WO2017051961A1 - Appareil terminal et procédé de commande associé - Google Patents

Appareil terminal et procédé de commande associé Download PDF

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Publication number
WO2017051961A1
WO2017051961A1 PCT/KR2015/010201 KR2015010201W WO2017051961A1 WO 2017051961 A1 WO2017051961 A1 WO 2017051961A1 KR 2015010201 W KR2015010201 W KR 2015010201W WO 2017051961 A1 WO2017051961 A1 WO 2017051961A1
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WIPO (PCT)
Prior art keywords
drone
terminal device
unit
input
distance
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PCT/KR2015/010201
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English (en)
Korean (ko)
Inventor
박중태
김남진
홍을표
권태범
Original Assignee
엘지전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 엘지전자 주식회사 filed Critical 엘지전자 주식회사
Priority to PCT/KR2015/010201 priority Critical patent/WO2017051961A1/fr
Priority to KR1020150157761A priority patent/KR20170037476A/ko
Publication of WO2017051961A1 publication Critical patent/WO2017051961A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the present invention relates to a terminal device and a control method.
  • the drone means, for example, an airplane or a helicopter-shaped vehicle in which a person does not ride and is flying by radio wave control signals.
  • cameras embedded in drones are increasingly used to share images taken while flying.
  • the drone operating device is developed from an operation unit of another device, it is inconvenient to intuitively operate the drone.
  • the drone is a flying object, it requires much effort for the user to precisely operate the drone with a general drone manipulation device.
  • Another object is to provide a terminal device and a control method capable of precisely manipulating a drone when necessary.
  • Another object of the present invention is to provide a terminal device and a control method capable of intuitively operating a drone.
  • the control unit includes a communication unit for transmitting and receiving data with the drone, an input unit for receiving a command to adjust the drone, an output unit for outputting a predetermined signal and the control unit;
  • the controller detects an obstacle based on the data received from the drone, calculates a distance between the drone and the obstacle, and controls the output unit to output a preset signal when the calculated distance between the drone and the obstacle is less than or equal to a preset distance.
  • a terminal device for transmitting and receiving data with the drone, an input unit for receiving a command to adjust the drone, an output unit for outputting a predetermined signal and the control unit;
  • the controller detects an obstacle based on the data received from the drone, calculates a distance between the drone and the obstacle, and controls the output unit to output a preset signal when the calculated distance between the drone and the obstacle is less than or equal to a preset distance.
  • the communication unit may receive at least one of image data photographed by the camera of the drone or sensing data sensed by the sensing unit of the drone.
  • the terminal device may further include a display unit which displays the received image data.
  • the controller may move the image data such that a touched point on the displayed image data is displayed at a center point of the display unit.
  • the preset signal may include at least one of a signal for outputting a vibration or a signal for outputting a repulsive force with respect to a direction in which a user applies a force to adjust a drone.
  • the controller may increase the strength of the preset signal as the distance between the drone and the obstacle approaches.
  • the controller may reduce the speed of the drone corresponding to the adjustment displacement of the input unit as the distance between the drone and the obstacle approaches.
  • the controller may control the communication unit to receive location data of the drone from the drone, and calculate a distance between the drone and the terminal device from the location data of the drone.
  • the controller may control the output unit to output the preset signal when the calculated distance between the drone and the terminal device is greater than or equal to a preset distance.
  • the controller may set the preset distance based on a communication range of a method of communicating with the drone.
  • the input unit may be operated in a planar direction, a vertical direction in a vertical direction, and a rotational direction in front, rear, left and right.
  • the input unit When the command is input in the rotation direction and the plane direction, the input unit is configured to recognize the user that the rotation of the rotation direction and the displacement in the plane direction correspond to a preset angular velocity for the circular motion of the drone. It may include a physical function.
  • the controller when the command is input in the vertical direction while the rotation in the rotational direction and the displacement in the planar direction corresponding to the preset angular velocity for the circular motion of the drone are input through the input unit, the controller performs the spiral motion.
  • the communication unit may be controlled to transmit a signal to the drone.
  • the controller may detect the illuminance based on the received sensing data, and reduce the speed of the drone corresponding to the adjustment displacement of the input unit when the detected illuminance is equal to or less than a preset illuminance.
  • the controller may detect a face based on the received image data, and reduce the speed of the drone corresponding to the adjustment displacement of the input unit when the detected face exists.
  • the controller detects the head direction of the drone and the head direction of the terminal device based on the received sensing data, calculates a difference between the head direction of the drone and the head direction of the terminal device, and inputs the input.
  • the calculated difference may be corrected with respect to the direction input through the unit.
  • the step of receiving data from a drone, detecting the obstacle based on the received data and calculating the distance between the drone and the obstacle and the distance between the calculated drone and the obstacle If the distance is less than the predetermined distance provides a control method of a terminal device comprising the step of outputting a predetermined signal.
  • the receiving of the data may include at least one of image data photographed by the camera of the drone or sensing data sensed by the sensing unit of the drone.
  • the preset signal may include at least one of a signal for outputting a vibration or a signal for outputting a repulsive force with respect to a direction in which a user applies a force to adjust a drone.
  • the control method of the terminal device may further include reducing the speed of the drone corresponding to the adjustment displacement of the input unit as the distance between the drone and the obstacle approaches.
  • the drone when an obstacle or an object is recognized, the drone may be precisely controlled.
  • the drone can be precisely controlled when the drone is difficult to observe with the naked eye or when the drone is separated by a certain radius or more.
  • the drone can be controlled in the front, rear, left, right, up, down, and rotation directions by manipulating only one handle.
  • FIG. 1A is a diagram illustrating a terminal device according to the present invention.
  • 1B and 1C are conceptual views of one example of a terminal device, viewed from different directions.
  • FIG. 2 is a diagram illustrating various types of terminal devices for manipulating a drone according to an exemplary embodiment of the present disclosure.
  • FIG. 3 is a view showing an example of the appearance of the drone controlled by the terminal according to an embodiment of the present invention.
  • FIG. 4 is a block diagram of a terminal device according to an exemplary embodiment.
  • FIG. 5 is a diagram illustrating a method of manipulating the movement of a drone using a terminal device according to an exemplary embodiment.
  • FIG. 6 is a diagram for describing a method of operating a camera included in a drone using a terminal device according to an exemplary embodiment.
  • FIG. 7 is a view for explaining a method of operating a camera included in a drone using a terminal device according to another embodiment of the present invention.
  • FIG. 8 is a view for explaining a method of controlling a drone according to the drone speed according to an embodiment of the present invention.
  • FIG. 9 is a diagram illustrating a method of controlling a drone recognizing an obstacle according to an embodiment of the present invention.
  • FIG. 10 is a diagram illustrating a method of controlling a drone according to a communication radius according to an embodiment of the present invention.
  • FIG. 11 is a diagram for describing a method of controlling a drone according to illuminance according to an exemplary embodiment. Referring to FIG. 11
  • FIG. 12 is a diagram illustrating a method of controlling a drone according to sensing of an object according to an embodiment of the present invention.
  • FIG. 13 is a diagram illustrating a physical function of a terminal device configured for a rotary motion of a drone according to an exemplary embodiment of the present disclosure.
  • FIG. 14 is a view for explaining a method of controlling the spiral motion of the drone using one handle of the terminal device according to an embodiment of the present invention.
  • FIG. 15 is a diagram illustrating a method of controlling a drone in a preset pattern according to an embodiment of the present invention.
  • 16 is a diagram illustrating a method of displaying the direction of a drone according to one embodiment of the present invention.
  • 17 is a diagram illustrating a method of detecting a heading direction of a drone according to an embodiment of the present invention.
  • FIG. 18 is a diagram illustrating a method of controlling a drone according to a heading direction of a drone according to one embodiment of the present invention.
  • 19 is a diagram illustrating a method of controlling a drone using a light source according to an embodiment of the present invention.
  • 20 is a flowchart illustrating a method of controlling a terminal device according to an embodiment of the present invention.
  • the mobile terminal device described herein includes a mobile phone, a smart phone, a laptop computer, a terminal device for digital broadcasting, a personal digital assistant, a portable multimedia player, a navigation, and a slate PC.
  • PC tablet PC, ultrabook, wearable device (e.g., watch type smartwatch, smart glass, head mounted display) Etc. may be included.
  • FIG. 1A is a block diagram illustrating a mobile terminal device according to the present invention
  • FIGS. 1B and 1C are conceptual views of one example of the mobile terminal device according to the present invention, viewed from different directions. .
  • the mobile terminal device 100 includes a wireless communication unit 110, an input unit 120, a sensing unit 140, an output unit 150, an interface unit 160, a memory 170, a controller 180, and a power supply unit ( 190) and the like.
  • the components shown in FIG. 1A are not essential to implementing a mobile terminal device, so the mobile terminal device described herein may have more or fewer components than those listed above.
  • the wireless communication unit 110 may include one or more modules for connecting the mobile terminal device 100 to one or more networks.
  • the wireless communication unit 110 may include at least one of the broadcast receiving module 111, the mobile communication module 112, the wireless internet module 113, the short range communication module 114, and the location information module 115. .
  • the input unit 120 may include a camera 121 or an image input unit for inputting an image signal, a microphone 122 for inputting an audio signal, an audio input unit, or a user input unit 123 for receiving information from a user. , Touch keys, mechanical keys, and the like.
  • the voice data or the image data collected by the input unit 120 may be analyzed and processed as a control command of the user.
  • the sensing unit 140 may include one or more sensors for sensing at least one of information in the mobile terminal device, surrounding environment information surrounding the mobile terminal device, and user information.
  • the sensing unit 140 may include a proximity sensor 141, an illumination sensor 142, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, and gravity.
  • Optical sensors e.g. cameras 121), microphones (see 122), battery gauges, environmental sensors (e.g.
  • the mobile terminal device disclosed in the present specification may combine and use information sensed by at least two or more of these sensors.
  • the output unit 150 is used to generate an output related to sight, hearing, or tactile sense, and includes at least one of a display unit 151, an audio output unit 152, a hap tip module 153, and an optical output unit 154. can do.
  • the display unit 151 forms a layer structure with or is integrally formed with the touch sensor, thereby implementing a touch screen.
  • Such a touch screen may function as a user input unit 123 that provides an input interface between the mobile terminal device 100 and the user, and may also provide an output interface between the mobile terminal device 100 and the user.
  • the interface unit 160 serves as a path to various types of external devices connected to the mobile terminal device 100.
  • the interface unit 160 connects a device equipped with a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, and an identification module. It may include at least one of a port, an audio input / output (I / O) port, a video input / output (I / O) port, and an earphone port.
  • I / O audio input / output
  • I / O video input / output
  • earphone port an earphone port
  • the memory 170 stores data supporting various functions of the mobile terminal device 100.
  • the memory 170 may store a plurality of application programs or applications running in the mobile terminal device 100, data for operating the mobile terminal device 100, and instructions. At least some of these applications may be downloaded from an external server via wireless communication. In addition, at least some of these applications may exist on the mobile terminal device 100 from the time of shipment for basic functions (for example, call forwarding, call forwarding, message reception, and call forwarding) of the mobile terminal device 100. have.
  • the application program may be stored in the memory 170, installed on the mobile terminal device 100, and driven by the controller 180 to perform an operation (or function) of the mobile terminal device.
  • the controller 180 In addition to the operation related to the application program, the controller 180 typically controls the overall operation of the mobile terminal device 100.
  • the controller 180 may provide or process information or a function appropriate to a user by processing signals, data, information, and the like, which are input or output through the above-described components, or by driving an application program stored in the memory 170.
  • controller 180 may control at least some of the components described with reference to FIG. 1A in order to drive an application program stored in the memory 170. In addition, the controller 180 may operate by combining at least two or more of the components included in the mobile terminal device 100 to drive the application program.
  • the power supply unit 190 receives power from an external power source and an internal power source under the control of the controller 180 to supply power to each component included in the mobile terminal device 100.
  • the power supply unit 190 includes a battery, which may be a built-in battery or a replaceable battery.
  • At least some of the components may operate in cooperation with each other in order to implement an operation, control, or control method of the mobile terminal apparatus according to various embodiments described below.
  • the operation, control, or control method of the mobile terminal device may be implemented on the mobile terminal device by driving at least one application program stored in the memory 170.
  • the broadcast receiving module 111 of the wireless communication unit 110 receives a broadcast signal and / or broadcast related information from an external broadcast management server through a broadcast channel.
  • the broadcast channel may include a satellite channel and a terrestrial channel.
  • Two or more of the broadcast reception modules may be provided to the mobile terminal device 100 for simultaneous broadcast reception or broadcast channel switching for at least two broadcast channels.
  • the mobile communication module 112 may include technical standards or communication schemes (eg, Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), and EV).
  • GSM Global System for Mobile communication
  • CDMA Code Division Multi Access
  • CDMA2000 Code Division Multi Access 2000
  • EV Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (DO), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced) and the like to transmit and receive a radio signal with at least one of a base station, an external terminal, a server on a mobile communication network.
  • GSM Global System for Mobile communication
  • CDMA Code Division Multi Access
  • CDMA2000 Code Division Multi Access 2000
  • EV Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (DO)
  • WCDMA Wideband CDMA
  • HSDPA High
  • the wireless signal may include various types of data according to transmission and reception of a voice call signal, a video call call signal, or a text / multimedia message.
  • the wireless internet module 113 refers to a module for wireless internet access and may be embedded or external to the mobile terminal device 100.
  • the wireless internet module 113 is configured to transmit and receive wireless signals in a communication network according to wireless internet technologies.
  • wireless Internet technologies include Wireless LAN (WLAN), Wireless-Fidelity (Wi-Fi), Wireless Fidelity (Wi-Fi) Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), and WiMAX (World).
  • the wireless Internet module 113 for performing a wireless Internet access through the mobile communication network 113 May be understood as a kind of mobile communication module 112.
  • the short range communication module 114 is for short range communication, and includes Bluetooth TM, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and NFC. (Near Field Communication), at least one of Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, Wireless USB (Wireless Universal Serial Bus) technology can be used to support short-range communication.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • UWB Ultra Wideband
  • ZigBee ZigBee
  • NFC Near Field Communication
  • Wi-Fi Wireless-Fidelity
  • Wi-Fi Direct Wireless USB (Wireless Universal Serial Bus) technology
  • Such a short-range communication module 114 may move between a mobile terminal device 100 and a wireless communication system, between the mobile terminal device 100 and another mobile terminal device 100, or through a wireless area network. Wireless communication between the terminal device 100 and a network in which the other mobile terminal device 100 or an external server is located may be supported
  • the other mobile terminal device 100 may be a wearable device capable of exchanging (or interworking with) the data with the mobile terminal device 100 according to the present invention, for example, a smartwatch, It may be a smart glass, a head mounted display (HMD).
  • the short range communication module 114 may detect (or recognize) a wearable device that can communicate with the mobile terminal device 100 around the mobile terminal device 100.
  • the controller 180 transmits at least a part of data processed by the mobile terminal apparatus 100 to the near field communication.
  • the module 114 may transmit to the wearable device. Accordingly, the user of the wearable device may use data processed by the mobile terminal apparatus 100 through the wearable device.
  • the user when a call is received by the mobile terminal apparatus 100, the user performs a phone call through the wearable device or when a message is received by the mobile terminal apparatus 100, the user through the wearable device. It is possible to confirm the received message.
  • the location information module 115 is a module for obtaining a location (or current location) of the mobile terminal device.
  • Examples of the location information module 115 include a global positioning system (GPS) module or a wireless fidelity (WiFi) module.
  • GPS global positioning system
  • Wi-Fi wireless fidelity
  • the mobile terminal device can obtain the location of the mobile terminal device using a signal transmitted from a GPS satellite.
  • the mobile terminal device may acquire the location of the mobile terminal device based on the information of the wireless access point (AP) transmitting or receiving the Wi-Fi module and the wireless signal. have.
  • AP wireless access point
  • the location information module 115 may perform any function of other modules of the wireless communication unit 110 to substitute or additionally obtain data regarding the location of the mobile terminal device.
  • the location information module 115 is a module used to obtain a location (or current location) of the mobile terminal device, and is not limited to a module that directly calculates or obtains a location of the mobile terminal device.
  • the input unit 120 is for inputting image information (or signal), audio information (or signal), data, or information input from a user, and for inputting image information, the mobile terminal apparatus 100
  • One or a plurality of cameras 121 may be provided.
  • the camera 121 processes image frames such as still images or moving images obtained by the image sensor in the video call mode or the photographing mode.
  • the processed image frame may be displayed on the display unit 151 or stored in the memory 170.
  • the plurality of cameras 121 provided in the mobile terminal device 100 may be arranged to form a matrix structure, and through the camera 121 forming the matrix structure, the mobile terminal device 100 may have various angles or A plurality of image information having a focus may be input.
  • the plurality of cameras 121 may be arranged in a stereo structure to acquire a left image and a right image for implementing a stereoscopic image.
  • the microphone 122 processes external sound signals into electrical voice data.
  • the processed voice data may be variously used according to a function (or an application program being executed) performed by the mobile terminal device 100. Meanwhile, various noise reduction algorithms may be implemented in the microphone 122 to remove noise generated in the process of receiving an external sound signal.
  • the user input unit 123 is for receiving information from a user. When information is input through the user input unit 123, the controller 180 may control an operation of the mobile terminal device 100 to correspond to the input information. have.
  • the user input unit 123 may be a mechanical input unit (or a mechanical key, for example, a button, a dome switch, or a jog wheel located on the front, rear, or side surfaces of the mobile terminal device 100). , Jog switch, etc.) and touch input means.
  • the touch input means may include a virtual key, a soft key, or a visual key displayed on the touch screen through a software process, or a portion other than the touch screen. It may be made of a touch key disposed in the.
  • the virtual key or the visual key may be displayed on the touch screen while having various forms, for example, graphic, text, icon, video, or the like. It can be made of a combination of.
  • the sensing unit 140 senses at least one of information in the mobile terminal device, surrounding environment information surrounding the mobile terminal device, and user information, and generates a sensing signal corresponding thereto.
  • the controller 180 may control driving or operation of the mobile terminal device 100 or perform data processing, function or operation related to an application program installed in the mobile terminal device 100 based on the sensing signal. Representative sensors among various sensors that may be included in the sensing unit 140 will be described in more detail.
  • the proximity sensor 141 refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object present in the vicinity without using a mechanical contact by using an electromagnetic force or infrared rays.
  • the proximity sensor 141 may be disposed in an inner region of the mobile terminal device covered by the touch screen described above or near the touch screen.
  • the proximity sensor 141 examples include a transmission photoelectric sensor, a direct reflection photoelectric sensor, a mirror reflection photoelectric sensor, a high frequency oscillation proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor.
  • the proximity sensor 141 may be configured to detect the proximity of the object by the change of the electric field according to the proximity of the conductive object.
  • the touch screen (or touch sensor) itself may be classified as a proximity sensor.
  • the proximity sensor 141 may detect a proximity touch and a proximity touch pattern (for example, a proximity touch distance, a proximity touch direction, a proximity touch speed, a proximity touch time, a proximity touch position, and a proximity touch movement state). have.
  • the controller 180 processes data (or information) corresponding to the proximity touch operation and the proximity touch pattern detected through the proximity sensor 141 as described above, and further, provides visual information corresponding to the processed data. It can be output on the touch screen. Further, the controller 180 may control the mobile terminal device 100 to process different operations or data (or information) according to whether the touch on the same point on the touch screen is a proximity touch or a touch touch. have.
  • the touch sensor applies a touch (or touch input) applied to the touch screen (or the display unit 151) using at least one of various touch methods such as a resistive film method, a capacitive method, an infrared method, an ultrasonic method, and a magnetic field method. Detect.
  • the touch sensor may be configured to convert a change in pressure applied to a specific portion of the touch screen or capacitance generated at the specific portion into an electrical input signal.
  • the touch sensor may be configured to detect a position, an area, a pressure at the touch, a capacitance at the touch, and the like, when the touch object applying the touch on the touch screen is touched on the touch sensor.
  • the touch object is an object applying a touch to the touch sensor and may be, for example, a finger, a touch pen or a stylus pen, a pointer, or the like.
  • the touch controller processes the signal (s) and then transmits the corresponding data to the controller 180.
  • the controller 180 can know which area of the display unit 151 is touched.
  • the touch controller may be a separate component from the controller 180 or may be the controller 180 itself.
  • the controller 180 may perform different control or perform the same control according to the type of touch object that touches the touch screen (or a touch key provided in addition to the touch screen). Whether to perform different control or the same control according to the type of touch object may be determined according to an operation state of the mobile terminal device 100 or an application program being executed.
  • the touch sensor and the proximity sensor described above may be independently or combined, and may be a short (or tap) touch, a long touch, a multi touch, a drag touch on a touch screen. ), Flick touch, pinch-in touch, pinch-out touch, swipe touch, hovering touch, etc. A touch can be sensed.
  • the ultrasonic sensor may recognize location information of a sensing object using ultrasonic waves.
  • the controller 180 can calculate the position of the wave generation source through the information detected from the optical sensor and the plurality of ultrasonic sensors.
  • the position of the wave source can be calculated using the property that the light is much faster than the ultrasonic wave, that is, the time that the light reaches the optical sensor is much faster than the time when the ultrasonic wave reaches the ultrasonic sensor. More specifically, the position of the wave generation source may be calculated using a time difference from the time when the ultrasonic wave reaches the light as the reference signal.
  • the camera 121 which has been described as the configuration of the input unit 120, includes at least one of a camera sensor (eg, CCD, CMOS, etc.), a photo sensor (or image sensor), and a laser sensor.
  • a camera sensor eg, CCD, CMOS, etc.
  • a photo sensor or image sensor
  • a laser sensor e.g., a laser sensor
  • the camera 121 and the laser sensor may be combined with each other to detect a touch of a sensing object with respect to a 3D stereoscopic image.
  • the photo sensor may be stacked on the display element, which is configured to scan the movement of the sensing object in proximity to the touch screen. More specifically, the photo sensor mounts a photo diode and a transistor (TR) in a row / column and scans contents mounted on the photo sensor by using an electrical signal that varies according to the amount of light applied to the photo diode. That is, the photo sensor calculates coordinates of the sensing object according to the amount of light change, and thus, the position information of the sensing object can be obtained.
  • TR transistor
  • the display unit 151 displays (outputs) information processed by the mobile terminal device 100.
  • the display unit 151 may display execution screen information of an application program driven by the mobile terminal device 100 or user interface (UI) and graphical user interface (GUI) information according to the execution screen information.
  • UI user interface
  • GUI graphical user interface
  • the display unit 151 may be configured as a stereoscopic display unit for displaying a stereoscopic image.
  • the stereoscopic display unit may be a three-dimensional display method such as a stereoscopic method (glasses method), an auto stereoscopic method (glasses-free method), a projection method (holographic method).
  • the sound output unit 152 may output audio data received from the wireless communication unit 110 or stored in the memory 170 in a call signal reception, a call mode or a recording mode, a voice recognition mode, a broadcast reception mode, and the like.
  • the sound output unit 152 may also output a sound signal related to a function (eg, a call signal reception sound, a message reception sound, etc.) performed by the mobile terminal device 100.
  • the sound output unit 152 may include a receiver, a speaker, a buzzer, and the like.
  • the haptic module 153 generates various haptic effects that a user can feel.
  • a representative example of the tactile effect generated by the haptic module 153 may be vibration.
  • the intensity and pattern of vibration generated by the haptic module 153 may be controlled by the user's selection or the setting of the controller. For example, the haptic module 153 may synthesize different vibrations and output or sequentially output them.
  • the haptic module 153 may be used to stimulate pins that vertically move with respect to the contact skin surface, jetting force or suction force of air through the jetting or suction port, grazing to the skin surface, contact of electrodes, and electrostatic force
  • Various tactile effects can be generated, such as effects by the endothermic and the reproduction of a sense of cold using the elements capable of endothermic heat generation.
  • the haptic module 153 may not only deliver a tactile effect through direct contact, but also may allow a user to feel the tactile effect through a muscle sense such as a finger or an arm. Two or more haptic modules 153 may be provided according to a configuration aspect of the mobile terminal device 100.
  • the light output unit 154 outputs a signal for notifying occurrence of an event by using light of a light source of the mobile terminal device 100.
  • Examples of events generated in the mobile terminal device 100 may include message reception, call signal reception, missed call, alarm, schedule notification, email reception, information reception through an application, and the like.
  • the signal output from the light output unit 154 is implemented as the mobile terminal device emits light of a single color or a plurality of colors to the front or the rear.
  • the signal output may be terminated by the mobile terminal device detecting the user's event confirmation.
  • the interface unit 160 serves as a path to all external devices connected to the mobile terminal device 100.
  • the interface unit 160 receives data from an external device, receives power, transfers the power to each component inside the mobile terminal device 100, or transmits data within the mobile terminal device 100 to an external device.
  • the port, audio input / output (I / O) port, video input / output (I / O) port, earphone port, etc. may be included in the interface unit 160.
  • the identification module is a chip that stores a variety of information for authenticating the use rights of the mobile terminal device 100, a user identification module (UIM), subscriber identity module (SIM), universal user A universal subscriber identity module (USIM) or the like.
  • a device equipped with an identification module (hereinafter referred to as an 'identification device') may be manufactured in the form of a smart card. Accordingly, the identification device may be connected to the terminal device 100 through the interface unit 160.
  • the interface unit 160 may be a passage through which power from the cradle is supplied to the mobile terminal device 100 when the mobile terminal device 100 is connected to an external cradle, or is provided by the user in the cradle.
  • Various command signals inputted may be passages to the mobile terminal apparatus 100.
  • Various command signals or power input from the cradle may operate as signals for recognizing that the mobile terminal device 100 is correctly mounted on the cradle.
  • the memory 170 may store a program for the operation of the controller 180 and may temporarily store input / output data (for example, a phone book, a message, a still image, a video, etc.).
  • the memory 170 may store data regarding vibration and sound of various patterns output when a touch input on the touch screen is performed.
  • the memory 170 may include a flash memory type, a hard disk type, a solid state disk type, an SSD type, a silicon disk drive type, and a multimedia card micro type. ), Card-type memory (e.g., SD or XD memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read It may include at least one type of storage medium of -only memory (PROM), programmable read-only memory (PROM), magnetic memory, magnetic disk and optical disk.
  • the mobile terminal device 100 may be operated in connection with a web storage that performs a storage function of the memory 170 on the Internet.
  • the controller 180 controls the operation related to the application program and the general operation of the mobile terminal device 100. For example, if the state of the mobile terminal device satisfies a set condition, the controller 180 may execute or release a lock state that restricts input of a user's control command to applications.
  • controller 180 may perform control and processing related to voice call, data communication, video call, or the like, or may perform pattern recognition processing for recognizing handwriting input or drawing input performed on a touch screen as text and images, respectively. Can be. Furthermore, the controller 180 may control any one or a plurality of components described above in order to implement various embodiments described below on the mobile terminal device 100 according to the present invention.
  • the power supply unit 190 receives an external power source and an internal power source under the control of the controller 180 to supply power for operation of each component.
  • the power supply unit 190 may include a battery, and the battery may be a built-in battery configured to be rechargeable, and may be detachably coupled to the terminal device body for charging.
  • the power supply unit 190 may be provided with a connection port, the connection port may be configured as an example of the interface 160 is electrically connected to the external charger for supplying power for charging the battery.
  • the power supply unit 190 may be configured to charge the battery in a wireless manner without using the connection port.
  • the power supply unit 190 uses one or more of an inductive coupling based on a magnetic induction phenomenon or a magnetic resonance coupling based on an electromagnetic resonance phenomenon from an external wireless power transmitter. Power can be delivered.
  • various embodiments of the present disclosure may be implemented in a recording medium readable by a computer or a similar device using, for example, software, hardware, or a combination thereof.
  • the disclosed mobile terminal device 100 includes a bar terminal body.
  • the present invention is not limited thereto, and the present invention can be applied to various structures such as a watch type, a clip type, a glass type, or a folder type, a flip type, a slide type, a swing type, a swivel type, and two or more bodies which are coupled to be movable relative.
  • a description of a particular type of mobile terminal device may generally apply to other types of mobile terminal devices.
  • the terminal device body may be understood as a concept of referring to the mobile terminal device 100 as at least one aggregate.
  • the mobile terminal device 100 includes a case (eg, a frame, a housing, a cover, etc.) forming an appearance. As shown, the mobile terminal device 100 may include a front case 101 and a rear case 102. Various electronic components are disposed in the internal space formed by the combination of the front case 101 and the rear case 102. At least one middle case may be additionally disposed between the front case 101 and the rear case 102.
  • a case eg, a frame, a housing, a cover, etc.
  • the mobile terminal device 100 may include a front case 101 and a rear case 102.
  • Various electronic components are disposed in the internal space formed by the combination of the front case 101 and the rear case 102.
  • At least one middle case may be additionally disposed between the front case 101 and the rear case 102.
  • the display unit 151 may be disposed on the front surface of the terminal device body to output information. As illustrated, the window 151a of the display unit 151 may be mounted to the front case 101 to form the front surface of the terminal device body together with the front case 101.
  • an electronic component may be mounted on the rear case 102.
  • Electronic components attachable to the rear case 102 include a removable battery, an identification module, a memory card, and the like.
  • the rear cover 102 may be detachably coupled to the rear case 102 to cover the mounted electronic component. Therefore, when the rear cover 103 is separated from the rear case 102, the electronic components mounted on the rear case 102 are exposed to the outside.
  • the rear cover 103 when the rear cover 103 is coupled to the rear case 102, a portion of the side surface of the rear case 102 may be exposed. In some cases, the rear case 102 may be completely covered by the rear cover 103 during the coupling. On the other hand, the rear cover 103 may be provided with an opening for exposing the camera 121b or the sound output unit 152b to the outside.
  • the cases 101, 102, and 103 may be formed by injecting a synthetic resin, or may be formed of a metal, for example, stainless steel (STS), aluminum (Al), titanium (Ti), or the like.
  • STS stainless steel
  • Al aluminum
  • Ti titanium
  • the mobile terminal device 100 may be configured such that one case may provide the internal space, unlike the above example in which a plurality of cases provide an internal space for accommodating various electronic components.
  • the mobile terminal device 100 of the unibody in which the synthetic resin or metal from the side to the rear may be implemented.
  • the mobile terminal device 100 may include a waterproof unit (not shown) to prevent water from penetrating into the terminal device body.
  • the waterproof portion is provided between the window 151a and the front case 101, between the front case 101 and the rear case 102 or between the rear case 102 and the rear cover 103, and a combination thereof. It may include a waterproof member for sealing the inner space.
  • the mobile terminal device 100 includes a display unit 151, first and second sound output units 152a and 152b, a proximity sensor 141, an illuminance sensor 142, an optical output unit 154, and a first and second units.
  • the second camera 121a and 121b, the first and second manipulation units 123a and 123b, the microphone 122, and the interface unit 160 may be provided.
  • the display unit 151, the first sound output unit 152a, the proximity sensor 141, the illuminance sensor 142, and the light output unit may be disposed on the front surface of the terminal device body.
  • the first camera 121a and the first operation unit 123a are disposed, and the second operation unit 123b, the microphone 122, and the interface unit 160 are disposed on the side of the terminal device body.
  • the mobile terminal device 100 in which the second sound output unit 152b and the second camera 121b are disposed on the rear surface of the terminal device body will be described as an example.
  • first operation unit 123a may not be provided on the front surface of the terminal device body, and the second sound output unit 152b may be provided on the side of the terminal device body instead of the rear surface of the terminal device body. .
  • the display unit 151 displays (outputs) information processed by the mobile terminal device 100.
  • the display unit 151 may display execution screen information of an application program driven by the mobile terminal device 100 or user interface (UI) and graphical user interface (GUI) information according to the execution screen information.
  • UI user interface
  • GUI graphical user interface
  • the display unit 151 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (flexible display). display, a 3D display, or an e-ink display.
  • LCD liquid crystal display
  • TFT LCD thin film transistor-liquid crystal display
  • OLED organic light-emitting diode
  • flexible display flexible display
  • display a 3D display, or an e-ink display.
  • two or more display units 151 may exist according to an implementation form of the mobile terminal apparatus 100.
  • the plurality of display units may be spaced apart or integrally disposed on one surface of the mobile terminal device 100, or may be disposed on different surfaces.
  • the display unit 151 may include a touch sensor that senses a touch on the display unit 151 so as to receive a control command by a touch method.
  • the touch sensor may sense the touch, and the controller 180 may generate a control command corresponding to the touch based on the touch sensor.
  • the content input by the touch method may be letters or numbers or menu items that can be indicated or designated in various modes.
  • the touch sensor is formed of a film having a touch pattern and disposed between the window 151a and the display (not shown) on the rear surface of the window 151a or directly patterned on the rear surface of the window 151a. May be Alternatively, the touch sensor may be integrally formed with the display. For example, the touch sensor may be disposed on a substrate of the display or provided in the display.
  • the display unit 151 may form a touch screen together with the touch sensor.
  • the touch screen may function as the user input unit 123 (see FIG. 1A).
  • the touch screen may replace at least some functions of the first manipulation unit 123a.
  • the first sound output unit 152a may be implemented as a receiver for transmitting a call sound to the user's ear, and the second sound output unit 152b may be a loud speaker for outputting various alarm sounds or multimedia reproduction sounds. It can be implemented in the form of).
  • a sound hole for emitting sound generated from the first sound output unit 152a may be formed in the window 151a of the display unit 151.
  • the present invention is not limited thereto, and the sound may be configured to be emitted along an assembly gap between the structures (for example, a gap between the window 151a and the front case 101).
  • an externally formed hole may be invisible or hidden for sound output, thereby simplifying the appearance of the mobile terminal device 100.
  • the light output unit 154 is configured to output light for notifying when an event occurs. Examples of the event may include message reception, call signal reception, missed call, alarm, schedule notification, email reception, information reception through an application, and the like.
  • the controller 180 may control the light output unit 154 to end the light output.
  • the first camera 121a processes an image frame of a still image or a moving image obtained by the image sensor in a shooting mode or a video call mode.
  • the processed image frame may be displayed on the display unit 151 and stored in the memory 170.
  • the first and second manipulation units 123a and 123b are examples of a user input unit 123 that is manipulated to receive a command for controlling an operation of the mobile terminal device 100 and may also be referred to as a manipulating portion. Can be.
  • the first and second manipulation units 123a and 123b may be adopted in any manner as long as the user is tactile manner such as touch, push, scroll, and the like while the user is tactile.
  • the first and second manipulation units 123a and 123b may be employed in such a manner that the first and second manipulation units 123a and 123b are operated without a tactile feeling by the user through proximity touch, hovering touch, or the like.
  • the first operation unit 123a is illustrated as being a touch key, but the present invention is not limited thereto.
  • the first manipulation unit 123a may be a mechanical key or a combination of a touch key and a push key.
  • the contents input by the first and second manipulation units 123a and 123b may be variously set.
  • the first operation unit 123a receives a command such as a menu, a home key, a cancellation, a search, etc.
  • the second operation unit 123b is output from the first or second sound output units 152a and 152b.
  • the user may receive a command such as adjusting the volume of the sound and switching to the touch recognition mode of the display unit 151.
  • a rear input unit (not shown) may be provided on the rear surface of the terminal device body.
  • the rear input unit is manipulated to receive a command for controlling the operation of the mobile terminal device 100, and the input content may be variously set. For example, commands such as power on / off, start, end, scroll, etc., control of the volume of sound output from the first and second sound output units 152a and 152b, and the touch recognition mode of the display unit 151. Commands such as switching can be received.
  • the rear input unit may be implemented in a form capable of input by touch input, push input, or a combination thereof.
  • the rear input unit may be disposed to overlap the front display unit 151 in the thickness direction of the terminal device body.
  • the rear input unit may be disposed at the rear upper end of the terminal device body so that the user can easily manipulate the index device body by using the index finger.
  • the present invention is not necessarily limited thereto, and the position of the rear input unit may be changed.
  • the touch screen or the rear input unit described above replaces at least some functions of the first operation unit 123a provided on the front of the terminal device body, and thus the first operation unit 123a is not disposed on the front of the terminal device body.
  • the display unit 151 may be configured with a larger screen.
  • the mobile terminal device 100 may be provided with a fingerprint recognition sensor for recognizing a user's fingerprint, and the controller 180 may use fingerprint information detected through the fingerprint recognition sensor as an authentication means.
  • the fingerprint recognition sensor may be embedded in the display unit 151 or the user input unit 123.
  • the microphone 122 is configured to receive a user's voice, other sounds, and the like.
  • the microphone 122 may be provided at a plurality of locations and configured to receive stereo sound.
  • the interface unit 160 serves as a path for connecting the mobile terminal device 100 to an external device.
  • the interface unit 160 may be connected to another device (eg, an earphone or an external speaker), a port for short-range communication (for example, an infrared port (IrDA Port), or a Bluetooth port (Bluetooth). Port, Wireless LAN Port, etc.], or at least one of a power supply terminal for supplying power to the mobile terminal device 100.
  • the interface unit 160 may be implemented in the form of a socket for receiving an external card such as a subscriber identification module (SIM) or a user identity module (UIM), a memory card for storing information.
  • SIM subscriber identification module
  • UIM user identity module
  • the second camera 121b may be disposed on the rear surface of the terminal device body. In this case, the second camera 121b has a photographing direction substantially opposite to that of the first camera 121a.
  • the second camera 121b may include a plurality of lenses arranged along at least one line.
  • the plurality of lenses may be arranged in a matrix format.
  • Such a camera may be referred to as an 'array camera'.
  • the second camera 121b is configured as an array camera, images may be photographed in various ways using a plurality of lenses, and images of better quality may be obtained.
  • the flash 124 may be disposed adjacent to the second camera 121b.
  • the flash 124 shines light toward the subject when the subject is photographed by the second camera 121b.
  • the second sound output unit 152b may be additionally disposed in the terminal device body.
  • the second sound output unit 152b may implement a stereo function together with the first sound output unit 152a and may be used to implement a speakerphone mode during a call.
  • the terminal device body may be provided with at least one antenna for wireless communication.
  • the antenna may be embedded in the terminal device body or formed in the case.
  • an antenna that forms part of the broadcast receiving module 111 (refer to FIG. 1A) may be configured to be pulled out from the terminal device body.
  • the antenna may be formed in a film type and attached to the inner side of the rear cover 103, or may be configured such that a case including a conductive material functions as an antenna.
  • the terminal device body is provided with a power supply unit 190 (see FIG. 1A) for supplying power to the mobile terminal device 100.
  • the power supply unit 190 may include a battery 191 embedded in the terminal device body or detachably configured from the outside of the terminal device body.
  • the battery 191 may be configured to receive power through a power cable connected to the interface unit 160.
  • the battery 191 may be configured to enable wireless charging through a wireless charger.
  • the wireless charging may be implemented by a magnetic induction method or a resonance method (magnetic resonance method).
  • the rear cover 103 is coupled to the rear case 102 to cover the battery 191 to limit the detachment of the battery 191 and to protect the battery 191 from external shock and foreign matter.
  • the rear cover 103 may be detachably coupled to the rear case 102.
  • An accessory may be added to the mobile terminal device 100 to protect the appearance or to assist or expand the function of the mobile terminal device 100.
  • An example of such an accessory may be a cover or pouch that covers or accommodates at least one surface of the mobile terminal device 100.
  • the cover or pouch may be configured to interoperate with the display unit 151 to expand a function of the mobile terminal device 100.
  • Another example of the accessory may be a touch pen for assisting or extending a touch input to a touch screen.
  • FIG. 2 is a diagram illustrating various types of terminal devices for manipulating a drone according to an exemplary embodiment of the present disclosure.
  • the terminal device 100-1 is a drone operating device for operating a drone.
  • the existing terminal device for manipulating a drone includes a handle for manipulating up and down directions and a handle for manipulating front, rear, left, and right directions, and includes various buttons for performing rotation or other functions. Therefore, the user is not intuitive and has many difficulties in operating the drone.
  • the terminal device 100-1 illustrated in FIG. 2A may include a handle 10 and a manipulation handle 120.
  • the operation handle may be operated in six axes in the front, rear, left, and right directions, and up and down directions.
  • the operation handle can be rotated. Therefore, the user can operate the drone using one operation handle. Further, when the user moves the operation handle forward, the drone also moves forward, and when the user moves the operation handle upward, the drone can also be raised. Therefore, the user can operate the drone using the terminal device 100-1 in an intuitive and convenient manner.
  • the terminal device 100-1 may also include a display unit.
  • the display unit may be disposed on an upper surface of the manipulation handle 120.
  • the display unit may display an image photographed by the drone's camera.
  • the display unit may receive a touch gesture, the user may operate the drone's camera by touching the display unit. The drone camera operation method will be described later.
  • the terminal device 100-2 shown in FIG. 2B may also include a manipulation handle 120 and a handle part 10. Since the handle part 10 of the terminal device 100-2 shown in FIG. 2B protrudes long, it may be convenient for a user to hold the terminal device 100-2.
  • the terminal device 100-2 may not include a display unit. Instead, the terminal device 100-2 may include a function for mounting an external display device such as a smartphone.
  • the meaning of including a function for mounting an external display device means that a component, a tool or a device, etc., in which a function for mounting an external display device may be implemented may be implemented.
  • the external display device may transmit and receive a signal related to image data with a drone
  • the terminal device 100-2 may transmit and receive a signal related to motion data with a drone.
  • the manipulation handle 120 of FIG. 2B may be disposed on the handle 10, and the operation of the manipulation handle 120 may be the same as described with reference to FIG. 2A.
  • the terminal device 100-3 illustrated in FIG. 2C may also include a manipulation handle 120 and a handle 10.
  • the terminal device 100-3 of FIG. 2C may include a display unit.
  • the display unit may be disposed in the region of the handle 10, or may be disposed on an upper surface of the manipulation handle 120. Operation of the manipulation handle 120 of FIG. 2C may be the same as described above.
  • FIG. 3 is a view showing an example of the appearance of the drone controlled by the terminal according to an embodiment of the present invention.
  • the drone 300 may include a propeller guard 310, a propeller 320, a main body 330, a camera 340, and the like.
  • the scope of the present invention is not limited to the shape of the drone 300 shown in FIG. 3. That is, the present invention can be applied to various helicopter-type or airplane-type drones, such as a tricopter using three propellers, a quadcopter using four propellers and an octacopter using eight propellers as shown in FIG. 3. Do.
  • Propeller guard 310 is a configuration for preventing a person or animal injuries due to the operation of the propeller 320, it can be omitted.
  • the propeller 320 and the camera 340 operate in response to a control signal of the main body 330, and the main body 330 includes a wireless communication module capable of communicating with a mobile terminal.
  • the camera 340 may control a detailed motion by using a control signal different from the control signal of the main body 330.
  • FIG. 4 is a block diagram of a terminal device according to an exemplary embodiment.
  • the terminal device 100a may include a communication unit 110, an input unit 120, an output unit 150, and a controller 180.
  • the terminal device 100a may include fewer or more components, and one component illustrated in FIG. 4 may be implemented as two or more components. 2 or more components shown in FIG. 4 may be implemented as one component.
  • the communication unit 110 may transmit and receive data with the drone.
  • the communication unit 110 may receive at least one of image data photographed by a camera of the drone or sensing data sensed by the sensing unit of the drone.
  • the communicator 110 may receive data such as location information and flight information of the drone, and may transmit data such as a movement command.
  • the terminal device 100a may further include a display unit. When the terminal device 100a includes the display unit, the terminal device 100a may further receive image information from the drone. In addition, the terminal device 100a may display the received image information on the display unit.
  • the input unit 120 may receive a command for adjusting the drone.
  • the input unit 120 may be implemented in the same form as the above-described manipulation handle.
  • the input unit 120 may be implemented as a single handle, and may be manipulated in six directions of front, rear, left, right, up, and down.
  • the input unit 120 may be operated in a rotational direction in addition to the six-axis direction.
  • the command corresponding to the direction input from the input unit 120 may be transmitted to the drone through the communication unit 110.
  • the drone can move according to the command sent. For example, when a backward command is input through the input unit 120, the drone may fly backward.
  • the drone can fly in the front, back, left, and right directions in the plane direction in response to the commands in the front, back, left, and right directions.
  • the drone may fly in the vertical direction in the vertical direction in response to the command in the up and down directions.
  • the drone may fly in place to respond to a command in the direction of rotation.
  • the input unit 120 may simultaneously receive operation commands for a plurality of directions. For example, the input unit 120 may be manipulated in all directions and upwards. The drone may move forward in response to the command entered.
  • the controller 180 may detect an obstacle and calculate a distance between the drone and the obstacle based on the data received from the drone.
  • the drone may find obstacles within a certain distance.
  • the drone may transmit a signal to the terminal device 100a when the distance to the obstacle is within a preset distance.
  • the drone may determine whether the drone is within a preset distance based on the distance information received by the terminal device 100a.
  • the drone may transmit the detected information to the terminal device 100a and calculate the presence or absence of an obstacle and a distance from the obstacle based on the information received by the terminal device 100a.
  • the controller 180 may control the output unit 180 to output a preset signal.
  • the preset signal may include a signal for outputting a vibration or a signal for outputting a repulsive force with respect to a direction in which a user applies a force to adjust a drone.
  • the output unit 150 may output a preset signal.
  • the drone may fly in response to the direction input from the terminal device 100a.
  • the terminal device 100a may detect an obstacle and calculate a distance between the drone and the obstacle.
  • the output unit 150 may output a signal for outputting vibration under the control of the controller 180. That is, the output unit 150 may output a vibration.
  • the terminal device can output the haptic effect. Therefore, the user may feel vibration when the drone approaches the obstacle within a predetermined distance.
  • the output unit 150 may output a signal for outputting a repulsive force for the direction in which the user applies a force to adjust the drone. That is, the output unit 150 may output a repulsive force with respect to the manipulation direction of the user.
  • the input unit 120 may include a mechanical or electrical spring or a small hydraulic device.
  • the terminal device 100a may control the spring to apply a force in the opposite direction in which the user manipulates the input unit 120. Therefore, when the user manipulates the input unit 120, the user may feel as if an obstacle actually exists.
  • FIG. 5 is a diagram illustrating a method of manipulating the movement of a drone using a terminal device according to an exemplary embodiment.
  • the terminal device may include an input unit 120.
  • the input unit 120 may be implemented in the form of a handle that can move in the six axis direction.
  • the input unit 120 may rotate.
  • the drone may move in response to the manipulation of the input unit 120.
  • an operation signal may be transmitted to the drone through the communication unit.
  • the drone may move forward in response to the received manipulation signal.
  • the operation signal may be transmitted to the drone.
  • the drone may move leftward in response to the received operation signal.
  • the input unit 120 may be operated in a planar direction of the front, rear, left and right directions, and the drone may move in a direction corresponding to the received operation signal.
  • the input unit 120 manipulated in the vertical direction and the rotation direction is illustrated.
  • the drone may move in response to the operation signal received from the terminal device. For example, when the input unit 120 is operated upward, the drone may receive an operation signal and move upward. Alternatively, when the input unit 120 is operated in the rotation direction, the drone may receive an operation signal and rotate in place.
  • the terminal device may include a display unit.
  • the display unit may receive a touch gesture.
  • the touch gesture input through the display unit may control the drone's camera.
  • FIG. 6 is a diagram for describing a method of operating a camera included in a drone using a terminal device according to an exemplary embodiment.
  • the display unit 151 of the terminal device is illustrated.
  • the drone's camera can shoot video.
  • the drone may transmit the captured image data to the terminal device.
  • the terminal device can display the transmitted image data on the display unit 151.
  • the display device 151 may receive a touch gesture.
  • the display device 151 may receive a swipe gesture moving upward.
  • the swipe gesture may refer to a gesture of touching a point of the display unit and moving in one direction while maintaining the touch.
  • the swipe gesture may include a drag gesture, a flicking gesture, and the like.
  • the display unit 151 receives a swipe gesture of moving upward, the drone's camera may move downward.
  • the camera of the drone moves downward, the screen moved upward from the displayed screen may be displayed on the display unit 151.
  • the display unit 151 receives a swipe gesture that moves in the right direction, the camera of the drone may move in the left direction.
  • a screen moved in a relatively right direction from the displayed screen may be displayed on the display unit 151.
  • the display device 151 may receive a pinch-out gesture for enlarging the screen.
  • the drone's camera may execute a zoom-in operation in response to the input gesture.
  • the display device 151 may receive a pinch-in gesture for reducing the screen.
  • the drone's camera may execute a zoom-out operation in response to an input gesture. That is, the terminal device may control the drone's camera based on the touch gesture input on the display unit 151.
  • FIG. 7 is a view for explaining a method of operating a camera included in a drone using a terminal device according to another embodiment of the present invention.
  • a display unit 151 of a terminal device displaying received image data is illustrated.
  • the drone's camera may capture an image.
  • the drone may transmit the captured image data to the terminal device.
  • the display unit 151 of the terminal device may display the received image data.
  • the user may touch any area of the display unit 151.
  • the display unit 151 in which the displayed screen area is changed is illustrated.
  • the display unit 151 may receive a touch gesture.
  • the terminal device can transmit information about the touched area to the drone.
  • the terminal device may include relative coordinate information of the displayed screen.
  • the terminal device can obtain coordinate information about the touched area.
  • the terminal device 100 may transmit information for correcting the acquired coordinate information to the coordinate information of the center.
  • the drone may control the camera such that the coordinate point acquired by the terminal device becomes a center point of the image captured by the camera based on the information received from the terminal device.
  • the display unit 151 may display a screen on which the touched point moves to the center point. That is, the terminal device can move the image data by controlling the camera such that the touch point on the screen is the center point of the screen.
  • FIG. 8 is a view for explaining a method of controlling a drone according to the drone speed according to an embodiment of the present invention.
  • FIG. 8A illustrates a terminal device 100 that controls the drone 300 when the drone 300 moves at a low speed.
  • the input unit of the terminal device 100 may be implemented with one handle.
  • one handle may be connected to an output unit capable of outputting a preset signal according to a preset condition.
  • the output unit may output a repulsive force in a direction opposite to the direction of vibration or input.
  • the output may be implemented by mechanical or electrical springs.
  • the input unit may return to its original position when the input force including the spring disappears.
  • the terminal device 100 and the drone 300 illustrated in FIG. 8A may refer to a general state.
  • FIG. 8B illustrates a terminal device 100 that controls the drone 300 when the drone 300 moves at high speed.
  • the drone 300 may not be able to abruptly change direction.
  • the control of the drone 300 may be restricted.
  • a user who operates the terminal device 100 may not recognize the speed or difficulty of controlling the drone 300. Therefore, the terminal device 100 may output a repulsive force in a direction opposite to the direction in which the input unit is manipulated through the output unit.
  • the terminal device 100 may output a repulsive force to inform the user that the drone 300 is moving at high speed, and prevent drastic control of the drone.
  • the division of low speed or high speed may be set by the manufacturer or the user.
  • the high speed may be set when the speed of the drone is greater than 50 km / h, and the low speed may be set when it is smaller than 50 km / h.
  • the terminal device 100 may increase the magnitude of the repulsive force in proportion to the speed of the drone 300.
  • FIG. 9 is a diagram illustrating a method of controlling a drone recognizing an obstacle according to an embodiment of the present invention.
  • the user may control the drone 300 through the terminal device 100. Therefore, the user may not be fully aware of the surrounding situation of the drone 300. For example, when an obstacle 11 is present in front of the drone 300, when the user does not recognize the obstacle 11, the drone 300 may collide with the obstacle 11. Therefore, when the obstacle 11 exists around the drone 300, the terminal device 100 may output a preset signal to the user.
  • the drone 300 may photograph an obstacle 11 existing using a camera.
  • the drone 300 may transmit photographing data to the terminal device 100.
  • the terminal device 100 may calculate the distance between the obstacle 11 and the obstacle 11 and the drone 300 based on the data received from the drone.
  • the drone 300 may detect the obstacle 11 and transmit the detected information to the terminal device 100 or calculate a distance between the obstacles 11 and transmit the detected information to the terminal device 100.
  • the drone 300 may detect the obstacle 11 using the sensing unit.
  • the sensing unit may include an infrared sensor, an ultrasonic sensor, and the like.
  • the drone 300 may transmit the sensed information to the terminal device 100, transmit the determined information by determining whether the obstacle 11 exists, or transmit the calculated information by calculating the distance between the obstacles 11. .
  • the terminal device 100 may output a preset signal based on the distance between the obstacles 11. For example, the terminal device 100 may output a vibration signal when the distance between the obstacle 11 and the drone 300 including the vibration motor is within a preset distance. Alternatively, the terminal device 100 may increase the strength of the vibration signal as the distance between the obstacle 11 and the drone 300 is closer. That is, the terminal device 100 may output the haptic effect to the user according to the obstacle 11 or the distance between the obstacle 11 and the drone 300.
  • the terminal device 100 may output a repulsive force in a direction opposite to the direction in which the input unit is manipulated through the output unit.
  • the terminal device 100 may output a repulsive force to inform the user that the drone 300 is approaching the obstacle 11.
  • the terminal device 100 may adjust the speed ratio of the drone 300 according to the input of the input unit. For example, in a general situation, the terminal device 100 may adjust the speed of the drone 300 in response to the displacement input from the input unit. As an example, when the displacement of the input unit moves by 1 cm, the horse apparatus 100 may set the speed of the drone 300 to 1 m / s. When the displacement of the input unit moves by 3 cm, the terminal device 100 may set the speed of the drone 300 to 3 m / s. However, when the obstacle 11 is present, the terminal device 100 may adjust the speed ratio of the drone 300.
  • the terminal device 100 sets the speed of the drone 300 to 0.1 m / s when the displacement of the input unit moves by 1 cm.
  • the speed of the drone 300 may be set to 0.3 m / s.
  • the terminal device 100 may adjust the speed of the drone 300 by 0.5 m / s, respectively. It can also be adjusted to 0.4 m / s, 0.3 m / s.
  • the drone 300 may reduce the possibility of collision with the obstacle 11 and increase the user's ease of operation.
  • FIG. 10 is a diagram illustrating a method of controlling a drone according to a communication radius according to an embodiment of the present invention.
  • the terminal device 100 may receive location data from the drone 300.
  • the terminal device 100 may calculate a distance between the terminal device 100 and the drone 300 based on the received location data of the drone 300.
  • the location data may be GPS data of the drone 300.
  • the terminal device 100 may communicate with the drone 300 and calculate a distance from the drone 300 based on a transmission / reception time of a signal.
  • the terminal device 100 may set the control range of the drone 300 to a preset distance.
  • the control range of the drone 300 may be set based on a communication scheme with the drone 300. Specifically, when the terminal device 100 communicates with the drone 300 in a Wi-Fi manner, and the communication range is 50m, the terminal device 100 may set the preset distance to 50m. Alternatively, the terminal device 100 may set the preset distance to 45 m in consideration of the margin of the communication range.
  • the terminal device 100 may control the drone 300 in a general manner.
  • the drone 300 is shown moving near the boundary of the range.
  • the terminal device 100 may calculate a distance from the drone 300.
  • the terminal device 100 may output a preset signal.
  • the terminal device 100 may output a preset signal.
  • the terminal device 100 may output a vibration signal using a vibration motor. That is, the terminal device 100 may output the haptic effect to the user in relation to the boundary range. In addition, the terminal device 100 may output a repulsive force in a direction opposite to the direction in which the terminal device 100 operates the input unit through the output unit. In addition, the terminal device 100 may adjust the speed ratio of the drone 300 according to the input of the input unit. Since a specific example of the output signal has been described above, a description thereof will be omitted.
  • the displacement of the input portion must be greater in order to move the drone 300 at the same speed as when it is located in the range.
  • FIG. 11 is a diagram for describing a method of controlling a drone according to illuminance according to an exemplary embodiment. Referring to FIG. 11
  • the terminal device 100 is illustrated.
  • the drone 300 may be moved according to the manipulation of the terminal device 100.
  • the drone 300 may detect the ambient illumination.
  • the drone 300 may transmit the detected illuminance information to the terminal device 100.
  • the drone 300 may transmit various sensing information to the terminal device 100.
  • the terminal device 100 may detect illuminance information from the received sensing information.
  • the terminal device 100 may adjust the speed ratio of the drone 300 according to the input of the input unit according to the detected illumination information.
  • the drone 300 moving during the day is illustrated.
  • the terminal device 100 may detect sufficient illuminance during the day. Therefore, the terminal device 100 may set the speed of the general drone 300 with respect to the movement displacement of the input unit. For example, when the displacement of the input unit moves 1 cm, the terminal device 100 may set the speed of the drone 300 to 10 m / s.
  • the terminal device 100 may detect insufficient illumination at night.
  • the terminal device 100 may reduce the speed ratio of the drone 300 with respect to the displacement of the input unit. For example, when the displacement of the input unit moves 1 cm, the terminal device 100 may set the speed of the drone 300 to 5 m / s. Thus, if the illuminance is sufficient for the same displacement of the input, the drone can move at a higher speed.
  • the illuminance is not enough, it is difficult for the user to visually check the drone 300, the risk of the accident is high. Therefore, if the moving speed of the drone 300 is reduced below a predetermined illuminance, the risk of an accident may be lowered. Adjustment of the movement speed of the drone 300 with respect to the movement displacement of the input unit may be applied even when the object is recognized.
  • FIG. 12 is a diagram illustrating a method of controlling a drone according to sensing of an object according to an embodiment of the present invention.
  • a drone 300 that moves according to an operation of the terminal device 100 is illustrated.
  • the drone 300 may be moved according to the manipulation of the terminal device 100.
  • the drone 300 can be photographed using a camera.
  • the drone 300 may transmit photographing data to the terminal device 100. If there is no object in the photographing data, the terminal device 100 may move the drone 300 at a normal speed.
  • a drone 300 photographing an object is illustrated.
  • the drone 300 may photograph an object while photographing using a camera.
  • the terminal device 100 may detect an object from the photographing data received from the drone 300.
  • the terminal device 100 may reduce the speed ratio of the drone 300 with respect to the displacement of the input unit. Since the drone 300 is a flying object, it can move at a high speed. Since the drone 300 moves at a high speed, it is not easy to photograph the object using the drone 300. Therefore, when the object exists in the photographing data, the terminal device 100 may reduce the speed of the drone 300 so that the user may easily photograph the object.
  • the drone 300 can easily fly the pattern using the terminal device (100).
  • FIG. 13 is a diagram illustrating a physical function of a terminal device configured for a rotary motion of a drone according to an exemplary embodiment of the present disclosure.
  • the terminal device 100 is illustrated.
  • the user may use the drone 300 to fix the direction of the camera to the user or a specific object and make a circular pattern flight.
  • the circular pattern flight of the drone 300 is not easy. Accordingly, the terminal device 100 may set the circular pattern flight to recognize the circular pattern flight value set for the user by using the physical function of the input unit.
  • the circular pattern flight value may be set in plural sets. As an example, it is assumed that the drone 300 may fly a circular pattern of a radius of 5 m when moving to the left and right at 0.87 m / s while rotating at a speed of 10 deg / s.
  • the terminal device 100 may include a physical function of feeling clicked once for the rotational displacement of the input unit at which the rotational angular velocity is 10 deg / s.
  • the terminal device 100 may include a physical function of a click feeling against a plane displacement of the input unit at which the moving speed is 0.87 m / s.
  • the drone 300 may fly a circular pattern of 5 m.
  • the terminal device may include the physical function of feeling clicked on the displacement position of the input unit corresponding to the second circular pattern flight value in the same manner.
  • the physical function may mean a part, a tool, or a device that can output a physical effect.
  • the terminal device 100 may include a protrusion on a handle axis of the input unit and a groove corresponding to the protrusion on a plane in which the protrusion moves when the handle rotates. As the handle rotates, the protrusion moves on a plane and enters the groove area with a click when it meets the groove area.
  • the terminal device 100 may include a physical function at a position of the first rotational displacement 21a and the first plane displacement 21b as the circular pattern flight value of the first step, and the circular pattern flight value of the second step. Physical function at the second rotational displacement 22a and the second plane displacement 22b, and the third rotational displacement 21c and the third plane displacement 23b with the circular pattern flight value of the third stage.
  • the location may include physical functions.
  • the drone 300 may fly a circular pattern of the first stage, the second stage, or the third stage according to the rotational displacement and the plane displacement of the set input unit.
  • FIG. 14 is a view for explaining a method of controlling the spiral motion of the drone using one handle of the terminal device according to an embodiment of the present invention.
  • the terminal device 100 is illustrated. As described above, the terminal device 100 may allow the drone 300 to fly in a circular pattern according to the set circular pattern value.
  • the input unit of the terminal device 100 may raise or lower the drone 300.
  • the input unit of the terminal device 100 may simultaneously receive commands for a plurality of directions.
  • the drone 300 is shown to move helically.
  • the drone 300 may fly a circular pattern according to the set circular pattern value.
  • the user may simultaneously input a rising or falling command in addition to the set circular pattern input.
  • the drone 300 may fly in addition to the circular pattern flight.
  • the drone 300 may fly in an ascending spiral flight.
  • the user may input a falling command in addition to the set circular pattern input.
  • the drone 300 may fly in addition to the circular pattern flight.
  • the drone 300 may make a descending spiral flight.
  • the terminal device 100 may receive a rotation in the rotational direction and a displacement in the plane direction corresponding to the preset angular velocity for the circular motion of the drone 300 through the input unit.
  • the terminal device 100 may transmit a signal for spiral motion to the drone 300 as a result.
  • FIG. 15 is a diagram illustrating a method of controlling a drone in a preset pattern according to an embodiment of the present invention.
  • the terminal device 100 may include a pattern flight button.
  • the terminal device 100 may make a pattern flight based on the input form. For example, when the pattern flight button is not selected and the input portions of the terminal device 100 are respectively input in the front, rear, left, and right directions, the drone 300 moves in the front, rear, left, and right directions, but it is difficult to fly in the form of a square pattern. Can be. However, when the pattern flight button is selected and the input unit of the terminal device 100 is input in the front, rear, left, and right directions, the drone 300 may fly a rectangular pattern of a certain shape.
  • FIG. 15 (b) there is shown a drone 300 that performs zoom in / zoom out flight.
  • the drone 300 may fly the zoom in / zoom out pattern.
  • the drone 300 may fly various patterns according to the selection of the pattern flight button and the user's setting.
  • the drone may not coincide with the direction of movement of the camera.
  • a method of controlling the drone 300 will be described.
  • 16 is a diagram illustrating a method of displaying the direction of a drone according to one embodiment of the present invention.
  • the terminal device 100 may include a display unit.
  • the front direction of the drone 300 that is, the direction in which the camera is located may be referred to as the head direction of the drone 300.
  • the drone 300 may include a sensing unit to detect location information.
  • the drone 300 may transmit the detected location information to the terminal device 100.
  • the terminal device 100 may detect the head direction of the drone 300 based on the detected location information.
  • the terminal device 100 may display the detected head direction of the drone 300 on the display unit. That is, the user may determine the direction of the drone 300 by using the head direction of the drone 300 displayed on the display unit.
  • the drone 300 and the terminal device 100 having the changed head directions are illustrated.
  • the drone 300 may be changed in direction and position according to the manipulation of the terminal device 100.
  • the drone 300 is rotated 90 degrees to the left side compared to FIG. 16A.
  • the terminal device 100 may display the head direction of the drone 300 rotated based on the location information received from the drone 300 on the display unit.
  • the user may check the head direction of the drone 300 displayed on the display and control the drone 300.
  • 17 is a diagram illustrating a method of detecting a heading direction of a drone according to an embodiment of the present invention.
  • the terminal device 100 may display the mode for the drone direction and the head direction of the drone 300.
  • the terminal device 100 may display the head direction of the drone 300 and the preset zone according to the preset zone.
  • the terminal device 100 may include a button for initializing the head direction of the drone 300.
  • the terminal device 100 may include a plurality of modes for detecting the direction of the drone.
  • the terminal device 100 may receive location information from the drone 100 and detect a head direction of the drone 300.
  • the terminal device 100 may display the head direction of the drone 300 based on the direction of the drone 300. Meanwhile, when the direction of the drone 300 is changed to another zone, the terminal device 100 may output an alarm.
  • the terminal device 100 when the head direction of the drone 300 is changed from the first zone to the second zone, the terminal device 100 outputs two vibrations and displays the second zone by flashing the second zone. can do.
  • the terminal device 100 may output three vibrations and display the third zone in a manner of blinking.
  • FIG. 18 is a diagram illustrating a method of controlling a drone according to a heading direction of a drone according to one embodiment of the present invention.
  • FIG. 18A a screen of the drone 300, the user, and the terminal device 100 is illustrated.
  • FIG. 18A illustrates a drone 300 and an initial state of a user. That is, the direction of the drone 300 and the direction of the user match, and the head direction of the drone 300 is located in the direction of the first zone.
  • the drone 300 having the changed direction is shown.
  • the user is facing the same direction as in Fig. 18A.
  • the direction of the drone 300 is changed to the direction of the second zone according to the user's operation.
  • the terminal device 100 may detect the relative direction by comparing the direction information of the drone 300 and the direction information of the terminal device 100.
  • the terminal device 100 may operate the drone 300 by correcting a difference between the direction information of the drone 300 and the direction information of the terminal device 100. For example, if the user faces the 0 degree direction and the drone 300 faces the ⁇ 90 degree direction, the terminal device 100 may determine that the drone 300 is rotated ⁇ 90 degrees based on the user. have. If the user inputs a move command in all directions (ie, the zero degree direction), the user's intention may be to move the drone 300 in the zero degree direction. However, the drone 300 may move in all directions (ie, ⁇ 90 degrees) in the current state.
  • the terminal device 100 may transmit a movement command to the drone 300 by correcting the direction value. That is, when the user inputs a move command in all directions (ie, 0 degree direction), the terminal device 100 may transmit a command to move the drone 300 in the 0 degree direction by correcting the direction value by +90 degree. . That is, the terminal device 100 may detect the head direction of the drone 300 based on the received sensing data and detect the head direction of the terminal device 100. The terminal device 100 may calculate a difference between the head direction of the drone 300 and the head direction of the terminal device 100, correct the difference calculated for the direction input through the input unit, and transmit a command.
  • the drone 300 may match the direction of the drone 300 with the direction of the terminal device 100 (that is, the direction of the user) in response to the head direction initialization command.
  • the terminal device 100 may detect the relative direction by comparing the direction information of the drone 300 and the direction information of the terminal device 100. In addition, the terminal device 100 may match the direction of the drone 300 in the direction of the terminal device 100 (that is, the direction of the user) in real time.
  • 19 is a diagram illustrating a method of controlling a drone using a light source according to an embodiment of the present invention.
  • the output unit of the terminal device 100 may output light.
  • the terminal device 100 may output light of a laser or a predetermined wavelength.
  • the drone 300 may detect light output from the terminal device 100. When the drone 300 detects the light output from the terminal device 100, the drone 300 may move along the detected light. Thus, the user can conveniently control the drone 300.
  • 20 is a flowchart illustrating a method of controlling a terminal device according to an embodiment of the present invention.
  • the terminal device can receive data from a drone (S2010).
  • the terminal device may receive photographing data photographed by the drone, sensing data sensed by the drone, and the like.
  • the terminal device may display the received photographing data including the display unit.
  • the terminal device may detect an obstacle based on the received data and calculate a distance between the drone and the obstacle (S2020).
  • the terminal device may detect an obstacle from the received photographing data and calculate a distance between the obstacle and the drone.
  • the obstacle may be detected from the received sensing data and the distance may be calculated.
  • the drone may detect an obstacle, calculate a distance, and transmit the calculated data to the terminal device.
  • the terminal device may output a preset signal (S2030).
  • the preset signal may include at least one of a signal for outputting a vibration or a signal for outputting a repulsive force with respect to a direction in which a user applies a force to adjust a drone.
  • the terminal device may reduce the speed of the drone corresponding to the operation displacement of the input unit. According to various embodiments of the present disclosure, the terminal device can intuitively adjust the drone to the user and increase stability to the drone's movement.
  • the present invention described above can be embodied as computer readable codes on a medium in which a program is recorded.
  • the computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include hard disk drives (HDDs), solid state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like. This also includes implementations in the form of carrier waves (eg, transmission over the Internet).
  • the computer may include the controller 180 of the terminal device. Accordingly, the above detailed description should not be construed as limiting in all aspects and should be considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Telephone Function (AREA)
  • General Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)

Abstract

L'invention concerne un appareil terminal et un procédé de commande associé. L'appareil terminal peut comprendre : une unité de communication permettant de transmettre ou de recevoir des données à ou en provenance d'un drone; une unité d'entrée permettant de recevoir une entrée d'une instruction permettant de commander le drone; une unité de sortie permettant d'émettre un signal prédéterminé; et une unité de commande, l'unité de commande détectant un obstacle sur la base de données reçues à partir du drone, calculant la distance entre le drone et l'obstacle et commandant l'unité de sortie de manière à émettre le signal prédéterminé lorsque la distance calculée entre le drone et l'obstacle est égale ou inférieure à une distance prédéterminée.
PCT/KR2015/010201 2015-09-25 2015-09-25 Appareil terminal et procédé de commande associé WO2017051961A1 (fr)

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