. user terminals, including display screen and the system according to any one of claim 18～34, it is described
Display screen is used for operation display interface, and the system is used for the content for controlling to be shown in the display screen.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/100128 WO2018053845A1 (en) | 2016-09-26 | 2016-09-26 | Method and system for controlling unmanned aerial vehicle, and user terminal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106662881A true CN106662881A (en) | 2017-05-10 |
Family
ID=58838493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002303.4A Pending CN106662881A (en) | 2016-09-26 | 2016-09-26 | Control method, system and user terminal for unmanned aircraft |
Country Status (2)
| Country | Link |
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| CN (1) | CN106662881A (en) |
| WO (1) | WO2018053845A1 (en) |
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| WO2018053845A1 (en) | 2018-03-29 |
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