WO2017185521A1 - 基于移动终端的无人机控制方法和装置 - Google Patents

基于移动终端的无人机控制方法和装置 Download PDF

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Publication number
WO2017185521A1
WO2017185521A1 PCT/CN2016/088711 CN2016088711W WO2017185521A1 WO 2017185521 A1 WO2017185521 A1 WO 2017185521A1 CN 2016088711 W CN2016088711 W CN 2016088711W WO 2017185521 A1 WO2017185521 A1 WO 2017185521A1
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Prior art keywords
action
motion
touch
drone
mobile terminal
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PCT/CN2016/088711
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English (en)
French (fr)
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孟龙龙
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中兴通讯股份有限公司
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Publication of WO2017185521A1 publication Critical patent/WO2017185521A1/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]
    • G06F3/0487—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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device

Definitions

  • This paper relates to, but is not limited to, the field of drone technology, and in particular to a mobile terminal-based drone control method and apparatus.
  • UAVs UAVs
  • air robots will gradually enter people's daily lives and be applied to many aspects of production and life.
  • the manner in which a person and a drone interact mainly includes a remote control, a voice, a body feeling, and the like.
  • speech recognition can only recognize a part of voice commands, and it is very difficult to understand natural language semantics.
  • Somatosensory requires more sensor data and complex algorithm support, while remote control mode is simpler and more reliable, directly to drones.
  • the mobile terminal-based drone control mode is to install an application (APP), and the application control interface has four control buttons on the top, bottom, left, and right, and the four control buttons are pressed to control the drone to perform corresponding motion actions, for example, Press the up button, the drone advances, press the left button, the drone moves to the left, etc., but the speed parameters such as the speed and angle of the drone are fixed, and the user cannot adjust and control in real time.
  • APP application
  • the drone control method based on the mobile terminal the control mode is relatively monotonous, and the flexible and accurate control of the drone cannot be realized, and the user experience is not good.
  • the present invention provides a mobile terminal-based drone control method and apparatus, which can improve the flexibility and accuracy of controlling a drone through a mobile terminal.
  • This paper proposes a mobile terminal-based drone control method, including:
  • a mapping relationship exists between the touch action and the motion action, and different touch actions correspond to different motion actions.
  • the determining, according to the detected touch action and the touch pressure, the motion action and the action parameter of the drone including:
  • the roll angle is calculated as follows:
  • l represents the actually detected sliding distance of the linear sliding
  • lmax represents the set maximum sliding distance
  • Dmax represents the set maximum rolling angle
  • D represents the finally calculated rolling angle of the rolling.
  • the determining, according to the detected touch action and the touch pressure, the motion action and the action parameter of the drone including:
  • P represents the actually detected touch pressure of the arc sliding
  • Pmax represents the set maximum touch pressure
  • Pmin represents the set minimum touch pressure
  • Pdegree represents the value of mapping P to 0° to 90°
  • ⁇ Indicates the set scale factor
  • S ⁇ represents the speed at which the final calculated swing operation is performed.
  • the determining, according to the detected touch action and the touch pressure, the motion action and the action parameter of the drone including:
  • the lifting height of the lifting motion is determined according to the touch pressure.
  • calculating the lifting height of the lifting action is as follows:
  • P represents the actually detected touch pressure of the continuous press
  • Pmax represents the set maximum touch pressure
  • Pmin represents the set minimum touch pressure
  • Hmax represents the set maximum lift height
  • Hmin represents the set minimum lift height. Height
  • H represents the final calculated lifting height of the lifting action.
  • the sending, according to the motion action and the action parameter, a control command to the drone includes:
  • the motion action and action parameters are combined into a data packet and a data packet header is added, a checksum is calculated, and the checksum is sent to the drone as a control command together with the data packet.
  • the present invention also provides a drone control device based on a mobile terminal, comprising:
  • a touch sensor configured to detect a touch action
  • a pressure sensor configured to detect a touch pressure generated by the touch action
  • the processing module is configured to determine a motion action and an action parameter of the drone according to the detected touch action and the touch pressure, and generate a control finger according to the motion action and the action parameter Order to send to the drone.
  • the UAV control device there is a mapping relationship between the touch action and the motion action, and different touch actions correspond to different motion actions.
  • the processing module includes:
  • the motion action determining unit is configured to determine that the motion of the drone is scrolling when the touch motion detected by the touch sensor is a linear slide;
  • the action parameter determining unit is configured to determine a roll direction of the rollover according to a sliding direction of the linear sliding, determine a roll angle of the roll according to the sliding distance of the straight line, and touch according to the pressure sensor The magnitude of the pressure determines the speed at which the scrolling is performed.
  • the processing module includes:
  • the motion action determining unit is configured to determine that the motion motion of the drone is a rotation motion when the touch motion detected by the touch sensor is an arc slide;
  • the action parameter determining unit is configured to determine a rotation direction of the rotation motion according to a sliding direction of the arc sliding, and determine a rotation angle of the rotation motion according to a sliding angle of the arc sliding, according to the touch detected by the pressure sensor The pressure determines the speed at which the rotational action is performed.
  • the processing module includes:
  • the motion action determining unit is configured to determine that the motion motion of the drone is a lifting motion when the touch motion detected by the touch sensor is continuous pressing;
  • the action parameter determining unit is configured to determine a lifting height of the lifting motion according to a touch pressure detected by the pressure sensor.
  • the UAV control device further includes a communication module configured to establish a communication connection with the UAV through a Bluetooth, a wireless network, or a mobile communication network.
  • the mobile terminal-based drone control method provided by the present invention determines the motion and motion parameters of the drone by detecting the touch action and the touch pressure of the user on the touch screen, and controls the drone according to the action parameter. Perform the corresponding motion action. Because the touch operation is very convenient and fast, The touch pressure can be flexibly changed when touched, and the user can do whatever he wants in the operation.
  • the motion posture of the drone can be adjusted with any angle, speed, altitude and other motion parameters, and the flexibility and precision of the drone through the mobile terminal can be realized.
  • the manipulation makes the interaction between the user and the drone more friendly, and improves the intelligence of the drone.
  • the technical solution of the embodiment of the invention enables the user to have real-time control experience of real-time control of the attitude, speed and height of the drone, so that the drone can follow the sliding of the user's finger and greatly improve the user experience.
  • FIG. 1 is a flowchart of a method for controlling a drone based on a mobile terminal according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for controlling a drone based on a mobile terminal according to Embodiment 2 of the present invention
  • FIG. 3 is a schematic structural view of a drone according to an embodiment of the present invention.
  • Figure 4 is a schematic block diagram of the drone shown in Figure 3;
  • FIG. 5 is a schematic block diagram of a drone control device based on a mobile terminal according to an embodiment of the present invention.
  • the method includes the following steps S11 to S16:
  • the mobile terminal establishes a communication connection with the drone.
  • the mobile terminal and the drone can establish a communication connection through Bluetooth, a wireless network (such as a wifi network), a mobile communication network (ie, a cellular network), and the like.
  • a wireless network such as a wifi network
  • a mobile communication network ie, a cellular network
  • the mobile terminal and the drone have a Bluetooth module (a short-range communication module), and the two can establish a short-range communication connection through the Bluetooth module; for example, the mobile terminal and the drone have a wifi module (remote communication module), and both Can access the wireless network through the wifi module, establish a far distance through the wireless network
  • the mobile terminal and the drone have a cellular radio frequency module (telecom communication module), and the two can access the mobile communication network through the cellular radio frequency module, and establish a remote communication connection through the mobile communication network.
  • the mobile terminal and the drone can also establish communication connections through other short-range or remote communication modules, which are not enumerated here.
  • the mobile terminal may initialize a mapping relationship between the touch action and the motion action and the action parameter, a mapping relationship between the touch pressure and the action parameter, and related parameters.
  • the mapping relationship can be factory preset or user-defined.
  • the touch action is the action of the user's finger on the touch screen of the mobile terminal, including linear sliding (such as sliding forward, backward, right or left), arc sliding (such as clockwise or counterclockwise sliding), continuous pressing (or long press, that is, do not slide) and so on.
  • linear sliding such as sliding forward, backward, right or left
  • arc sliding such as clockwise or counterclockwise sliding
  • continuous pressing or long press, that is, do not slide
  • the motion action is a motion posture such as a scrolling operation, a rotation motion, and a lifting motion performed by the drone.
  • the rollover includes rolling in any direction, for example, may include pitch (ie, forward and forward) and roll (ie, roll to the left and roll to the right); the rotation may include left and right hand, lifting motion It can include a straight line rise and a straight line drop.
  • mapping relationship between the touch action and the motion action and the action parameter can be established:
  • the linear sliding corresponds to the rolling, and the sliding direction of the linear sliding corresponds to different rolling directions or modes (such as subduction, recoil, left rolling, and right rolling).
  • the sliding distance of the linear sliding is different for different rolling angles (such as the pitch angle, Rolling angle);
  • arc sliding corresponds to the rotating action, the arc sliding sliding direction is different for different rotation directions (such as left-handed, right-handed, or positive-spinning, reverse-spinning), and the sliding angle of the arc sliding is different for different rotations.
  • Angle continuous pressing corresponds to the lifting action.
  • the roll direction, the roll angle, and the rotation direction can be understood as motion parameters, or the roll angle can be understood as an action parameter, and the roll direction and the rotation direction are understood as actual motion actions.
  • mapping relationship between the touch pressure and the action parameter can be established:
  • speed refers to the speed at which the rolling and rotating actions are performed
  • lift height refers to the height from the reference surface (such as the ground) when performing the lifting action.
  • the mobile terminal detects a touch action and a touch pressure generated by the touch action.
  • the mobile terminal detects the touch action by the touch sensor, and detects the touch pressure generated by the touch action by a pressure sensor located under the touch screen.
  • the mobile terminal determines a motion motion and an action parameter of the drone according to the detected touch motion and the touch pressure.
  • the mobile terminal determines the motion action corresponding to the touch action and the touch pressure according to the mapping relationship between the touch action and the motion action and the action parameter, and the mapping relationship between the touch pressure and the action parameter.
  • Motion parameters are used to determine the motion action corresponding to the touch action and the touch pressure according to the mapping relationship between the touch action and the motion action and the action parameter, and the mapping relationship between the touch pressure and the action parameter.
  • the touch action is a linear slide
  • the roll direction of the roll is determined according to the sliding direction of the linear slide
  • the roll angle of the roll is determined according to the sliding distance of the straight line, according to the touch pressure
  • the size determines the speed at which the scrolling is performed; when the touch motion is an arc sliding, the motion of the drone is determined to be a rotating motion, and the rotating direction of the rotating motion is determined according to the sliding direction of the arc sliding, according to the magnitude of the touch pressure.
  • the touch action is continuous pressing
  • the motion of the drone is determined to be a lifting motion
  • the lifting height of the lifting motion is determined according to the magnitude of the touch pressure.
  • a linear mapping relationship between the sliding distance and the roll angle can be established, and the roll angle is calculated by the following formula:
  • l represents the actually detected sliding distance
  • lmax represents the set maximum sliding distance
  • Dmax represents the set maximum rolling angle, usually the maximum rolling angle that the drone can reach
  • D represents the final calculated rolling angle
  • roll angle For example, for pitch (roll forward and backward roll) and roll (left and right roll), the roll angle can be calculated by the following formula:
  • a non-linear mapping relationship between the touch pressure and the speed of the roll and the rotation may be established, and the speed is calculated by the following formula:
  • P represents the actually detected touch pressure
  • Pmax represents the set maximum touch pressure, which is usually the maximum pressure that the user's finger can press the touch screen of the mobile terminal
  • Pmin represents the set minimum touch pressure, usually the user's finger presses the mobile terminal.
  • the minimum pressure that can be achieved by the touch screen, Pdegree means to map P to a value of 0° to 90°, ⁇ to the set scale factor, and S ⁇ to the final calculated speed.
  • ⁇ can be set according to the actual demand. The larger ⁇ , the faster the speed change when the drone performs the rolling and rotating action, and vice versa.
  • the sliding angle of the arc sliding is used as the rotation angle d.
  • a linear mapping relationship between the touch pressure and the lifting height can be established, and the lifting height is calculated by the following formula:
  • P represents the actually detected touch pressure
  • Pmax represents the set maximum touch pressure, which is usually the maximum pressure that the user's finger can press the touch screen of the mobile terminal
  • Pmin represents the set minimum touch pressure, usually the user's finger presses the mobile terminal.
  • the minimum pressure that the touch screen can reach Hmax Indicates the set maximum lift height, usually the maximum lift height that the drone can reach, Hmin indicates the set minimum lift height, and H indicates the final calculated lift height.
  • the mobile terminal generates a control command according to the determined motion action and the action parameter, and sends the control command to the drone.
  • the mobile terminal combines the determined motion actions and action parameters to form a data packet, and then uses the data packet as a control command, and can send the data packet to the drone through Bluetooth, a wireless network, a mobile communication network, or the like.
  • the mobile terminal may send a control instruction to the UAV in real time according to the detected touch action, or may send a control instruction to the UAV every preset time.
  • the drone receives the control command, and obtains the motion action and the action parameter after parsing the control command.
  • the drone can receive the control command sent by the mobile terminal through Bluetooth, the wireless network, the mobile communication network, or the like, and obtain the data such as the motion action and the action parameter after parsing the control command.
  • the drone performs an action according to the action parameter.
  • the drone performs a dive motion at a corresponding dive angle Dfy and speed, performs a left-handed motion at a corresponding speed S ⁇ and a rotation angle d, performs a linear ascending or descending action according to the lift height H, and the like.
  • the drone can adopt a relative change when the pitch, roll, left-hand, and right-hand angles are changed according to D fy , D hg , and d values, that is, the drone takes the position after the last rotation as the lower The starting position of the second rotation.
  • the drone changes its height according to the H value, it adds H to the initial height.
  • the drone returns to its initial height.
  • the mobile terminal combines the determined motion action and action parameters to form a data packet, adds a data packet header, calculates a checksum, and sends the checksum together with the data packet.
  • the drone reads the data packet and calculates a checksum, and determines whether the calculated checksum is consistent with the checksum calculated by the mobile terminal carried by the data packet, when calculating The checksum is consistent with the checksum calculated by the mobile terminal carried by the data packet, and the corresponding motion action is performed according to the control instruction, when the calculated checksum and data are calculated.
  • the checksum calculated by the mobile terminal carried by the packet is inconsistent, it indicates that an error has occurred during the data transmission, and the control command is ignored, and the motion action is not performed. Guarantee the accuracy of control.
  • a method for controlling a drone based on a mobile terminal according to Embodiment 2 of the present invention is proposed.
  • the method should be applicable to the mobile terminal side, and includes the following steps S21 to S24:
  • the mobile terminal may send a control instruction to the UAV in real time according to the detected touch action, or may send a control instruction to the UAV every preset time.
  • the process returns to step S22 to execute the next round control.
  • Steps S21-S24 in this embodiment are the same as steps S11-S14 in the first embodiment, and details are not described herein again.
  • step S24 the mobile terminal combines the determined motion action and the action parameter and the like to form a data packet and adds the data packet header, and then calculates a checksum, and sends the checksum together with the data packet.
  • the mobile terminal combines the determined motion action and the action parameter and the like to form a data packet and adds the data packet header, and then calculates a checksum, and sends the checksum together with the data packet.
  • the embodiment of the present invention is based on a drone control method of a mobile terminal, and detects a motion action and an action parameter of the drone by detecting a touch action and a touch pressure of the user on the touch screen, and controls the drone to perform corresponding according to the action parameter.
  • Athletic movements Since the touch operation is extremely convenient and quick, and the touch pressure can be flexibly changed when touched, the user can do whatever he wants in the operation, and can adjust the motion posture of the drone with any angle, speed, altitude and other motion parameters, and realize the movement through the mobile terminal.
  • the flexible and precise control of the drone makes the interaction between the user and the drone more friendly, and improves the intelligence of the drone.
  • the technical solution of the embodiment of the present invention can enable the user to Real-time control of the real-time control experience of the UAV's attitude, speed and altitude allows the drone to follow the user's finger to slide, greatly improving the user experience.
  • the mobile terminal may also calculate the action parameter according to the touch action and the touch pressure, and send data such as the touch action and the action parameter to the drone, and after the drone receives the data, determine according to the touch action. Corresponding motion action, and the motion action is performed according to the action parameter. In this case, it is necessary to set a mapping relationship between the touch action and the motion action in the drone.
  • the mobile terminal may also display a control button on the screen as in the related art, detect a control button pressed by the user to determine the motion of the drone, and detect the touch pressure of the user pressing the control button to determine the unmanned person. Machine action parameters.
  • the mobile terminal in the embodiment of the present invention may be any portable device having a touch action and a touch pressure detection function and a computing capability, such as a mobile phone or a tablet, and has wide application and low implementation cost.
  • both the mobile terminal application (APP) and the drone-side control program can be flexibly expanded to complete more complex drone control.
  • the technical solution of the embodiment of the invention has strong portability and can be used to control a plurality of drones, such as a plurality of multi-rotor drones, fixed-wing drones, children's toy drones, and the like.
  • the multi-rotor UAV includes a four-rotor, a six-rotor, an eight-rotor, and the like.
  • the following describes a process for controlling a quadrotor UAV based on a mobile terminal-based drone control method according to an embodiment of the present invention.
  • FIG. 3 and Figure 4 show a schematic diagram of a drone with four rotors.
  • the drone includes a main processor (S3C6410 embedded unit), a communication unit (such as a Bluetooth module, a wifi module, etc.), an inertial measurement unit, an electronic compass, a motor drive, and four rotor motors.
  • the communication module is used to communicate with the mobile terminal, the main processor is used to control each component, the inertial measurement unit and the electronic compass are used to measure the attitude of the drone, and the motor drives four rotor motors for driving the drone.
  • the coordinate system shown in Fig. 3 is established at the center of the drone.
  • the positive direction of the y-axis as the head of the drone, that is, the position where the rotor 1 is located, as indicated by the dotted arrow; define the negative direction of the y-axis as the tail of the drone, that is, the position where the rotor 3 is located; define the x-axis positive
  • the direction is the right part of the drone, that is, the position where the rotor 4 is located; the negative direction of the x-axis is defined as the left part of the drone, that is, the position where the rotor 2 is located.
  • the motion action A UAV of the drone in this embodiment includes six categories: hovering, pitching, rolling, left-handed, right-handed, and lifting.
  • the pitch is the UAV rotating around the x-axis.
  • the drone rotates clockwise around the x-axis, and the drone is tilted forward (ie, swooping forward). Said; when viewed from the positive direction of the x-axis, the drone rotates counterclockwise around the x-axis, and the drone is tilted forward (ie, forwardly rams forward), Said.
  • the roll is the UAV rotating around the y axis.
  • the drone When viewed from the positive direction of the y axis, the drone rotates clockwise around the y axis, and the drone rolls left. Said; when viewed from the positive direction of the y-axis, the drone rotates counterclockwise around the y-axis, and the drone rolls right. Said. When viewed from the positive direction of the z-axis, the drone rotates clockwise around the z-axis, which is right-handed, denoted by R x ; when viewed from the positive direction of the z-axis, the drone rotates counterclockwise around the z-axis. Left-handed, expressed in L x . The hovering action is indicated by Shover , and the lifting action is represented by S j .
  • the mobile terminal senses the touch action A user of the user's finger and the touch pressure P of the finger pressing the touch screen through the touch sensor and the pressure sensor under the touch screen.
  • the value of the A user is as follows:
  • the mobile terminal assigns A UAV a value according to the value of A user as follows:
  • the drone rolls right When a mobile terminal user's finger slides clockwise touchscreen A clockwise, the right-handed UAV R x; the user's finger when the touch screen in a mobile terminal counterclockwise slidably A counterclockwise, left UAV L x; in the mobile terminal when the user's finger When the touch screen continues to press A static , the drone lifts S j .
  • the angle Dfy of the front and the front of the drone can be calculated and determined according to the sliding distance l of the user by the above formula (2), and the angle Dhg of the left and right rolls of the drone can be based on the sliding distance of the user.
  • l Calculated and determined by the above formula (3)
  • the speed S ⁇ of the front, front, left, right, left and right of the drone can be calculated according to the touch pressure P of the user's finger by the above formula (4)
  • the angle d of the drone or the right hand of the drone may be equal to the angle d of the user's finger rotating counterclockwise or clockwise
  • the height of the drone's lifting may be determined according to the touch pressure P of the user's finger by the above formula (5).
  • the mobile terminal combines the determined motion actions and action parameters to form a data packet and adds a data packet header, calculates a checksum, and sends the checksum together with the data packet as a control command to the Bluetooth through the control command.
  • Man-machine the mobile terminal combines the determined motion actions and action parameters to form a data packet and adds a data packet header, calculates a checksum, and sends the checksum together with the data packet as a control command to the Bluetooth through the control command.
  • the UAV after receiving the control instruction by using the Bluetooth, the UAV reads the data packet and calculates a checksum, and determines whether the calculated checksum is consistent with the checksum calculated by the mobile terminal carried by the data packet; data transmission errors occur, the control command is ignored, not to execute the motion operation; upon coincidence, the instruction fetch control parsed movement operation and the operation parameter data, performs a corresponding movement operation a UAV, according to the value of S a Adjust the speed at which the pitch, roll, left-hand and right-hand actions are performed, adjust the pitch of the pitch and roll according to the values of D fy and D hg , adjust the angle of the left or right hand according to the value of d, and adjust the angle according to the value of H.
  • the height of the lift is the speed at which the pitch, roll, left-hand and right-hand actions are performed, adjust the pitch of the pitch and roll according to the values of D fy and D hg , adjust the angle of the left or right hand according to the value of d, and adjust
  • the drone can adopt a relative change when the pitch, roll, left-hand, and right-hand angles are changed according to D fy , D hg , and d values, that is, the drone takes the position after the last rotation as the lower The starting position of the second rotation.
  • the drone changes its height according to the H value, it adds H to the initial height, that is, H min +5+H.
  • the drone returns to its initial height H min +5.
  • the mobile terminal may also calculate the action parameter according to the touch action A user and the touch pressure P, and package the touch action A user and the action parameters Dfy, Dhg, S ⁇ , H, d, etc., and send the data to the mobile terminal.
  • the drone assigns a value to the A UAV according to the value of the A user according to the mapping relationship between the touch action A user and the motion action A UAV , that is, determines the corresponding motion action according to the touch action, and according to the action Parameters to perform this motion action.
  • a drone control device based on a mobile terminal according to an embodiment of the present invention.
  • the device may be applied to a mobile terminal, including a communication module 10, a touch screen 30, a pressure sensor 40, and a processing module 20, where:
  • Communication module 10 is configured to establish a communication connection with the drone, and may be a short-range or remote communication module.
  • the communication module 10 can establish a communication connection through Bluetooth, a wireless network (such as a wifi network), a mobile communication network (ie, a cellular network), and the like.
  • a wireless network such as a wifi network
  • a mobile communication network ie, a cellular network
  • the communication module 10 is a Bluetooth module (short-range communication module), and establishes a short-range communication connection with the drone through Bluetooth; for example, the communication module 10 is a wifi module (remote communication module), which is established with the drone through the wireless network.
  • the remote communication connection for example, the communication module 10 is a cellular radio frequency module (telecom communication module), and establishes a remote communication connection with the drone through the mobile communication network.
  • Touch sensor 30 configured to detect a touch action and send the detected touch action to the location Module 20.
  • the touch action is the action of the user's finger on the touch screen of the mobile terminal, including linear sliding (such as sliding forward, backward, right or left), arc sliding (such as clockwise or counterclockwise sliding), continuous pressing (or long press, that is, do not slide) and so on.
  • linear sliding such as sliding forward, backward, right or left
  • arc sliding such as clockwise or counterclockwise sliding
  • continuous pressing or long press, that is, do not slide
  • the pressure sensor 40 is configured to detect a touch pressure generated by the touch action and transmit the detected touch pressure to the processing module 20.
  • the pressure sensor 40 is disposed under the touch screen. When the user's finger presses the touch screen with different strengths, the pressure sensor 40 quantizes different pressing forces into corresponding pressure values.
  • the processing module 20 is configured to determine a motion action and an action parameter of the drone according to the detected touch action and the touch pressure, and generate a control command according to the motion action and the action parameter to send to the drone.
  • the processing module 20 further initializes a mapping relationship between the touch action and the motion action and the action parameter, a mapping relationship between the touch pressure and the action parameter, and related parameters.
  • the mapping relationship can be factory preset or user-defined.
  • the motion action is a motion posture such as a scrolling operation, a rotation motion, and a lifting motion performed by the drone.
  • the rollover includes rolling in any direction, for example, may include pitch (ie, forward and forward) and roll (ie, roll to the left and roll to the right); the rotation may include left and right hand, lifting motion It can include a straight line rise and a straight line drop.
  • processing module 20 can establish the following mapping relationship between the touch action and the motion action and the action parameter:
  • the linear sliding corresponds to the rolling behavior.
  • the sliding direction of the linear sliding corresponds to different rolling directions or modes (such as subduction, recoil, left rolling, and right rolling).
  • the sliding distance of the linear sliding is different for different rolling angles (such as pitch angle and cross).
  • Rolling angle); the arc sliding action corresponds to the rotating motion, and the sliding direction of the arc sliding corresponds to different rotation directions (such as left-handed, right-handed, or positive-rotation, reverse-rotation), and the sliding angle of the arc sliding is different.
  • Rotation angle; continuous pressing corresponds to the lifting action.
  • the roll direction, the roll angle, and the rotation direction can be understood as motion parameters, or the roll angle can be understood as an action parameter, and the roll direction and the rotation direction are understood as actual motion actions.
  • processing module 20 can establish the following mapping relationship between the touch pressure and the action parameter:
  • Different touch pressures correspond to different speeds or lift heights, and speed refers to performing scrolling and turning
  • speed refers to performing scrolling and turning
  • the speed at the time of turning, the height of lifting is the height from the reference surface (such as the ground) when performing the lifting action.
  • the processing module 20 After receiving the touch action and the touch pressure, the processing module 20 determines the motion action and the motion corresponding to the touch action and the touch pressure according to the mapping relationship between the touch action and the motion action and the action parameter, and the mapping relationship between the touch pressure and the action parameter. parameter.
  • the processing module 20 may include a motion action determining unit and an action parameter determining unit.
  • the motion action determining unit in the processing module 20 is configured to determine that the motion of the drone is scrolling when the touch sensor detects that the touch motion is a linear slide;
  • the motion parameter determining unit is configured to determine a tumbling direction of the tumbling according to the sliding direction of the linear sliding, determine a tumbling angle of the tumbling according to the sliding distance of the linear sliding, and determine a speed at which the rolling is performed according to the touch pressure detected by the pressure sensor 40.
  • the motion action determining unit is configured to determine that the motion motion of the drone is a rotation motion when the touch sensor detects that the touch motion is an arc slide;
  • the motion parameter determining unit is configured to determine a rotational direction of the rotational motion according to a sliding direction of the arc sliding, and determine a speed at which the rotational motion is performed according to the touch pressure detected by the pressure sensor 40.
  • the motion action determining unit is configured to determine that the motion of the drone is a lifting motion when the touch sensor detects that the touch motion is a continuous pressing motion;
  • the action parameter determining unit is configured to determine the lift height based on the touch pressure detected by the pressure sensor 40.
  • the action parameter determining unit in the processing module 20 may calculate the action parameters of the drone angle, the rollover and the rotation speed, the lift height, and the like of the drone according to the foregoing formulas (1)-(5).
  • the processing module 20 fuses the determined data to form a data packet, and then sends the data packet as a control command to the drone to control the drone to perform the corresponding motion. action.
  • the processing module 20 may send a control instruction to the UAV in real time according to the detected touch action, or may send a control instruction to the UAV every preset time.
  • the processing module 20 combines the determined motion actions and action parameters to form a data packet, adds a data packet header, calculates a checksum, and combines the checksum with the data packet. Send to the drone so that the drone can perform verification and verification and then perform the motion action. Guarantee the accuracy of control.
  • the drone control device determines the motion action and the action parameter of the drone by detecting the touch action and the touch pressure of the user on the touch screen of the mobile terminal, and controls the drone to control the drone according to the action parameter. Perform the corresponding motion action. Since the touch operation is extremely convenient and quick, the touch pressure can be flexibly changed when the touch is performed, and the user can freely do whatever he wants in the operation, and can adjust the motion posture of the drone with any angle, speed, height and other motion parameters, and realize the pair of mobile terminals. The flexible and precise control of the drone makes the interaction between the user and the drone more friendly, and improves the intelligence of the drone.
  • the drone control is implemented by using the device of the embodiment of the invention, which enables the user to have real-time control experience of real-time control of the attitude, speed and altitude of the drone, so that the drone can follow the sliding of the user's finger and greatly improve the operation. user experience.
  • the mobile terminal-based drone control device can also calculate the motion parameter based only on the touch action and the touch pressure, and send data such as the touch action and the action parameter to the drone, and the drone receives the data. After the data, the corresponding motion action is determined according to the touch action, and the motion action is performed according to the action parameter. In this case, it is necessary to set a mapping relationship between the touch action and the motion action in the drone.
  • the mobile terminal-based UAV control device provided by the foregoing embodiment is the same as the mobile terminal-based UAV control method embodiment, and the implementation process thereof is described in the method embodiment, and in the method embodiment.
  • the technical features are applicable in the device embodiments, and are not described herein again.
  • the motion and the operating parameters of the drone are determined by detecting the touch action and the touch pressure of the user on the touch screen, and the drone is controlled according to the Action parameters to perform the corresponding motion action. Since the touch operation is very convenient and fast, and the touch pressure can be flexibly changed when touched, the user can freely do whatever he wants in the operation, and can adjust the motion posture of the drone with any angle, speed, height and other action parameters, and realize the movement through the mobile terminal.
  • the flexible and precise control of the drone makes the interaction between the user and the drone more friendly, and improves the intelligence of the drone.
  • the technical solution of the embodiment of the invention enables the user to have real-time control experience of real-time control of the attitude, speed and height of the drone, so that the drone can follow the sliding of the user's finger and greatly improve the user experience.

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Abstract

一种基于移动终端的无人机控制方法和装置，所述方法包括：检测触摸动作以及所述触摸动作产生的触摸压力（S22）；根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数（S23），根据所述运动动作及动作参数生成控制指令发送给所述无人机（S24）。

Description

基于移动终端的无人机控制方法和装置 技术领域
本文涉及但不限于无人机技术领域，尤其是涉及一种基于移动终端的无人机控制方法和装置。
背景技术
随着无人机技术的迅速发展，无人机已逐渐应用于多个领域，包括农业、电影电视剧拍摄、物流快递、餐饮送餐、保险查勘、警务执法等领域。无人机被誉为“空中机器人”，必将逐渐走入人们的日常生活，应用于生产生活的多个方面。
相关技术中，人和无人机交互的方式主要有遥控、语音、体感等。语音识别目前只能识别一部分语音命令，对于自然语言语义的理解还有很大难度，体感则需要更多的传感器数据及复杂算法的支持，而遥控方式则较为简单、可靠，直接给无人机发送控制指令即可。
遥控无人机的方式多种多样，例如可以通过电脑键盘、游戏手柄、移动终端等遥控无人机。目前，基于移动终端的无人机控制方式是安装一个应用(APP)，应用的控制界面上有上下左右四个控制按钮，通过按压四个控制按钮来控制无人机执行相应的运动动作，例如，按压上键，无人机前进，按压左键，无人机左移等等，但无人机的速度、角度等动作参数则是固定的，用户不能实时调整和控制。
综上所述，相关技术中基于移动终端的无人机控制方法，控制方式比较单调刻板，不能实现灵活精确的对无人机进行操控，用户体验不佳。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本文提供一种基于移动终端的无人机控制方法和装置，可以提高通过移动终端控制无人机的灵活性和精确性。
本文提出一种基于移动终端的无人机控制方法，包括：
检测触摸动作以及所述触摸动作产生的触摸压力；
根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数；
根据所述运动动作及动作参数生成控制指令发送给所述无人机。
可选地，上述方法中，所述触摸动作与所述运动动作之间存在映射关系，不同的触摸动作对应不同的运动动作。
可选地，上述方法中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
当所述触摸动作为直线滑动时，确定所述无人机的运动动作为翻滚动作；
根据所述直线滑动的滑动方向确定所述翻滚动作的翻滚方向，根据所述直线滑动的滑动距离确定所述翻滚动作的翻滚角度，根据所述触摸压力的大小确定执行所述翻滚动作时的速度。
可选地，上述方法中，计算所述翻滚角度如下：
Figure PCTCN2016088711-appb-000001
其中，l表示实际检测到的所述直线滑动的滑动距离，lmax表示设定的最大滑动距离，Dmax表示设定的最大翻滚角度，D表示最终计算出的所述翻滚动作的翻滚角度。
可选地，上述方法中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
当所述触摸动作为弧线滑动时，确定所述无人机的运动动作为旋转动作；
根据所述弧线滑动的滑动方向确定所述旋转动作的旋转方向，根据所述弧线滑动的滑动角度确定所述旋转动作的旋转角度，根据所述触摸压力确定执行所述旋转动作时的速度。
可选地，上述方法中，其中，计算执行所述旋转动作时的速度如下：
Figure PCTCN2016088711-appb-000002
其中，P表示实际检测到的所述弧线滑动的触摸压力，Pmax表示设定的最大触摸压力，Pmin表示设定的最小触摸压力，Pdegree表示将P映射到0°～90°的值，α表示设定的比例系数，Sα表示最终计算出的执行所述旋转动作时的速度。
可选地，上述方法中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
当所述触摸动作为持续按压时，确定所述无人机的运动动作为升降动作；
根据所述触摸压力确定所述升降动作的升降高度。
可选地，上述方法中，计算所述升降动作的升降高度如下：
Figure PCTCN2016088711-appb-000003
其中，P表示实际检测到的所述持续按压的触摸压力，Pmax表示设定的最大触摸压力，Pmin表示设定的最小触摸压力，Hmax表示设定的最大升降高度，Hmin表示设定的最小升降高度，H表示最终计算出的所述升降动作的升降高度。
可选地，上述方法中，所述根据所述运动动作及动作参数生成控制指令发送给所述无人机包括：
将所述运动动作及动作参数组成一个数据包并加上数据包头，计算校验和，将所述校验和连同所述数据包一起作为控制指令发送给所述无人机。
本文还提供了一种基于移动终端的无人机控制装置，包括：
触摸传感器，设置为检测触摸动作；
压力传感器，设置为检测所述触摸动作产生的触摸压力；
处理模块，设置为根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，并根据所述运动动作及动作参数生成控制指 令发送给所述无人机。
可选地，上述无人机控制装置中，所述触摸动作与所述运动动作之间存在映射关系，不同的触摸动作对应不同的运动动作。
可选地，上述无人机控制装置中，所述处理模块包括：
运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为直线滑动时，确定所述无人机的运动动作为翻滚动作；
动作参数确定单元，设置为根据所述直线滑动的滑动方向确定所述翻滚动作的翻滚方向，根据所述直线滑动的滑动距离确定所述翻滚动作的翻滚角度，根据所述压力传感器检测到的触摸压力的大小确定执行所述翻滚动作时的速度。
可选地，上述无人机控制装置中，所述处理模块包括：
运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为弧线滑动时，确定所述无人机的运动动作为旋转动作；
动作参数确定单元，设置为根据所述弧线滑动的滑动方向确定所述旋转动作的旋转方向，根据弧线滑动的滑动角度确定所述旋转动作的旋转角度，根据所述压力传感器检测到的触摸压力确定执行所述旋转动作时的速度。
可选地，上述无人机控制装置中，所述处理模块包括：
运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为持续按压时，确定所述无人机的运动动作为升降动作；
动作参数确定单元，设置为根据所述压力传感器检测到的触摸压力确定所述升降动作的升降高度。
可选地，上述无人机控制装置还包括通信模块，设置为通过蓝牙、无线网络或移动通信网络与所述无人机建立通信连接。
本文所提供的一种基于移动终端的无人机控制方法，通过检测用户在触摸屏上的触摸动作和触摸压力，来确定无人机的运动动作及动作参数，控制无人机依据该动作参数来执行相应的运动动作。由于触摸操作非常方便快捷， 在触摸时可以灵活的改变触摸压力，用户在操作时可以随心所欲一气呵成，可以以任意角度、速度、高度等动作参数来调整无人机的运动姿态，实现通过移动终端对无人机的灵活、精确操控，使得用户与无人机的交互更加友好，提高了无人机的智能化程度。采用本发明实施例的技术方案，能够让用户拥有实时控制无人机姿态、速度、高度的实时控制体验，让无人机能够跟随用户的手指滑动而运动，极大的提升了用户体验。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图概述
图1是本发明实施例一基于移动终端的无人机控制方法的流程图；
图2是本发明实施例二基于移动终端的无人机控制方法的流程图；
图3是本发明实施例中一无人机的结构示意图；
图4是图3所示的无人机的模块示意图；
图5是本发明实施例基于移动终端的无人机控制装置的模块示意图。
本发明的实施方式
下文中将结合附图对本文的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
参见图1，提出本发明实施例一基于移动终端的无人机控制方法，所述方法包括以下步骤S11至S16：
S11、移动终端与无人机建立通信连接。
可选地，移动终端与无人机可以通过蓝牙、无线网络(如wifi网络)、移动通信网络(即蜂窝网络)等建立通信连接。
例如，移动终端与无人机具有蓝牙模块(近程通信模块)，二者可以通过蓝牙模块建立近程通信连接；又如，移动终端与无人机具有wifi模块(远程通信模块)，二者可以通过wifi模块接入无线网络，通过无线网络建立远 程通信连接；再如，移动终端与无人机具有蜂窝射频模块(远程通信模块)，二者可以通过蜂窝射频模块接入移动通信网络，通过移动通信网络建立远程通信连接。
此外，移动终端与无人机还可以通过其它近程或远程通信模块建立通信连接，在此不再一一列举。
可选地，建立通信连接后，移动终端可以初始化触摸动作与运动动作及动作参数的映射关系，触摸压力与动作参数的映射关系，以及相关参数。映射关系可以出厂预置，也可以由用户自定义设置。
触摸动作即用户手指在移动终端的触摸屏上的操作动作，包括直线滑动(如向前、向后、向右或向左直线滑动)、弧线滑动(如顺时针或逆时针滑动)、持续按压(或称长按，即按着不滑动)等。
运动动作即无人机执行的翻滚动作、旋转动作、升降动作等运动姿态。其中，翻滚动作包括往任意方向翻滚，例如可以包括俯仰(即向前俯冲和向前仰冲)和横滚(即向左翻滚和向右翻滚)；旋转动作可以包括左旋和右旋，升降动作可以包括直线升高和直线下降。
可选地，可以建立触摸动作与运动动作及动作参数的如下映射关系：
直线滑动对应翻滚动作，直线滑动的的滑动方向不同对应不同的翻滚方向或方式(如俯冲、仰冲、左滚、右滚)，直线滑动的滑动距离不同对应不同的翻滚角度(如俯仰角度、横滚角度)；弧线滑动对应旋转动作，弧线滑动滑动方向不同对应不同的旋转方向(如左旋、右旋，或称正旋、反旋)，弧线滑动的滑动角度不同对应不同的旋转角度；持续按压对应升降动作。其中，翻滚方向、翻滚角度、旋转方向可以理解为动作参数，或者将翻滚角度理解为动作参数，翻滚方向和旋转方向理解为实际的运动动作。
可选地，可以建立触摸压力与动作参数的如下映射关系：
不同的触摸压力对应不同的速度或升降高度，速度指执行翻滚动作、旋转动作时的速度，升降高度指执行升降动作时离参考面(如地面)的高度。
本领域技术人员可以理解，除了前述列举的触摸动作和运动动作外，还可以同理设置其它的触摸动作和运动动作；除了前述列举的触摸动作和触摸 压力与运动动作及动作参数的映射关系外，还可以同理设置其它的映射关系。在此不再一一列举。
S12、移动终端检测触摸动作以及该触摸动作产生的触摸压力。
可选地，移动终端通过触摸传感器检测触摸动作，通过位于触摸屏下方的压力传感器检测该触摸动作产生的触摸压力。
S13、移动终端根据检测到的触摸动作和触摸压力确定无人机的运动动作及动作参数。
可选地，移动终端检测到触摸动作和触摸压力后，根据触摸动作与运动动作及动作参数的映射关系，以及触摸压力与动作参数的映射关系，确定与触摸动作和触摸压力对应的运动动作及运动参数。
举例而言：
当触摸动作为直线滑动时，确定无人机的运动动作为翻滚动作，并根据直线滑动的滑动方向确定翻滚动作的翻滚方向，根据直线滑动的滑动距离确定翻滚动作的翻滚角度，根据触摸压力的大小确定执行翻滚动作时的速度；当触摸动作为弧线滑动时，确定无人机的运动动作为旋转动作，并根据弧线滑动的滑动方向确定旋转动作的旋转方向，根据触摸压力的大小确定执行旋转动作时的速度；当触摸动作为持续按压时，确定无人机的运动动作为升降动作，并根据触摸压力的大小确定升降动作的升降高度。
一个可选实施例中，确定翻滚角度时，可以对滑动距离与翻滚角度建立线性映射关系，通过以下公式计算翻滚角度：
Figure PCTCN2016088711-appb-000004
其中，l表示实际检测到的滑动距离，lmax表示设定的最大滑动距离，Dmax表示设定的最大翻滚角度，通常为无人机能够达到的最大翻滚角度，D表示最终计算出的翻滚角度。
可选地，对于不同方向的翻滚动作，可以分别设置不同的最大翻滚角度。例如，对于俯仰(前后翻滚)和横滚(左右翻滚)，可以分别通过以下公式计算翻滚角度：
Figure PCTCN2016088711-appb-000005
Figure PCTCN2016088711-appb-000006
其中，
Figure PCTCN2016088711-appb-000007
表示设定的最大俯仰角度，通常为无人机能够达到的最大俯仰角度，Dfy表示最终计算出的俯仰角度；
Figure PCTCN2016088711-appb-000008
表示设定的最大横滚角度，通常为无人机能够达到的最大横滚角度，Dhg表示最终计算出的横滚角度。
Figure PCTCN2016088711-appb-000009
和
Figure PCTCN2016088711-appb-000010
可以相同也可以不同。
可选地，确定执行翻滚动作和旋转动作时的速度时，可以对触摸压力与翻滚、旋转的速度建立非线性映射关系，通过以下公式计算速度：
Figure PCTCN2016088711-appb-000011
其中，P表示实际检测到的触摸压力，Pmax表示设定的最大触摸压力，通常为用户手指按压移动终端触摸屏能达到的最大压力，Pmin表示设定的最小触摸压力，通常为用户手指按压移动终端触摸屏能达到的最小压力，Pdegree表示将P映射到0°～90°的值，α表示设定的比例系数，Sα表示最终计算出的速度。α可以根据实际需求设定，α越大，无人机执行翻滚和旋转动作时的速度变化越快，反之则变化越慢。
确定旋转动作的旋转角度时，以弧线滑动的滑动角度作为旋转角度d。
一个可选实施例中，确定升降高度时，可以对触摸压力与升降高度建立线性映射关系，通过以下公式计算升降高度：
Figure PCTCN2016088711-appb-000012
其中，P表示实际检测到的触摸压力，Pmax表示设定的最大触摸压力，通常为用户手指按压移动终端触摸屏能达到的最大压力，Pmin表示设定的最小触摸压力，通常为用户手指按压移动终端触摸屏能达到的最小压力，Hmax 表示设定的最大升降高度，通常为无人机能够达到的最大升降高度，Hmin表示设定的最小升降高度，H表示最终计算出的升降高度。
以上分别列举了翻滚角度、翻滚和旋转的速度以及升降高度的计算公式，实际上，也可以采用其它的计算公式来计算上述动作参数，在此不再赘述。
S14、移动终端根据确定的运动动作及动作参数生成控制指令并发送给无人机。
可选地，移动终端将确定的运动动作及动作参数等数据进行融合，组成一个数据包，然后将该数据包作为控制指令，可以通过蓝牙、无线网络、移动通信网络等发送给无人机。
可选地，移动终端可以根据检测到的触摸动作向无人机实时发送控制指令，也可以每隔预设时间向无人机发送一次控制指令。
S15、无人机接收控制指令，解析该控制指令后获取运动动作及动作参数。
可选地，无人机可以通过蓝牙、无线网络、移动通信网络等接收移动终端发送的控制指令，解析该控制指令后获取运动动作及动作参数等数据。
S16、无人机根据动作参数执行运动动作。
例如，无人机以相应的俯冲角度Dfy和速度执行俯冲动作，以相应的速度Sα及旋转角度d执行左旋动作，根据升降高度H执行直线上升或下降动作，等等。
可选地，无人机根据Dfy、Dhg、d值改变其俯仰、横滚、左旋及右旋角度时可以采用相对变化，也就是说，无人机将上次转动后的位置作为下次转动的起始位置。无人机根据H值改变其高度时是在初始高度上加H，当用户手指离开触摸屏时，无人机又恢复到其初始高度。
可选地，在步骤S14中，移动终端将确定的运动动作及动作参数等数据进行融合，组成一个数据包后，再加上数据包头，计算校验和，将校验和连同数据包一起发送给无人机。相应地，在步骤S15中，无人机接收到控制指令后，读取数据包并计算校验和，判断计算的校验和与数据包携带的移动终端计算的校验和是否一致，当计算的校验和与数据包携带的移动终端计算的校验和一致时才根据控制指令执行相应的运动动作，当计算的校验和与数据 包携带的移动终端计算的校验和不一致时说明数据传输过程中产生了错误，忽略该控制指令，不予执行运动动作。保证控制的准确性。
参见图2，提出本发明实施例二基于移动终端的无人机控制方法，所述方法应可以用于移动终端侧，包括以下步骤S21至S24：
S21、与无人机建立通信连接。
可选地，移动终端与无人机建立通信连接后，对lmax、Dmax(如
Figure PCTCN2016088711-appb-000013
Figure PCTCN2016088711-appb-000014
)、Pmax、Pmin、Hmax、Hmin、α等参数进行初始化，同时初始化d＝0°，Dfy＝0°，Dhg＝0°，H＝0，α可以根据实际需要设定，如设为4。
S22、检测触摸动作以及该触摸动作产生的触摸压力。
S23、根据检测到的触摸动作和触摸压力确定无人机的运动动作及动作参数。
S24、根据确定的运动动作及动作参数生成控制指令并发送给无人机。
可选地，移动终端可以根据检测到的触摸动作向无人机实时发送控制指令，也可以每隔预设时间向无人机发送一次控制指令。当发送完控制指令后，返回步骤S22，执行下轮控制。
本实施例中的步骤S21-S24分别与第一实施例中的步骤S11-S14相同，在此不再赘述。
可选地，在步骤S24，移动终端将确定的运动动作及动作参数等数据进行融合，组成一个数据包后并加上数据包头后，还计算校验和，将校验和连同数据包一起发送给无人机，以使无人机进行校验和验证并通过验证后才执行运动动作。保证控制的准确性。
本发明实施例基于移动终端的无人机控制方法，通过检测用户在触摸屏上的触摸动作和触摸压力，来确定无人机的运动动作及动作参数，控制无人机依据该动作参数来执行相应的运动动作。由于触摸操作极其方便快捷，而且在触摸时可以灵活的改变触摸压力，用户在操作时可以随心所欲一气呵成，可以以任意角度、速度、高度等动作参数来调整无人机的运动姿态，实现通过移动终端对无人机的灵活、精确操控，使得用户与无人机的交互更加友好，提高了无人机的智能化程度。采用本发明实施例的技术方案，能够让用户拥 有实时控制无人机姿态、速度、高度的实时控制体验，让无人机能够跟随用户的手指滑动而运行，极大的提升了用户体验。
在可选实施例中，移动终端也可以只根据触摸动作和触摸压力计算出动作参数，并将触摸动作和动作参数等数据发送给无人机，无人机接收到数据后，根据触摸动作确定对应的运动动作，并根据动作参数来执行该运动动作。这种情况需要在无人机中设置触摸动作与运动动作的映射关系。
在可选实施例中，移动终端也可以像相关技术那样在屏幕上显示控制按钮，检测用户按压的控制按钮来确定无人机的运动动作，并检测用户按压控制按钮的触摸压力来确定无人机的动作参数。
本发明实施例中的移动终端，可以是任何具有触摸动作和触摸压力检测功能以及运算能力的便携式设备，如手机、平板等，应用广泛，实现成本低。同时，无论是移动终端的应用(APP)，还是无人机端的控制程序均可灵活扩展，来完成更复杂的无人机控制。
本发明实施例的技术方案可移植性强，可以用来控制多种无人机，如多种多旋翼无人机、固定翼无人机、儿童玩具无人机等等。其中，多旋翼无人机包括四旋翼、六旋翼、八旋翼等。
参见图3、图4，以下以四旋翼无人机为例，阐述应用本发明实施例基于移动终端的无人机控制方法控制四旋翼无人机的过程。
图3、图4所示为拥有四个旋翼的无人机示意图。无人机包括主处理器(S3C6410嵌入式单元)、通信单元(如蓝牙模块、wifi模块等)、惯性测量单元、电子罗盘、电机驱动以及四个旋翼电机。通信模块用于与移动终端通讯，主处理器用于控制每个元件，惯性测量单元和电子罗盘用于测量无人机的姿态，电机驱动用于驱动无人机的4个旋翼电机。
以无人机的中心建立如图3所示的坐标系。定义y轴正方向为无人机的头部，即旋翼1所在的位置，如图虚线箭头所指；定义y轴负方向为无人机的尾部，即旋翼3所在的位置；定义x轴正方向为无人机的右部，即旋翼4所在的位置；定义x轴负方向为无人机的左部，即旋翼2所在的位置。
参考图3，本实施例中无人机的运动动作AUAV包括六大类：悬停、俯仰、 横滚、左旋、右旋及升降。其中俯仰即为无人机绕x轴旋转，当从x轴正方向看去，无人机绕x轴顺时针旋转，无人机前俯(即向前俯冲)，用
Figure PCTCN2016088711-appb-000015
表示；当从x轴正方向看去，无人机绕x轴逆时针旋转，无人机前仰(即向前仰冲)，用
Figure PCTCN2016088711-appb-000016
表示。横滚即为无人机绕y轴旋转，当从y轴正方向看去，无人机绕y轴顺时针旋转，无人机左滚，用
Figure PCTCN2016088711-appb-000017
表示；当从y轴正方向看去，无人机绕y轴逆时针旋转，无人机右滚，用
Figure PCTCN2016088711-appb-000018
表示。当从z轴正方向看去，无人机绕z轴顺时针旋转，即为右旋，用Rx表示；当从z轴正方向看去，无人机绕z轴逆时针旋转，即为左旋，用Lx表示。悬停动作用Shover表示，升降动作用Sj表示。
移动终端与无人机通过蓝牙建立通信连接后，分别进行初始化。移动终端对lmax、Dmax(如
Figure PCTCN2016088711-appb-000019
)、Pmax、Pmin、Hmax、Hmin、α等参数进行初始化，同时初始化d＝0°，Dfy＝0°，Dhg＝0°，H＝0，Sα＝0，α设为4。无人机初始化AUAV＝Shover，即无人机处于悬停状态，同时初始化d＝0°，Dfy＝0°，Dhg＝0°，H＝0，Sα＝0，无人机悬停的初始高度设为Hmin+5。
移动终端通过触摸传感器及触摸屏下方的压力传感器分别感知用户手指的触摸动作Auser和手指按压触摸屏的触摸压力P，Auser的取值如下：
Figure PCTCN2016088711-appb-000020
移动终端根据Auser的值给AUAV赋值如下：
Figure PCTCN2016088711-appb-000021
根据上述映射关系，当用户手指在移动终端触摸屏向上滑动Aup时，无人机前俯
Figure PCTCN2016088711-appb-000022
当用户手指在移动终端触摸屏向下滑动Adown时，无人机前仰
Figure PCTCN2016088711-appb-000023
当用户手指在移动终端触摸屏向左滑动Aleft时，无人机左滚
Figure PCTCN2016088711-appb-000024
当用户手指在移动终端触摸屏向右滑动Aright时，无人机右滚
Figure PCTCN2016088711-appb-000025
当用户手指在移动终端触摸屏顺时针滑动Aclockwise时，无人机右旋Rx；当用户手指在移动终端触摸屏逆时针滑动Acounterclockwise时，无人机左转Lx；当用户手指在移动终端触摸屏持续按压Astatic时，无人机升降Sj。
其中，无人机前俯和前仰的角度Dfy，可以根据用户手指滑动距离l通过前述公式(2)进行计算确定，同时无人机左滚和右滚时的角度Dhg，可以根据用户滑动距离l通过前述公式(3)进行计算确定；无人机前俯、前仰、左滚、右滚、左旋、右旋时的速度Sα，可以根据用户手指的触摸压力P通过前述公式(4)计算确定；无人机左旋或右旋的角度d可以等于用户手指逆时针或顺时针旋转的角度d；无人机升降的高度，可以根据用户手指的触摸压力P通过前述公式(5)计算确定。
可选地，移动终端将确定的运动动作及动作参数等数据进行融合，组成一个数据包并加上数据包头，计算校验和，将校验和连同数据包一起作为控制指令通过蓝牙发送给无人机。
可选地，无人机通过蓝牙接收到控制指令后，读取数据包并计算校验和，判断计算的校验和与数据包携带的移动终端计算的校验和是否一致；当不一致时说明数据传输过程中产生了错误，忽略该控制指令，不予执行运动动作； 当一致时，解析该控制指令后获取运动动作及动作参数等数据，执行相应的运动动作AUAV，并根据Sa值调整其执行俯仰、横滚、左旋及右旋动作时的速度，根据Dfy、Dhg值调整其俯仰、横滚的角度，根据d值调整其左旋或右旋的角度，根据H值调整其升降的高度。
可选地，无人机根据Dfy、Dhg、d值改变其俯仰、横滚、左旋及右旋角度时可以采用相对变化，也就是说，无人机将上次转动后的位置作为下次转动的起始位置。无人机根据H值改变其高度时是在初始高度上加H，也即Hmin+5+H，当用户手指离开触摸屏时，无人机又恢复到其初始高度Hmin+5。
在可选实施例中，移动终端也可以只根据触摸动作Auser和触摸压力P计算出动作参数，并将触摸动作Auser和动作参数Dfy、Dhg、Sα、H、d等数据打包后发送给无人机，无人机接收到数据包后，根据触摸动作Auser与运动动作AUAV的映射关系，根据Auser的值给AUAV赋值，即根据触摸动作确定对应的运动动作，并根据动作参数来执行该运动动作。
以上说明了利用本发明实施例基于移动终端的无人机控制方法控制四旋翼无人机的过程，同理也可以采用本文提供的技术方案来控制其它类型的无人机，在此不再赘述。
参见图5，提出本发明实施例基于移动终端的无人机控制装置实施例，所述装置可以应用于移动终端，包括通信模块10、触摸屏30、压力传感器40和处理模块20，其中：
通信模块10：设置为与无人机建立通信连接，可以是近程或远程通信模块。
可选地，通信模块10可以通过蓝牙、无线网络(如wifi网络)、移动通信网络(即蜂窝网络)等建立通信连接。
例如，通信模块10为蓝牙模块(近程通信模块)，通过蓝牙与无人机建立近程通信连接；又如，通信模块10为wifi模块(远程通信模块)，通过无线网络与无人机建立远程通信连接；再如，通信模块10为蜂窝射频模块(远程通信模块)，通过移动通信网络与无人机建立远程通信连接。
触摸传感器30：设置为检测触摸动作，并将检测到的触摸动作发送给处 理模块20。
触摸动作即用户手指在移动终端的触摸屏上的操作动作，包括直线滑动(如向前、向后、向右或向左直线滑动)、弧线滑动(如顺时针或逆时针滑动)、持续按压(或称长按，即按着不滑动)等。
压力传感器40：设置为检测触摸动作产生的触摸压力，并将检测到的触摸压力发送给处理模块20。
压力传感器40设于触摸屏下方，当用户手指以不同力度按压触摸屏时，压力传感器40将不同的按压力度量化为相应的压力值。
处理模块20：设置为根据检测到的触摸动作和触摸压力确定无人机的运动动作及动作参数，并根据运动动作及动作参数生成控制指令发送给无人机。
可选地，当通信模块10与无人机建立通信连接后，处理模块20还初始化触摸动作与运动动作及动作参数的映射关系，触摸压力与动作参数的映射关系，以及相关参数。映射关系可以出厂预置，也可以由用户自定义设置。
运动动作即无人机执行的翻滚动作、旋转动作、升降动作等运动姿态。其中，翻滚动作包括往任意方向翻滚，例如可以包括俯仰(即向前俯冲和向前仰冲)和横滚(即向左翻滚和向右翻滚)；旋转动作可以包括左旋和右旋，升降动作可以包括直线升高和直线下降。
可选地，处理模块20可以建立触摸动作与运动动作及动作参数的如下映射关系：
直线滑动对应翻滚动作，直线滑动的滑动方向不同对应不同的翻滚方向或方式(如俯冲、仰冲、左滚、右滚)，直线滑动的滑动距离不同对应不同的翻滚角度(如俯仰角度、横滚角度)；弧线滑动动作对应旋转动作，弧线滑动的滑动方向不同对应不同的旋转方向(如左旋、右旋，或称正旋、反旋)，弧线滑动的滑动角度不同对应不同的旋转角度；持续按压对应升降动作。其中，翻滚方向、翻滚角度、旋转方向可以理解为动作参数，或者将翻滚角度理解为动作参数，翻滚方向和旋转方向理解为实际的运动动作。
可选地，处理模块20可以建立触摸压力与动作参数的如下映射关系：
不同的触摸压力对应不同的速度或升降高度，速度指执行翻滚动作、旋 转动作时的速度，升降高度指执行升降动作时离参考面(如地面)的高度。
处理模块20接收到检测到触摸动作和触摸压力后，根据触摸动作与运动动作及动作参数的映射关系，以及触摸压力与动作参数的映射关系，确定与触摸动作和触摸压力对应的运动动作及运动参数。可选地，处理模块20可以包括运动动作确定单元和动作参数确定单元。
举例而言：
处理模块20中运动动作确定单元，设置为在触摸传感器检测到触摸动作为直线滑动时，确定无人机的运动动作为翻滚动作；
动作参数确定单元，设置为根据直线滑动的滑动方向确定翻滚动作的翻滚方向，根据直线滑动的滑动距离确定翻滚动作的翻滚角度，根据压力传感器40检测到的触摸压力确定执行翻滚动作时的速度。
或者，运动动作确定单元，设置为在触摸传感器检测到触摸动作为弧线滑动时，确定无人机的运动动作为旋转动作；
动作参数确定单元，设置为根据弧线滑动的滑动方向确定旋转动作的旋转方向，根据压力传感器40检测到的触摸压力确定执行旋转动作时的速度。
或者，运动动作确定单元，设置为在触摸传感器检测到触摸动作为持续按压动作时，确定无人机的运动动作为升降动作；
动作参数确定单元，设置为根据压力传感器40检测到的触摸压力确定升降高度。
可选地，处理模块20中动作参数确定单元可以根据前述公式(1)-(5)来计算无人机的翻滚角度、翻滚和旋转速度、升降高度等动作参数。
可选地，处理模块20确定运动动作及动作参数后，将确定的数据进行融合，组成一个数据包，然后将该数据包作为控制指令发送给无人机，以控制无人机执行相应的运动动作。
可选地，处理模块20可以根据检测到的触摸动作向无人机实时发送控制指令，也可以每隔预设时间向无人机发送一次控制指令。
可选地，处理模块20将确定的运动动作及动作参数等数据进行融合，组成一个数据包后，再加上数据包头，计算校验和，将校验和连同数据包一起 发送给无人机，以使无人机进行校验和验证并通过验证后才执行运动动作。保证控制的准确性。
本发明实施例基于移动终端的无人机控制装置，通过检测用户在移动终端触摸屏上的触摸动作和触摸压力，来确定无人机的运动动作及动作参数，控制无人机依据该动作参数来执行相应的运动动作。由于触摸操作极其方便快捷，在触摸时可以灵活的改变触摸压力，用户在操作时可以随心所欲一气呵成，可以以任意角度、速度、高度等动作参数来调整无人机的运动姿态，实现通过移动终端对无人机的灵活、精确操控，使得用户与无人机的交互更加友好，提高了无人机的智能化程度。采用本发明实施例的装置进行无人机控制，能够让用户拥有实时控制无人机姿态、速度、高度的实时控制体验，让无人机能够跟随用户的手指滑动而运行，极大的提升了用户体验。
在可选实施例中，基于移动终端的无人机控制装置也可以只根据触摸动作和触摸压力计算出动作参数，并将触摸动作和动作参数等数据发送给无人机，无人机接收到数据后，根据触摸动作确定对应的运动动作，并根据动作参数来执行该运动动作。这种情况需要在无人机中设置触摸动作与运动动作的映射关系。
需要说明的是，上述实施例提供的基于移动终端的无人机控制装置与基于移动终端的无人机控制方法实施例属于同一构思，其实现过程详见方法实施例，且方法实施例中的技术特征在装置实施例中均对应适用，这里不再赘述。
本领域普通技术人员可以理解上述方法中的全部或部分步骤可通过程序来指令相关硬件(例如处理器)完成，所述程序可以存储于计算机可读存储介质中，如只读存储器、磁盘或光盘等。可选地，上述实施例的全部或部分步骤也可以使用一个或多个集成电路来实现。相应地，上述实施例中的模块/单元可以采用硬件的形式实现，例如通过集成电路来实现其相应功能，也可以采用软件功能模块的形式实现，例如通过处理器执行存储于存储器中的程序指令来实现其相应功能。本申请不限制于任何特定形式的硬件和软件的结合。
工业实用性
本发明实施例所提供的一种基于移动终端的无人机控制方法，通过检测用户在触摸屏上的触摸动作和触摸压力，来确定无人机的运动动作及动作参数，控制无人机依据该动作参数来执行相应的运动动作。由于触摸操作非常方便快捷，而且在触摸时可以灵活的改变触摸压力，用户在操作时可以随心所欲一气呵成，可以以任意角度、速度、高度等动作参数来调整无人机的运动姿态，实现通过移动终端对无人机的灵活、精确操控，使得用户与无人机的交互更加友好，提高了无人机的智能化程度。采用本发明实施例的技术方案，能够让用户拥有实时控制无人机姿态、速度、高度的实时控制体验，让无人机能够跟随用户的手指滑动而运动，极大的提升了用户体验。

Claims (15)

  1. 一种基于移动终端的无人机控制方法，包括：
    检测触摸动作以及所述触摸动作产生的触摸压力；
    根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数；
    根据所述运动动作及动作参数生成控制指令发送给所述无人机。
  2. 根据权利要求1所述的基于移动终端的无人机控制方法，其中，所述触摸动作与所述运动动作之间存在映射关系，不同的触摸动作对应不同的运动动作。
  3. 根据权利要求2所述的基于移动终端的无人机控制方法，其中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
    当所述触摸动作为直线滑动时，确定所述无人机的运动动作为翻滚动作；
    根据所述直线滑动的滑动方向确定所述翻滚动作的翻滚方向，根据所述直线滑动的滑动距离确定所述翻滚动作的翻滚角度，根据所述触摸压力的大小确定执行所述翻滚动作时的速度。
  4. 根据权利要求3所述的基于移动终端的无人机控制方法，其中，计算所述翻滚角度如下：
    Figure PCTCN2016088711-appb-100001
    其中，l表示实际检测到的所述直线滑动的滑动距离，lmax表示设定的最大滑动距离，Dmax表示设定的最大翻滚角度，D表示最终计算出的所述翻滚动作的翻滚角度。
  5. 根据权利要求2所述的基于移动终端的无人机控制方法，其中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
    当所述触摸动作为弧线滑动时，确定所述无人机的运动动作为旋转动作；
    根据所述弧线滑动的滑动方向确定所述旋转动作的旋转方向，根据所述弧线滑动的滑动角度确定所述旋转动作的旋转角度，根据所述触摸压力确定执行所述旋转动作时的速度。
  6. 根据权利要求3-5任一项所述的基于移动终端的无人机控制方法，其中，计算执行所述旋转动作时的速度如下：
    Figure PCTCN2016088711-appb-100002
    其中，P表示实际检测到的所述弧线滑动的触摸压力，Pmax表示设定的最大触摸压力，Pmin表示设定的最小触摸压力，Pdegree表示将P映射到0°～90°的值，α表示设定的比例系数，Sα表示最终计算出的执行所述旋转动作时的速度。
  7. 根据权利要求2所述的基于移动终端的无人机控制方法，其中，所述根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，包括：
    当所述触摸动作为持续按压时，确定所述无人机的运动动作为升降动作；
    根据所述触摸压力确定所述升降动作的升降高度。
  8. 根据权利要求7所述的基于移动终端的无人机控制方法，其中，计算所述升降动作的升降高度如下：
    Figure PCTCN2016088711-appb-100003
    其中，P表示实际检测到的所述持续按压的触摸压力，Pmax表示设定的最大触摸压力，Pmin表示设定的最小触摸压力，Hmax表示设定的最大升降高度，Hmin表示设定的最小升降高度，H表示最终计算出的所述升降动作的升降高度。
  9. 根据权利要求1所述的基于移动终端的无人机控制方法，其特征在，所述根据所述运动动作及动作参数生成控制指令发送给所述无人机包括：
    将所述运动动作及动作参数组成一个数据包并加上数据包头，计算校验和，将所述校验和连同所述数据包一起作为控制指令发送给所述无人机。
  10. 一种基于移动终端的无人机控制装置，包括：
    触摸传感器，设置为检测触摸动作；
    压力传感器，设置为检测所述触摸动作产生的触摸压力；
    处理模块，设置为根据检测到的所述触摸动作和所述触摸压力确定所述无人机的运动动作及动作参数，并根据所述运动动作及动作参数生成控制指令发送给所述无人机。
  11. 根据权利要求10所述的基于移动终端的无人机控制装置，其中，所述触摸动作与所述运动动作之间存在映射关系，不同的触摸动作对应不同的运动动作。
  12. 根据权利要求11所述的基于移动终端的无人机控制装置，其中，所述处理模块包括：
    运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为直线滑动时，确定所述无人机的运动动作为翻滚动作；
    动作参数确定单元，设置为根据所述直线滑动的滑动方向确定所述翻滚动作的翻滚方向，根据所述直线滑动的滑动距离确定所述翻滚动作的翻滚角度，根据所述压力传感器检测到的触摸压力的大小确定执行所述翻滚动作时的速度。
  13. 根据权利要求11所述的基于移动终端的无人机控制装置，其中，所述处理模块包括：
    运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为弧线滑动时，确定所述无人机的运动动作为旋转动作；
    动作参数确定单元，设置为根据所述弧线滑动的滑动方向确定所述旋转动作的旋转方向，根据弧线滑动的滑动角度确定所述旋转动作的旋转角度，根据所述压力传感器检测到的触摸压力确定执行所述旋转动作时的速度。
  14. 根据权利要求11所述的基于移动终端的无人机控制装置，其中，所述处理模块包括：
    运动动作确定单元，设置为在所述触摸传感器检测到的触摸动作为持续按压时，确定所述无人机的运动动作为升降动作；
    动作参数确定单元，设置为根据所述压力传感器检测到的触摸压力确定所述升降动作的升降高度。
  15. 根据权利要求10-14任一项所述的基于移动终端的无人机控制装置，还包括通信模块，设置为通过蓝牙、无线网络或移动通信网络与所述无人机建立通信连接。
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