WO2017167109A1 - 飞行器的控制方法和装置 - Google Patents

飞行器的控制方法和装置 Download PDF

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Publication number
WO2017167109A1
WO2017167109A1 PCT/CN2017/077823 CN2017077823W WO2017167109A1 WO 2017167109 A1 WO2017167109 A1 WO 2017167109A1 CN 2017077823 W CN2017077823 W CN 2017077823W WO 2017167109 A1 WO2017167109 A1 WO 2017167109A1
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WO
WIPO (PCT)
Prior art keywords
terminal
aircraft
user
input
prompt information
Prior art date
Application number
PCT/CN2017/077823
Other languages
English (en)
French (fr)
Inventor
宁京
李凌虹
黄秋丽
黎凯锋
李家伦
张向昕
罗斌
萧剑烽
顾东升
余志强
Original Assignee
腾讯科技（深圳）有限公司
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Application filed by 腾讯科技（深圳）有限公司 filed Critical 腾讯科技（深圳）有限公司
Publication of WO2017167109A1 publication Critical patent/WO2017167109A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04847—Interaction techniques to control parameter settings, e.g. interaction with sliders or dials
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/0485—Scrolling or panning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures

Definitions

  • the present application relates to the field of aircraft, and in particular to a method and apparatus for controlling an aircraft.
  • the aircraft When the aircraft performs a flight action (eg, takeoff, descent, etc.), it relies on the remote control rocker operating the aircraft to perform a specific action, for example, the double joystick is simultaneously drawn from the center to the bottom.
  • a flight action eg, takeoff, descent, etc.
  • the remote control rocker operating the aircraft to perform a specific action, for example, the double joystick is simultaneously drawn from the center to the bottom.
  • the control method of controlling the flight of the aircraft by using the remote controller is complicated, and the user needs to master the control technology through certain auxiliary teaching.
  • Embodiments of the present application provide a method and apparatus for controlling an aircraft to at least solve the technical problem of controlling the operation of the aircraft.
  • a method of controlling an aircraft comprising: displaying prompt information on a control interface, wherein the prompt information For prompting the user to perform a preset operation; detecting an input operation of the user; determining whether the input operation of the user satisfies a predetermined condition; and if it is determined that the input operation of the user satisfies the predetermined condition, transmitting a control corresponding to the input operation of the user to the aircraft An instruction, wherein the control command is to control operation of the aircraft.
  • a control device for an aircraft comprising: a display unit, configured to display prompt information on a control interface, wherein the The indicating information is used to prompt the user to perform a preset operation; the determining unit is configured to detect the input operation of the user and determine whether the input operation of the user satisfies a predetermined condition; and the sending unit is configured to: when determining that the input operation of the user satisfies the predetermined condition, The aircraft transmits a control command corresponding to an input operation of a user, wherein the control command is for controlling an operation of the aircraft.
  • the input operation of the user is detected on the terminal, the corresponding control command is generated by using the detected input operation, the control command is sent to the aircraft, and the corresponding operation is performed by the aircraft according to the control instruction, thereby realizing the flight of the aircraft by using the terminal.
  • the prompt information is displayed on the terminal, and the operation to be performed by the user can be prompted, and the technical problem of controlling the operation of the aircraft is solved, and the technical effect of reducing the operational complexity of controlling the aircraft is achieved.
  • FIG. 1 is a flow chart of a method of controlling an aircraft according to an embodiment of the present application
  • FIG. 2a is a schematic diagram of a control interface of a click operation according to an embodiment of the present application
  • 2b is a schematic diagram of a control interface of another click operation according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a control interface of a long press operation according to an embodiment of the present application.
  • 4a is a schematic diagram of a control interface of a sliding operation according to an embodiment of the present application.
  • 4b is a schematic diagram of a control interface of another sliding operation according to an embodiment of the present application.
  • FIG. 5a is a schematic diagram of a control interface of a drag operation according to an embodiment of the present application.
  • FIG. 5b is a schematic diagram of a control interface of another drag operation according to an embodiment of the present application.
  • FIG. 6 is an interaction diagram of a touch operation according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a control interface of a tilting operation according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a control interface of a shaking operation according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram of a control device for an aircraft according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a terminal according to an embodiment of the present application.
  • an embodiment of a method that can be performed by an embodiment of the apparatus of the present application is provided. It is noted that the steps illustrated in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions. The execution is performed, and although the logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in a different order than the ones described herein.
  • a method of controlling an aircraft is provided.
  • FIG. 1 is a flow chart of a method of controlling an aircraft according to an embodiment of the present application, and the following combination diagram 1
  • the control method of the aircraft provided by the embodiment of the present application is specifically introduced.
  • the control method of the aircraft mainly includes the following steps:
  • Step 102 Display prompt information on the control interface, where the prompt information is used to prompt the user to perform a preset operation.
  • a client for controlling the aircraft can be run on the terminal, and the prompt information can be displayed on the control interface of the client.
  • the client can be an application client running on the terminal, which can be used instead of the remote control to control the flight of the aircraft.
  • the client can control the aircraft to perform a variety of actions, such as takeoff, descent, rotation, tilt, and photo taking.
  • the aircraft is controlled to perform the above various actions on a control interface of the client, and the aircraft may be separately controlled to perform the above various actions on the plurality of control interfaces.
  • different prompt information may be used for prompting.
  • different prompt information may be displayed on the plurality of control interfaces, and different preset operations are indicated on different control interfaces, thereby controlling the aircraft to perform different operations. action.
  • the preset operation may be performed by a user who uses the client, including operations performed on the screen of the terminal (such as tapping the screen) and operations on the terminal (such as shaking the terminal).
  • the terminal may be a mobile phone terminal, or may be a PC terminal, a notebook terminal, or a tablet terminal.
  • the terminal can be connected to the aircraft via a wireless connection such as Bluetooth, wifi, and wireless radio.
  • Step 104 detecting an input operation of the user and determining whether the input operation of the user satisfies a predetermined condition.
  • the component that detects the preset operation may be a certain sensor of the terminal, such as a touch sensor, a displacement sensor, a gyroscope, an acceleration sensor, a gravity sensing sensor, and a sound sensor.
  • Step 106 if it is determined that the input operation of the user satisfies the predetermined condition, transmitting a control instruction (hereinafter also referred to as a first instruction) corresponding to the input operation of the user to the aircraft, wherein the control instruction is used to control the operation of the aircraft (below Also referred to as the first operation in the text). For example, it may be determined whether the user's input operation satisfies a predetermined condition by determining whether a preset operation is detected on the control interface. If it is determined that the preset operation is detected, the corresponding control command (ie, the first command) is sent to the aircraft to control the aircraft to perform the corresponding operation (ie, the first operation).
  • the first instruction may be obtained according to a correspondence between the preset operation and the first instruction. Each preset operation corresponds to a first instruction.
  • the first instruction corresponding to the click operation is used to instruct the aircraft to perform a take-off operation
  • the first instruction corresponding to the tilt operation is used to instruct the aircraft to perform the operation of the tilt flight and the like.
  • the first operation is performed by the aircraft, including a take-off operation, a landing operation, a rising operation, a descending operation, a horizontal plane moving operation, a horizontal plane rotating operation, and a photographing or photographing operation.
  • the first instruction is to instruct the aircraft to take off
  • the preset operations corresponding to the first instruction include long press, slide, sound, and the like.
  • the preset operation is detected on the terminal running the client, the corresponding first operation is generated by using the detected preset operation, and the first instruction is sent to the aircraft, and the first operation is performed by the aircraft according to the first instruction.
  • the use of the client to control the flight of the aircraft is achieved.
  • the prompt information is displayed on the client, and the preset operation to be performed by the user can be prompted, and the technical problem of controlling the operation of the aircraft is solved, and the technical effect of reducing the operational complexity of controlling the aircraft is achieved.
  • the control interface of the client may also display a first operation performed by the control aircraft, not only prompting the first operation to be performed by the aircraft, but also prompting the preset operation required to control the aircraft to perform the first operation, thereby improving the portability of the control aircraft. Reduced the complexity of controlling the aircraft.
  • the foregoing preset operation may be an operation preset by the client, or may be an operation preset by the user on the client, such as a fingerprint input, a predetermined gesture or an action, and the like.
  • the first operation is the take-off operation
  • the control interface is for controlling the take-off of the aircraft.
  • the interface is described as an example.
  • displaying the prompt information on the control interface of the client includes: displaying prompt information for prompting the touch operation on the control interface.
  • determining whether the input operation of the user meets the predetermined condition comprises: determining whether the input operation of the user is a touch operation performed on the control interface.
  • Determining whether the preset operation is detected on the control interface of the client includes: determining whether a touch operation is detected on the control interface, and if a touch operation is detected on the control interface, determining that the preset operation is detected.
  • the touch operation includes at least one of a click, a long press, a slide, and a drag.
  • the touch operation of the prompt information includes one of clicking, long pressing, sliding, and dragging, or a combination of multiple touch operations.
  • the click operation for example, clicks on an area and sequentially clicks on a plurality of areas in a predetermined order.
  • the plurality of circular areas of Figure 2b can be displayed in sequence, clicked in the order shown.
  • a long press operation for example, long presses an area on the screen or long presses an area outside the screen for fingerprint recognition.
  • the area for fingerprint recognition may be an area on the screen or an area other than the screen where the fingerprint sensor is located.
  • the sliding operation is, for example, sliding according to a preset trajectory on the control interface, and the sliding trajectory on the control interface constitutes a preset graphic or the like;
  • the drag operation is, for example, dragging a graphic or flag to another area on the control interface, dragging a graphic or logo onto another image, or following the trajectory displayed on the control interface. Drag and so on.
  • the trajectory of the sliding and dragging operations may be a user-defined trajectory using the client.
  • the client When the motor of the aircraft is in a stopped state and the power of the aircraft is turned on, the client establishes a connection with the aircraft and can communicate. The client performs the following steps:
  • step S202 the client detects a touch operation.
  • Step S204 detecting whether the touch operation conforms to the takeoff instruction (ie, the first instruction).
  • Step S206 sending a takeoff command, that is, sending a takeoff command to the aircraft.
  • step S208 the controller of the aircraft controls the rotation of the motor and the propeller takes off.
  • step S210 the aircraft controls different motor rotation speeds to maintain the airframe hovering in the air.
  • displaying the prompt information on the control interface of the client includes: displaying prompt information for prompting the shaking operation on the control interface.
  • determining whether the input operation of the user meets the predetermined condition comprises: determining whether the input operation of the user is a shaking operation performed on the terminal.
  • Determining whether the input operation of the user satisfies a predetermined condition includes: determining whether a shaking operation performed on the terminal is detected, and if a shaking operation performed on the terminal is detected, determining that the preset operation is detected.
  • the shaking operation includes at least one of tilting, squatting, and shaking.
  • the sway operation is a sway operation performed on a terminal that runs the client, and the sway operation includes a combination of one or more of tilt, squat, and shake.
  • the gyro, the acceleration sensor, and the gravity sensor on the terminal are used to detect the tilting, throwing, or shaking operation of the terminal, thereby triggering the first command.
  • the prompt information may indicate the direction and angle of the tilt, and the direction and angle of the actual tilt of the terminal are displayed on the control interface, as shown in FIG.
  • the prompt information can prompt the number of shaking (eg Figure 8), or send a message such as a shaking tone.
  • displaying the prompt information on the control interface of the client includes: displaying prompt information for prompting input of the sound on the control interface.
  • prompt information for prompting input of specific sound data may be displayed on the control interface.
  • determining whether the input operation of the user satisfies the predetermined condition comprises: determining whether the sound data input to the terminal is detected, and determining whether the detected sound data is consistent with the sound data in the prompt information.
  • Determining whether the preset operation performed on the terminal is detected includes: determining whether the sound input to the terminal is detected, and determining whether the instruction carried by the detected sound is consistent with the instruction indicated by the prompt information, if the detected sound is carried The instruction is consistent with the instruction indicated by the prompt information, and it is determined that the preset operation is detected.
  • the prompt information displayed on the control interface can refer to FIG. 2a to FIG. 7 to prompt the text corresponding to the sound that needs to be input, for example, take off.
  • the microphone of the terminal receives the input sound, the sound is parsed locally or by the server to obtain the corresponding text, and it is judged whether the text indicated on the control interface is consistent, and the first instruction is issued to the aircraft.
  • the flow of controlling the take-off of the aircraft by the sound control aircraft take-off and the use of the sloshing operation refers to the flow of controlling the take-off of the aircraft by the touch operation shown in FIG. 6, and will not be described again.
  • the first operation includes, but is not limited to, a take-off operation, a landing operation, a rising operation, a descending operation, a horizontal plane moving operation, a horizontal plane rotating operation, and a photographing or photographing operation, and the foregoing operations may all be controlled by the client, or may be Partial operation through client control Part of the operation is controlled by other means, which is not specifically limited here.
  • the first operation described above can also be used for verification before the take-off operation.
  • the user who performs the preset operation is a user who can control the aircraft, thereby realizing the verification of the identity and improving the security authority of controlling the aircraft.
  • connection between the client and the aircraft can be established by using Bluetooth, wifi, and radio frequency.
  • Other protocols supporting the connection between the client and the aircraft can also be applied in this embodiment. No more examples are given here.
  • the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware, but in many cases, the former is A better implementation.
  • the technical solution of the present application which is essential or contributes to the prior art, may be embodied in the form of a software product stored in a storage medium (such as ROM/RAM, disk,
  • the optical disc includes a number of instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the methods described in various embodiments of the present application.
  • control device for an aircraft for implementing the above-described control method of an aircraft
  • the control device of the aircraft is mainly used for performing the control method of the aircraft provided by the above content of the embodiment of the present application, and the following The control device of the aircraft provided in the application embodiment is specifically introduced:
  • the control device of the aircraft mainly includes a display unit 10, a judging unit 20, and a transmitting unit 30.
  • the display unit 10 is configured to display prompt information on the control interface, wherein the prompt information is used to prompt the user to perform a preset operation.
  • a client for controlling the aircraft can be run on the terminal, and the prompt information can be displayed on the control interface of the client.
  • the client can be an application client running on the terminal, which can be used instead of the remote control to control the flight of the aircraft.
  • the client can control the aircraft to perform a variety of actions, such as takeoff, descent, rotation, tilt, and photo taking.
  • the aircraft is controlled to perform the above various actions on a control interface of the client, and the aircraft may be separately controlled to perform the above various actions on the plurality of control interfaces.
  • different prompt information may be used for prompting.
  • different prompt information may be displayed on the plurality of control interfaces, and different preset operations are indicated on different control interfaces, thereby controlling the aircraft to perform different actions.
  • the preset operation may be performed by a user who uses the client, including operations performed on the screen of the terminal (such as tapping the screen) and operations on the terminal (such as shaking the terminal).
  • the terminal may be a mobile phone terminal, or may be a PC terminal, a notebook terminal, or a tablet terminal.
  • the terminal can be connected to the aircraft via a wireless connection such as Bluetooth, wifi, and wireless radio.
  • the judging unit 20 is for detecting an input operation of the user and judging whether the input operation of the user satisfies a predetermined condition.
  • the component that detects the preset operation may be a certain sensor of the terminal, such as a touch sensor, a displacement sensor, a gyroscope, an acceleration sensor, a gravity sensing sensor, and a sound sensor.
  • the transmitting unit 30 is configured to, when determining that the input operation of the user satisfies the predetermined condition, transmit a control instruction (hereinafter also referred to as a first instruction) corresponding to the input operation of the user to the aircraft,
  • the control command is used to control the operation of the aircraft (hereinafter also referred to as the first operation).
  • the control interface determines whether the user's input operation satisfies a predetermined condition by determining whether a preset operation is detected on the control interface. If it is determined that the preset operation is detected, the corresponding control command (ie, the first command) is sent to the aircraft to control the aircraft to perform the corresponding operation (ie, the first operation).
  • the first instruction may be obtained according to a correspondence between the preset operation and the first instruction. Each preset operation corresponds to a first instruction.
  • the first instruction corresponding to the click operation is used to instruct the aircraft to perform a take-off operation
  • the first instruction corresponding to the tilt operation is used to instruct the aircraft to perform the operation of the tilt flight and the like.
  • the first operation is performed by the aircraft, including a take-off operation, a landing operation, a rising operation, a descending operation, a horizontal plane moving operation, a horizontal plane rotating operation, and a photographing or photographing operation.
  • the first instruction is to instruct the aircraft to take off
  • the preset operations corresponding to the first instruction include long press, slide, sound, and the like.
  • the preset operation is detected on the terminal running the client, the corresponding first operation is generated by using the detected preset operation, and the first instruction is sent to the aircraft, and the first operation is performed by the aircraft according to the first instruction.
  • the use of the client to control the flight of the aircraft is achieved.
  • the prompt information is displayed on the client, and the preset operation to be performed by the user can be prompted, and the technical problem of controlling the operation of the aircraft is solved, and the technical effect of reducing the operational complexity of controlling the aircraft is achieved.
  • the control interface of the client may also display a first operation performed by the control aircraft, not only prompting the first operation to be performed by the aircraft, but also prompting the preset operation required to control the aircraft to perform the first operation, thereby improving the portability of the control aircraft. Reduced the complexity of controlling the aircraft.
  • the first operation is a take-off operation
  • the control interface is an example of an interface for controlling the take-off of the aircraft.
  • the display unit when the preset operation is a touch operation, includes: a first display module, configured to display prompt information for prompting the touch operation on the control interface.
  • the determining unit includes: a first determining module, configured to determine that the user input operation is No is a touch operation performed on the control interface.
  • the first determining module may determine whether a touch operation is detected on the control interface, and if a touch operation is detected on the control interface, determining that the preset operation is detected.
  • the touch operation includes at least one of a click, a long press, a slide, and a drag.
  • the touch operation of the prompt information includes one of clicking, long pressing, sliding, and dragging, or a combination of multiple touch operations.
  • the click operation is, for example, clicking on an area and sequentially clicking a plurality of areas in a predetermined order
  • a long press operation for example, long presses an area on the screen or long presses an area other than the screen for fingerprint recognition;
  • the sliding operation is, for example, sliding according to a preset trajectory on the control interface, and the sliding trajectory on the control interface constitutes a preset graphic or the like;
  • the drag operation is, for example, dragging a graphic or flag to another area on the control interface, dragging a graphic or logo onto another image, or following the trajectory displayed on the control interface. Drag and so on.
  • the trajectory of the sliding and dragging operations may be a user-defined trajectory using the client.
  • the display unit when the preset operation is a shaking operation, includes: a second display module, configured to display prompt information for prompting the shaking operation on the control interface.
  • the determining unit includes: a second determining module, configured to determine whether the input operation of the user is a shaking operation performed on the terminal.
  • the second determining module can determine whether the pair is detected When the shaking operation performed by the terminal is detected, if the shaking operation performed on the terminal is detected, it is determined that the preset operation is detected.
  • the shaking operation includes at least one of tilting, squatting, and shaking.
  • the sway operation is a sway operation performed on a terminal that runs the client, and the sway operation includes a combination of one or more of tilt, squat, and shake.
  • the gyro, the acceleration sensor, and the gravity sensor on the terminal are used to detect the tilting, throwing, or shaking operation of the terminal, thereby triggering the first command.
  • the prompt information may indicate the direction and angle of the tilt, and the direction and angle of the actual tilt of the terminal are displayed on the control interface, as shown in FIG.
  • the prompt information may prompt the number of shaking (as shown in FIG. 8), or send a message such as a shaking sound.
  • the display unit when the preset operation is input sound, includes: a third display module, configured to display, on the control interface, prompt information for prompting to input the sound.
  • prompt information for prompting input of specific sound data may be displayed on the control interface.
  • the determining unit includes: a third determining module, configured to determine whether the sound data input to the terminal is detected, and determine whether the detected sound data is consistent with the sound data in the prompt information.
  • the third determining module may determine whether the sound input to the terminal is detected, and determine whether the instruction carried by the detected sound is consistent with the instruction indicated by the prompt information, and if the detected sound carries the instruction and the prompt information If the indicated instructions are consistent, it is determined that the preset operation is detected.
  • the prompt information displayed on the control interface can refer to FIG. 2a to FIG. 7 to prompt the text corresponding to the sound that needs to be input, for example, take off.
  • the microphone of the terminal receives the input sound, the sound is parsed locally or by the server to obtain the corresponding text, and it is judged whether the text indicated on the control interface is consistent, and the first instruction is issued to the aircraft.
  • the flow of controlling the take-off of the aircraft by the sound control aircraft take-off and the use of the sloshing operation refers to the flow of controlling the take-off of the aircraft by the touch operation shown in FIG. 6, and will not be described again.
  • the first operation comprises one of: a take-off operation, a landing operation, a rising operation, a lowering operation, a horizontal movement operation, a horizontal plane rotation operation, and a photographing or photographing operation.
  • the first operation includes, but is not limited to, a take-off operation, a landing operation, a rising operation, a descending operation, a horizontal plane moving operation, a horizontal plane rotating operation, and a photographing or photographing operation, and the foregoing operations may all be controlled by the client, or may be Some operations are controlled by the client, and some operations are controlled by other means, which are not specifically limited herein.
  • connection between the client and the aircraft can be established by using Bluetooth, wifi, and radio frequency.
  • Other protocols supporting the connection between the client and the aircraft can also be applied in this embodiment. No more examples are given here.
  • the terminal includes: a memory 101, a memory controller 103, a CPU 105, an interface 107, and an input/output I/O sub- System 109, touch screen 111, other input control devices 113, radio frequency 115, expansion interface 117, and audio device 119.
  • the memory 101 is mainly used to include an operating system, a communication module, a touch and gesture control module, a graphic module, a user interaction interface module, and an application software program APP.
  • the operating system is the operating system of the terminal, the communication module can perform wifi communication or Bluetooth communication, etc., the touch and gesture control module can control the touch and gesture on the terminal; the graphic module can process the graphic displayed on the terminal; the user interaction interface module controls and the user Interact.
  • the memory controller 103 is used to control the operation of the memory.
  • the interface 107 mainly provides an interface of the input/output I/O subsystem 109, an interface of the radio frequency 115, an expansion interface 117, and an audio device 119.
  • the input and output I/O subsystem 109 mainly includes a touch screen controller 1091 and other input controllers 1093.
  • the touch screen controller 1091 is connected to the touch screen 111, and the other input controllers 1093 are connected to other input control devices 113.
  • the RF 115 interface is mainly used to communicate and communicate with the aircraft through radio frequency.
  • the expansion interface 117 is mainly used to connect an expansion device.
  • the audio device 119 is mainly used to connect an external speaker and a microphone.
  • the CPU 105 is mainly used to perform the following steps: displaying prompt information on the control interface, wherein the prompt information is used to prompt the user to perform a preset operation; detecting an input operation of the user; and determining whether the input operation of the user satisfies a predetermined condition; If it is determined that the user's input operation satisfies the predetermined condition, a control command corresponding to the user's input operation is transmitted to the aircraft, wherein the control command is used to control the operation of the aircraft.
  • the CPU 105 is further configured to: when the preset operation is a touch operation, display prompt information for prompting the touch operation on the control interface; determine whether the input operation of the user is performed on the control interface. a touch operation, wherein the touch operation includes at least one of a click, a long press, a slide, and a drag.
  • the CPU 105 is further configured to: when the preset operation is a shaking operation, display prompt information for prompting the shaking operation on the control interface; determine whether the input operation of the user is a shaking operation performed on the terminal Wherein the shaking operation includes at least one of tilting, snagging, and shaking.
  • the CPU 105 is further configured to: when the preset operation is an input sound, display prompt information for prompting input of specific sound data on the control interface; determine whether the sound data input to the terminal is detected, and determine Whether the detected sound data is related to the sound in the prompt information The sound data is consistent.
  • Embodiments of the present application also provide a storage medium.
  • the foregoing storage medium may be used to store program code of a control method of the aircraft of the embodiment of the present application.
  • the foregoing storage medium may be located in at least one of a plurality of network devices in a network of a mobile communication network, a wide area network, a metropolitan area network, or a local area network.
  • the storage medium is arranged to store program code for performing the following steps:
  • the foregoing storage medium may include, but not limited to, a USB flash drive, a Read-Only Memory (ROM), a Random Access Memory (RAM), a mobile hard disk, and a magnetic memory.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • a mobile hard disk e.g., a hard disk
  • magnetic memory e.g., a hard disk
  • the integrated unit in the above embodiment if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in the above-described computer readable storage medium.
  • the technical solution of the present application in essence or the contribution to the prior art, or all or part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium.
  • a number of instructions are included to cause one or more computer devices (which may be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application.
  • the disclosed client may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, unit or module, and may be electrical or otherwise.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

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Abstract

本申请公开了一种飞行器的控制方法和装置。其中，该方法包括：在控制界面上显示提示信息，其中，提示信息用于提示用户执行预设操作；检测用户的输入操作；判断用户的输入操作是否满足预定条件；若判断出用户的输入操作满足预定条件，则向飞行器发送与用户的输入操作对应的控制指令，其中，控制指令用于控制飞行器的操作。本申请解决了控制飞行器的操作比较复杂的技术问题。

Description

飞行器的控制方法和装置
本申请要求于2016年4月1日提交中国专利局，申请号为201610203999.9，发明名称为“飞行器的控制方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及飞行器领域，具体而言，涉及一种飞行器的控制方法和装置。
背景技术
飞行器执行飞行动作(例如，起飞、下降等)时，要依赖操作飞行器的遥控器摇杆执行特定动作，比如，双遥杆同时由中央向外下划八字。采用遥控器控制飞行器飞行这种控制方法比较复杂，用户需要通过一定的辅助教学才能掌握控制技术。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本申请实施例提供了一种飞行器的控制方法和装置，以至少解决控制飞行器的操作比较复杂的技术问题。
根据本申请实施例的一个方面，提供了一种飞行器的控制方法，所述方法由与所述飞行器连接的终端执行，所述方法包括：在控制界面上显示提示信息，其中，所述提示信息用于提示用户执行预设操作；检测用户的输入操作；判断用户的输入操作是否满足预定条件；若判断出用户的输入操作满足预定条件，则向所述飞行器发送与用户的输入操作对应的控制指令，其中，所述控制指令用于控制所述飞行器的操作。
根据本申请实施例的另一方面，还提供了一种飞行器的控制装置，所述装置包括：显示单元，用于在控制界面上显示提示信息，其中，所述提 示信息用于提示用户执行预设操作；判断单元，用于检测用户的输入操作并判断用户的输入操作是否满足预定条件；发送单元，用于在判断出用户的输入操作满足预定条件时，向所述飞行器发送与用户的输入操作对应的控制指令，其中，所述控制指令用于控制所述飞行器的操作。
通过上述实施例，在终端上检测用户的输入操作，利用检测到的输入操作生成相应的控制指令，将控制指令发送给飞行器，由飞行器根据控制指令执行相应的操作，实现了利用终端控制飞行器飞行。并且，终端上显示提示信息，可以提示用户要执行的操作，解决了控制飞行器的操作比较复杂的技术问题，达到了降低控制飞行器的操作复杂度的技术效果。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是根据本申请实施例的飞行器的控制方法的流程图；
图2a是根据本申请实施例的一种点击操作的控制界面示意图；
图2b是根据本申请实施例的另一种点击操作的控制界面示意图；
图3是根据本申请实施例的长按操作的控制界面示意图；
图4a是根据本申请实施例的一种滑动操作的控制界面示意图；
图4b是根据本申请实施例的另一种滑动操作的控制界面示意图；
图5a是根据本申请实施例的一种拖动操作的控制界面示意图；
图5b是根据本申请实施例的另一种拖动操作的控制界面示意图；
图6是根据本申请实施例的触摸操作的交互图；
图7是根据本申请实施例的倾斜操作的控制界面示意图；
图8是根据本申请实施例的摇晃操作的控制界面示意图；
图9是根据本申请实施例的飞行器的控制装置的示意图；
图10是根据本申请实施例的终端的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例1
根据本申请实施例，提供了一种可以通过本申请装置实施例执行的方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
根据本申请实施例，提供了一种飞行器的控制方法。
图1是根据本申请实施例的飞行器的控制方法的流程图，以下结合图 1对本申请实施例所提供的飞行器的控制方法做具体介绍，如图1所示，该飞行器的控制方法主要包括如下步骤：
步骤102，在控制界面上显示提示信息，其中，提示信息用于提示用户执行预设操作。
在本发明的实施例中，在终端上可以运行用于控制飞行器的客户端，提示信息可以显示在客户端的控制界面上。
客户端可以是运行在终端上的应用客户端，可以代替遥控器来控制飞行器飞行。客户端可以控制飞行器执行多种动作，例如，起飞、下降、旋转、倾斜和拍照等。在客户端的一个控制界面上控制飞行器执行上述多种动作，也可以在多个控制界面上分别控制飞行器执行上述多种动作。
当在客户端的一个控制界面上控制飞行器执行上述多种动作时，可以采用不同的提示信息进行提示。当在客户端的多个控制界面上分别控制飞行器执行上述多种动作时，多个控制界面上可以显示不同的提示信息，在不同的控制界面上指示不同的预设操作，从而控制飞行器执行不同的动作。
预设操作可以是由使用客户端的用户来执行的，包括对终端的屏幕执行的操作(如点击屏幕)和对终端的操作(如晃动终端)等。其中，终端可以是手机终端，也可以是PC终端、笔记本终端或平板电脑终端等。终端可以通过蓝牙、wifi和无线射频等无线连接方式与所述飞行器连接。
步骤104，检测用户的输入操作并判断用户的输入操作是否满足预定条件。
例如，可以通过判断是否在客户端的控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。在客户端上显示控制界面时，是否检测到与控制界面上的提示信息所提示的预设操作一致的操作。检测预设操作的部件可以是终端的某个传感器，例如，触摸传感器、位移传感器、陀螺仪、加速度传感器、重力感应传感器和声音传感器等。
步骤106，若判断出用户的输入操作满足预定条件，则向飞行器发送与用户的输入操作对应的控制指令(下文中也称作第一指令)，其中，控制指令用于控制飞行器的操作(下文中也称作第一操作)。例如，可以通过判断是否在控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。若判断出检测到预设操作则向飞行器发送相应的控制指令(即第一指令)，以控制飞行器执行相应的操作(即第一操作)。第一指令可以根据预设操作与第一指令的对应关系获得。每种预设操作对应一个第一指令。
例如，点击操作对应的第一指令用于指示飞行器执行起飞操作，倾斜操作对应的第一指令用于指示飞行器执行倾斜飞行的操作等等。其中，第一操作由飞行器执行，包括起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作和拍照或摄像操作等。与第一指令对应的预设操作可以有多个，例如，第一指令为指示飞行器起飞，与第一指令对应的预设操作包括长按、滑动和声音等。
通过上述实施例，在运行有客户端的终端上检测预设操作，利用检测到的预设操作生成相应的第一指令，将第一指令发送给飞行器，由飞行器根据第一指令执行第一操作，实现了利用客户端控制飞行器飞行。并且，客户端上显示提示信息，可以提示用户要执行的预设操作，解决了控制飞行器的操作比较复杂的技术问题，达到了降低控制飞行器的操作复杂度的技术效果。
在客户端的控制界面还可以显示控制飞行器执行的第一操作，不仅提示飞行器将要执行的第一操作，还提示了控制飞行器执行第一操作所需要的预设操作，提高了控制飞行器的便携性，降低了控制飞行器的复杂度。
需要说明的是，上述预设操作可以是客户端预先设置的操作，也可以是用户预先在客户端上自定义的操作，如录入的指纹，预定的手势或者动作等。
在以下说明中以第一操作为起飞操作，控制界面为控制飞行器起飞的 界面为例进行说明。
可选地，当预设操作为触摸操作时，在客户端的控制界面上显示提示信息包括：在控制界面上显示用于提示触摸操作的提示信息。
可选地，判断用户的输入操作是否满足预定条件包括：判断用户的输入操作是否是在所述控制界面上进行的触摸操作。
可选地，通过判断是否在客户端的控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。判断是否在客户端的控制界面上检测到预设操作包括：判断是否在控制界面上检测到触摸操作，若在控制界面上检测到触摸操作，则判断出检测到预设操作。
其中，触摸操作包括点击、长按、滑动和拖动中的至少之一。
提示信息提示的触摸操作包括点击、长按、滑动和拖动中的一个，也可以是多个触摸操作的结合。
如图2a和2b所示，点击操作例如：点击某个区域、按预定顺序依次点击多个区域。图2b的多个圆形区域可以依次显示，按照显示的顺序点击。
如图3所示，长按操作例如：长按屏幕上的某个区域或者长按屏幕外的某个区域进行指纹识别。其中，进行指纹识别的区域可以是屏幕上的区域，也可以是指纹传感器所在的屏幕以外的区域。
如图4a和4b所示，滑动操作例如：在控制界面上按照预设轨迹滑动，在控制界面上的滑动轨迹构成预设图形等；
如图5a和5b所示，拖动操作例如：在控制界面上将一个图形或者标志拖动到另外一个区域，将一个图形或者标志拖动到另外一个图像上，或者按照控制界面上显示的轨迹进行拖动操作等。
其中，滑动和拖动操作的轨迹可以是使用客户端的用户自定义的轨迹。
以下结合图6对本实施例的触摸操作进行说明。
在飞行器的电机处于停转状态，且飞行器的电源处于打开的状态下，客户端与飞行器建立连接，可以进行通信。客户端执行以下步骤：
步骤S202，客户端检测触摸操作。
步骤S204，检测触摸操作是否符合起飞指令(即第一指令)。
步骤S206，发送起飞指令，即向飞行器发送起飞指令。
步骤S208，飞行器的控制器控制电机转动，螺旋桨起飞。
步骤S210，飞行器控制不同电机转动速度，维持机身悬停在空中。
可选地，当预设操作为晃动操作时，在客户端的控制界面上显示提示信息包括：在控制界面上显示用于提示晃动操作的提示信息。
可选地，判断用户的输入操作是否满足预定条件包括：判断用户的输入操作是否是对所述终端执行的晃动操作。
可选地，通过判断是否检测到对终端执行的预设操作来判断用户的输入操作是否满足预定条件。判断是否检测到对终端执行的预设操作包括：判断是否检测到对终端执行的晃动操作，若检测到对终端执行的晃动操作，则判断出检测到预设操作。
其中，晃动操作包括倾斜、甩和摇晃中的至少之一。
晃动操作是对运行客户端的终端执行的晃动操作，晃动操作包括倾斜、甩和摇晃中的一个或者多个的组合。利用终端上的陀螺仪、加速度传感器和重力传感器检测终端的倾斜、抛甩或者摇晃终端的操作，从而触发第一指令。
当预设操作为倾斜操作时，提示信息可以提示倾斜的方向和角度，并且在控制界面上显示终端实际倾斜的方向和角度，如图7所示。
当预设操作为摇晃终端的操作时，提示信息可以提示摇晃的次数(如 图8所示)，或者发出摇晃的提示音等信息。
可选地，当预设操作为输入声音时，在客户端的控制界面上显示提示信息包括：在控制界面上显示用于提示输入声音的提示信息。例如，可以在控制界面上显示用于提示输入特定声音数据的提示信息。
可选地，判断用户的输入操作是否满足预定条件包括：判断是否检测到向终端输入的声音数据，并判断检测到的声音数据是否与提示信息中的声音数据一致。
可选地，通过判断是否检测到对终端执行的预设操作来判断用户的输入操作是否满足预定条件。判断是否检测到对终端执行的预设操作包括：判断是否检测到向终端输入的声音，并判断检测到的声音所携带的指令是否与提示信息所指示的指令一致，若检测到的声音所携带的指令与提示信息所指示的指令一致，则判断出检测到预设操作。
在控制界面上显示的提示信息可以参考图2a至图7，提示需要输入的声音所对应的文字，例如：起飞。当终端的麦克风接收到输入的声音后，在本地或者服务器解析声音来获得相应的文字，判断与控制界面上提示的文字是否一致，一致则向飞行器发出第一指令。
在本实施例中，利用声音控制飞行器起飞和利用晃动操作控制飞行器起飞的流程参考图6所示的利用触摸操作控制飞行器起飞的流程，不再赘述。
采用自然语言或者对控制界面(或终端)执行预设操作的方式来控制飞行器，无需格外学习操作飞行器的技能和手法，降低了控制飞行器的难度。同时，采用手机等终端就可以实现飞行器的控制，降低了使用配套遥控器所需的额外费用，减低了飞行器的成本。
需要说明的是，第一操作包括但不限于起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作和拍照或摄像操作，上述操作可以全部通过客户端进行控制，也可以有部分操作通过客户端控 制，部分操作通过其他方式控制，此处不做具体限定。上述第一操作还可以用于起飞操作前的验证，例如，执行预设操作的用户为可以控制飞行器的用户，从而实现了身份的验证，提高了控制飞行器的安全权限。
客户端控制飞行器执行第一操作时，可以采用蓝牙、wifi和无线射频等方式建立客户端和飞行器之间的连接，其他支持客户端和飞行器的连接的协议也可以应用在本实施例中，此处不再一一举例说明。
需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
实施例2
根据本申请实施例，还提供了一种用于实施上述飞行器的控制方法的飞行器的控制装置，该飞行器的控制装置主要用于执行本申请实施例上述内容所提供的飞行器的控制方法，以下对本申请实施例所提供的飞行器的控制装置做具体介绍：
图9是根据本申请实施例的飞行器的控制装置的示意图，如图9所示， 该飞行器的控制装置主要包括：显示单元10、判断单元20和发送单元30。
显示单元10用于在控制界面上显示提示信息，其中，提示信息用于提示用户执行预设操作。
在本发明的实施例中，在终端上可以运行用于控制飞行器的客户端，提示信息可以显示在客户端的控制界面上。
客户端可以是运行在终端上的应用客户端，可以代替遥控器来控制飞行器飞行。客户端可以控制飞行器执行多种动作，例如，起飞、下降、旋转、倾斜和拍照等。在客户端的一个控制界面上控制飞行器执行上述多种动作，也可以在多个控制界面上分别控制飞行器执行上述多种动作。
当客户端的一个控制界面上控制飞行器执行上述多种动作时，可以采用不同的提示信息进行提示。当客户端的多个控制界面分别控制飞行器执行上述多种动作时，多个控制界面上可以显示不同的提示信息，在不同的控制界面上指示不同的预设操作，从而控制飞行器执行不同的动作。
预设操作可以是由使用客户端的用户来执行的，包括对终端的屏幕执行的操作(如点击屏幕)和对终端的操作(如晃动终端)等。其中，终端可以是手机终端，也可以是PC终端、笔记本终端或平板电脑终端等。终端可以通过蓝牙、wifi和无线射频等无线连接方式与所述飞行器连接。
判断单元20用于检测用户的输入操作并判断用户的输入操作是否满足预定条件。
例如，可以通过判断是否在客户端的控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。在客户端上显示控制界面时，是否检测到与控制界面上的提示信息所提示的预设操作一致的操作。检测预设操作的部件可以是终端的某个传感器，例如，触摸传感器、位移传感器、陀螺仪、加速度传感器、重力感应传感器和声音传感器等。
发送单元30用于在判断出用户的输入操作满足预定条件时，向飞行器发送与用户的输入操作对应的控制指令(下文中也称作第一指令)，其 中，控制指令用于控制飞行器的操作(下文中也称作第一操作)。
例如，可以通过判断是否在控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。若判断出检测到预设操作则向飞行器发送相应的控制指令(即第一指令)，以控制飞行器执行相应的操作(即第一操作)。第一指令可以根据预设操作与第一指令的对应关系获得。每种预设操作对应一个第一指令。
例如，点击操作对应的第一指令用于指示飞行器执行起飞操作，倾斜操作对应的第一指令用于指示飞行器执行倾斜飞行的操作等等。其中，第一操作由飞行器执行，包括起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作和拍照或摄像操作等。与第一指令对应的预设操作可以有多个，例如，第一指令为指示飞行器起飞，与第一指令对应的预设操作包括长按、滑动和声音等。
通过上述实施例，在运行有客户端的终端上检测预设操作，利用检测到的预设操作生成相应的第一指令，将第一指令发送给飞行器，由飞行器根据第一指令执行第一操作，实现了利用客户端控制飞行器飞行。并且，客户端上显示提示信息，可以提示用户要执行的预设操作，解决了控制飞行器的操作比较复杂的技术问题，达到了降低控制飞行器的操作复杂度的技术效果。
在客户端的控制界面还可以显示控制飞行器执行的第一操作，不仅提示飞行器将要执行的第一操作，还提示了控制飞行器执行第一操作所需要的预设操作，提高了控制飞行器的便携性，降低了控制飞行器的复杂度。
在以下说明中以第一操作为起飞操作，控制界面为控制飞行器起飞的界面为例进行说明。
可选地，当预设操作为触摸操作时，显示单元包括：第一显示模块，用于在控制界面上显示用于提示触摸操作的提示信息。
可选地，判断单元包括：第一判断模块，用于判断用户的输入操作是 否是在所述控制界面上进行的触摸操作。
可选地，通过判断是否在客户端的控制界面上检测到预设操作来判断用户的输入操作是否满足预定条件。具体的，第一判断模块可以判断是否在控制界面上检测到触摸操作，若在控制界面上检测到触摸操作，则判断出检测到预设操作。
其中，触摸操作包括点击、长按、滑动和拖动中的至少之一。
提示信息提示的触摸操作包括点击、长按、滑动和拖动中的一个，也可以是多个触摸操作的结合。
如图2a和2b所示，点击操作例如：点击某个区域、按预定顺序依次点击多个区域；
如图3所示，长按操作例如：长按屏幕上的某个区域或者长按屏幕以外的某个区域进行指纹识别；
如图4a和4b所示，滑动操作例如：在控制界面上按照预设轨迹滑动，在控制界面上的滑动轨迹构成预设图形等；
如图5a和5b所示，拖动操作例如：在控制界面上将一个图形或者标志拖动到另外一个区域，将一个图形或者标志拖动到另外一个图像上，或者按照控制界面上显示的轨迹进行拖动操作等。
其中，滑动和拖动操作的轨迹可以是使用客户端的用户自定义的轨迹。
可选地，当预设操作为晃动操作时，显示单元包括：第二显示模块，用于在控制界面上显示用于提示晃动操作的提示信息。
可选地，判断单元包括：第二判断模块，用于判断用户的输入操作是否是对所述终端执行的晃动操作。
可选地，通过判断是否检测到对终端执行的预设操作来判断用户的输入操作是否满足预定条件。具体的，第二判断模块可以判断是否检测到对 终端执行的晃动操作，若检测到对终端执行的晃动操作，则判断出检测到预设操作。
其中，晃动操作包括倾斜、甩和摇晃中的至少之一。
晃动操作是对运行客户端的终端执行的晃动操作，晃动操作包括倾斜、甩和摇晃中的一个或者多个的组合。利用终端上的陀螺仪、加速度传感器和重力传感器检测终端的倾斜、抛甩或者摇晃终端的操作，从而触发第一指令。
当预设操作为倾斜操作时，提示信息可以提示倾斜的方向和角度，并且在控制界面上显示终端实际倾斜的方向和角度，如图7所示。
当预设操作为摇晃终端的操作时，提示信息可以提示摇晃的次数(如图8所示)，或者发出摇晃的提示音等信息。
可选地，当预设操作为输入声音时，显示单元包括：第三显示模块，用于在控制界面上显示用于提示输入声音的提示信息。例如，可以在控制界面上显示用于提示输入特定声音数据的提示信息。
可选地，判断单元包括：第三判断模块，用于判断是否检测到向终端输入的声音数据，并判断检测到的声音数据是否与提示信息中的声音数据一致。
可选地，通过判断是否检测到对终端执行的预设操作来判断用户的输入操作是否满足预定条件。具体的，第三判断模块可以判断是否检测到向终端输入的声音，并判断检测到的声音所携带的指令是否与提示信息所指示的指令一致，若检测到的声音所携带的指令与提示信息所指示的指令一致，则判断出检测到预设操作。
在控制界面上显示的提示信息可以参考图2a至图7，提示需要输入的声音所对应的文字，例如：起飞。当终端的麦克风接收到输入的声音后，在本地或者服务器解析声音来获得相应的文字，判断与控制界面上提示的文字是否一致，一致则向飞行器发出第一指令。
在本实施例中，利用声音控制飞行器起飞和利用晃动操作控制飞行器起飞的流程参考图6所示的利用触摸操作控制飞行器起飞的流程，不再赘述。
采用自然语言或者对控制界面执行预设操作的方式来控制飞行器，无需格外学习操作飞行器的技能和手法，降低了控制飞行器的难度。同时，采用手机等终端就可以实现飞行器的控制，降低了使用配套遥控器所需的额外费用，减低了飞行器的成本。
可选地，第一操作包括以下之一：起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作和拍照或摄像操作。
需要说明的是，第一操作包括但不限于起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作和拍照或摄像操作，上述操作可以全部通过客户端进行控制，也可以有部分操作通过客户端控制，部分操作通过其他方式控制，此处不做具体限定。
客户端控制飞行器执行第一操作时，可以采用蓝牙、wifi和无线射频等方式建立客户端和飞行器之间的连接，其他支持客户端和飞行器的连接的协议也可以应用在本实施例中，此处不再一一举例说明。
实施例3
根据本申请实施例，还提供了一种用于实施上述实施例的终端，如图10所示，该终端包括：内存101、内存控制器103、CPU 105、接口107、输入输出I/O子系统109、触摸屏111、其他输入控制设备113、射频115、扩展接口117和音频设备119。
内存101主要用于包括操作系统、通信模块、触摸和手势控制模块、图形模块、用户交互界面模块和应用软件程序APP。操作系统为终端的操作系统，通信模块可以进行wifi通信或者蓝牙通信等，触摸和手势控制模块可以控制终端上的触摸和手势；图形模块可以处理终端上显示的图形；用户交互界面模块控制与用户进行交互。
内存控制器103用于控制内存的运行。
接口107主要提供输入输出I/O子系统109的接口，射频115的接口、扩展接口117和音频设备119。
输入输出I/O子系统109主要包括触摸屏控制器1091和其他输入控制器1093，触摸屏控制器1091连接触摸屏111，其他输入控制器1093连接其他输入控制设备113。
射频115接口主要用于与飞行器通过射频连接并且通信。
扩展接口117主要用于连接扩展设备。
音频设备119主要用于连接外放音箱和麦克风。
CPU 105即处理器，主要用于执行如下步骤：在控制界面上显示提示信息，其中，提示信息用于提示用户执行预设操作；检测用户的输入操作；判断用户的输入操作是否满足预定条件；若判断出用户的输入操作满足预定条件，则向飞行器发送与用户的输入操作对应的控制指令，其中，控制指令用于控制飞行器的操作。
CPU 105还用于，当所述预设操作为触摸操作时，在所述控制界面上显示用于提示所述触摸操作的提示信息；判断用户的输入操作是否是在所述控制界面上进行的触摸操作，其中，所述触摸操作包括点击、长按、滑动和拖动中的至少之一。
CPU 105还用于，当所述预设操作为晃动操作时，在所述控制界面上显示用于提示所述晃动操作的提示信息；判断用户的输入操作是否是对所述终端执行的晃动操作，其中，所述晃动操作包括倾斜、甩和摇晃中的至少之一。
CPU 105还用于执行当所述预设操作为输入声音时，在所述控制界面上显示用于提示输入特定声音数据的提示信息；判断是否检测到向所述终端输入的声音数据，并判断检测到的声音数据是否与所述提示信息中的声 音数据一致。
可选地，本实施例中的具体示例可以参考上述实施例1和实施例2中所描述的示例，本实施例在此不再赘述。
实施例4
本申请的实施例还提供了一种存储介质。可选地，在本实施例中，上述存储介质可以用于存储本申请实施例的飞行器的控制方法的程序代码。
可选地，在本实施例中，上述存储介质可以位于移动通信网络、广域网、城域网或局域网的网络中的多个网络设备中的至少一个网络设备。
可选地，在本实施例中，存储介质被设置为存储用于执行以下步骤的程序代码：
S1，在控制界面上显示提示信息，其中，所述提示信息用于提示用户执行预设操作；
S2，检测用户的输入操作并判断用户的输入操作是否满足预定条件；
S3，若判断出用户的输入操作满足预定条件，则向所述飞行器发送与用户的输入操作对应的控制指令。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
可选地，本实施例中的具体示例可以参考上述实施例1和实施例2中所描述的示例，本实施例在此不再赘述。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
上述实施例中的集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在上述计算机可读取的存储介质中。 基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在存储介质中，包括若干指令用以使得一台或多台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。
在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的客户端，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。

Claims (18)

  1. 一种飞行器的控制方法，所述方法由与所述飞行器连接的终端执行，所述方法包括：
    所述终端在控制界面上显示提示信息，其中，所述提示信息用于提示用户执行预设操作；
    所述终端检测用户的输入操作；
    所述终端判断用户的输入操作是否满足预定条件；
    若所述终端判断用户的输入操作满足预定条件，则所述终端向所述飞行器发送与用户的输入操作对应的控制指令，其中，所述控制指令用于控制所述飞行器的操作。
  2. 根据权利要求1所述的方法，其中，所述预设操作为触摸操作，
    所述终端在控制界面上显示提示信息包括：所述终端在所述控制界面上显示用于提示所述触摸操作的提示信息；
    所述终端判断用户的输入操作是否满足预定条件包括：所述终端判断用户的输入操作是否是在所述控制界面上进行的所述触摸操作，其中，所述触摸操作包括点击、长按、滑动和拖动中的至少之一。
  3. 根据权利要求1所述的方法，其中，所述预设操作为晃动操作，
    所述终端在控制界面上显示提示信息包括：所述终端在所述控制界面上显示用于提示所述晃动操作的提示信息；
    所述终端判断用户的输入操作是否满足预定条件包括：所述终端判断用户的输入操作是否是对所述终端执行的所述晃动操作，
    其中，所述晃动操作包括倾斜、甩和摇晃中的至少之一。
  4. 根据权利要求1所述的方法，其中，所述预设操作为输入声音，
    所述终端在控制界面上显示提示信息包括：所述终端在所述控制界面上显示用于提示输入特定声音数据的提示信息；
    所述终端判断用户的输入操作是否满足预定条件包括：所述终端判断是否检测到向所述终端输入的声音数据，并判断检测到的声音数据是否与所述提示信息中的声音数据一致。
  5. 根据权利要求1至4中任一项所述的方法，其中，所述飞行器的操作包括以下之一：
    起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作、拍照操作或摄像操作。
  6. 根据权利要求1所述的方法，
    其中，所述终端判断用户的输入操作是否满足预定条件，包括：
    所述终端判断用户的输入操作是否是所述预设操作。
  7. 根据权利要求1所述的方法，其中，所述终端是手机、PC、笔记本或平板电脑。
  8. 根据权利要求1所述的方法，其中，所述连接是无线连接。
  9. 一种飞行器的控制装置，位于与所述飞行器连接的终端中，所述装置包括：
    显示单元，用于在控制界面上显示提示信息，其中，所述提示信息用于提示用户执行预设操作；
    判断单元，用于检测用户的输入操作并判断用户的输入操作是否满足预定条件；
    发送单元，用于在用户的输入操作满足预定条件时，向所述飞行器发送与用户的输入操作对应的控制指令，其中，所述控制指令用于控制所述飞行器的操作。
  10. 根据权利要求9所述的装置，其中，所述预设操作为触摸操作，
    所述显示单元包括：第一显示模块，用于在所述控制界面上显示用于提示所述触摸操作的提示信息；
    所述判断单元包括：第一判断模块，用于判断用户的输入操作是否是在所述控制界面上进行的触摸操作，
    其中，所述触摸操作包括点击、长按、滑动和拖动中的至少之一。
  11. 根据权利要求9所述的装置，其中，所述预设操作为晃动操作，
    所述显示单元包括：第二显示模块，用于在所述控制界面上显示用于提示所述晃动操作的提示信息；
    所述判断单元包括：第二判断模块，用于判断用户的输入操作是否是对所述终端执行的所述晃动操作，
    其中，所述晃动操作包括倾斜、甩和摇晃中的至少之一。
  12. 根据权利要求9所述的装置，其中，所述预设操作为输入声音，
    所述显示单元包括：第三显示模块，用于在所述控制界面上显示用于提示输入特定声音数据的提示信息；
    所述判断单元包括：第三判断模块，用于判断是否检测到向所述终端输入的声音数据，并判断检测到的声音数据是否与所述提示信息中的声音数据一致。
  13. 根据权利要求9至12中任一项所述的装置，其中，所述飞行器的操作包括以下之一：
    起飞操作、降落操作、上升操作、下降操作、水平面移动操作、水平面旋转操作、拍照操作或摄像操作。
  14. 根据权利要求9所述的装置，其中，所述连接是无线连接。
  15. 根据权利要求9所述的装置，其中，所述终端是手机、PC、笔记本或平板电脑。
  16. 根据权利要求9所述的装置，
    其中，所述终端判断用户的输入操作是否满足预定条件，包括：
    所述终端判断用户的输入操作是否是所述预设操作。
  17. 一种飞行器的控制装置，包括：
    一个或多个处理器；和
    存储器，其中所述存储器存储有程序指令，所述指令当由所述一个或多个处理器执行时配置所述装置执行根据权利要求1-8中任何一项所述的方法。
  18. 一种计算机可读存储介质，具有程序指令，所述指令当由计算装置的处理器执行时配置所述装置执行根据权利要求1-8中任何一项所述的方法。
PCT/CN2017/077823 2016-04-01 2017-03-23 飞行器的控制方法和装置 WO2017167109A1 (zh)

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