WO2022261824A1 - 控制方法、装置、体感遥控器、控制系统和存储介质 - Google Patents
控制方法、装置、体感遥控器、控制系统和存储介质 Download PDFInfo
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- WO2022261824A1 WO2022261824A1 PCT/CN2021/100129 CN2021100129W WO2022261824A1 WO 2022261824 A1 WO2022261824 A1 WO 2022261824A1 CN 2021100129 W CN2021100129 W CN 2021100129W WO 2022261824 A1 WO2022261824 A1 WO 2022261824A1
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- 230000003238 somatosensory effect Effects 0.000 title claims abstract description 187
- 238000000034 method Methods 0.000 title claims abstract description 60
- 230000000694 effects Effects 0.000 claims description 26
- 230000000875 corresponding effect Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 19
- 206010034719 Personality change Diseases 0.000 claims description 13
- 239000011521 glass Substances 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000007935 neutral effect Effects 0.000 claims description 6
- 230000033764 rhythmic process Effects 0.000 claims description 6
- 230000036544 posture Effects 0.000 claims 66
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 208000031872 Body Remains Diseases 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Definitions
- the present application relates to the technical field of drones, and in particular to a control method, a control device, a somatosensory remote controller, a control system, and a computer-readable storage medium.
- the aircraft is usually controlled by a remote controller, and the remote controller includes a traditional joystick remote controller and a new type of somatosensory remote controller.
- the joystick remote control includes one or more joysticks, and the user can control the aircraft by manipulating the joysticks to input control commands for the aircraft.
- the somatosensory remote controller the user can hold the somatosensory remote controller and control the aircraft by changing the attitude of the somatosensory remote controller.
- Embodiments of the present application provide a control method, a control device, a motion-sensing remote control, a control system, and a computer-readable storage medium, one of the purposes of which is to solve the technical problem that the user cannot clearly know whether the motion-sensing remote control enters the target posture range.
- the first aspect of the embodiment of the present application provides a control method, which is applied to a motion-sensing remote control, where a vibrator is arranged in the motion-sensing remote control, and the motion-sensing remote control is used to control an aircraft.
- the method includes:
- the vibration motor vibrator is controlled to vibrate.
- the second aspect of the embodiment of the present application provides a control device, including: a processor and a memory storing a computer program, and the processor implements any one of the control methods provided in the embodiments of the present application when executing the computer program.
- the third aspect of the embodiment of the present application provides a somatosensory remote control for controlling an aircraft.
- the somatosensory remote control includes:
- an attitude sensor configured to collect the attitude of the somatosensory remote controller
- a communication module used to establish communication with the aircraft and/or display device
- a vibrator for generating vibration feedback
- a processor and a memory storing a computer program the processor, when executing the computer program, implements the following steps:
- the vibrator is controlled to vibrate.
- the fourth aspect of the embodiment of the present application provides a control system, including: an aircraft and a somatosensory remote controller for controlling the aircraft;
- the somatosensory remote controller is used to: acquire the gesture of the somatosensory remote controller, and control the vibrator in the somatosensory remote controller to vibrate when the gesture of the somatosensory remote controller enters a target gesture range;
- the aircraft is used for: performing corresponding actions according to the attitude change of the motion-sensing remote controller and/or the control instruction issued by the motion-sensing remote controller.
- the fifth aspect of the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any control method provided in the embodiment of the present application is implemented .
- a vibrator is provided in the somatosensory remote control.
- the vibrator can be controlled to vibrate, so that the user can clearly know the vibration of the somatosensory remote control according to the vibration felt.
- the aircraft has entered the target attitude range, and it is clearly known that the fuselage of the aircraft has not tilted or the gimbal on the aircraft has returned to the center.
- FIG. 1 is a schematic diagram of a reference posture of a somatosensory remote controller provided by an embodiment of the present application.
- Fig. 2 is an internal structure diagram of the motion sensing remote control provided by the embodiment of the present application.
- Fig. 3 is a flowchart of a control method provided by an embodiment of the present application.
- Fig. 4 is a usage scene diagram of the somatosensory remote controller provided by the embodiment of the present application.
- Fig. 5 is a display interface of the flying glasses provided by the embodiment of the present application.
- Fig. 6 is a schematic structural diagram of a control device provided by an embodiment of the present application.
- FIG. 7 is a schematic structural diagram of a somatosensory remote controller provided by an embodiment of the present application.
- Fig. 8 is a schematic structural diagram of a control system provided by an embodiment of the present application.
- the aircraft is usually controlled by a remote controller, and the remote controller includes a traditional joystick remote controller and a new type of somatosensory remote controller.
- the joystick remote control includes one or more joysticks, and the user can control the aircraft by manipulating the joysticks to input control commands for the aircraft.
- the somatosensory remote controller the user can hold the somatosensory remote controller and control the aircraft by changing the posture of the somatosensory remote controller.
- the somatosensory remote controller also has a reference posture similar to the neutral point position, and the reference posture can also be called the posture zero position.
- the reference posture may be the posture of the somatosensory remote controller when there is no tilt. Refer to FIG. 1.
- the somatosensory remote controller in FIG. 1 is kept horizontal and has no tilt in the pitch and roll directions.
- the posture may be The reference posture of the somatosensory remote control.
- the attitude of the somatosensory remote controller can be coupled with the attitude of the aircraft, that is, the aircraft can follow the attitude changes of the somatosensory remote controller. tilt.
- the aircraft can maintain its position on the horizontal plane and will not move due to the tilt of the fuselage.
- the attitude of the motion-sensing remote control can be coupled with the attitude of the gimbal mounted on the aircraft, that is, the gimbal can follow the attitude change of the motion-sensing remote control.
- the gimbal of the aircraft can also be raised or lowered accordingly.
- control the somatosensory remote control to the reference attitude to return the gimbal on the aircraft to the center means that the attitude of the gimbal relative to the aircraft can be restored to zero, such as facing directly in front of the aircraft.
- the somatosensory remote control does not have the design of the joystick remote control to return to the neutral position when the joystick is released, so when the user needs the somatosensory remote control to reach the reference posture, the user can only adjust the somatosensory remote control to approximately Without a tilted posture, it is impossible to clearly know whether the somatosensory remote control is actually in the reference posture, and the control feeling is very poor.
- FIG. 2 is an internal structure diagram of a motion-sensing remote control provided by an embodiment of the present application.
- a vibrator 210 may be provided in the somatosensory remote control, and the vibrator 210 may be connected with a circuit board 220 .
- the vibrator is a motor capable of vibrating.
- the vibrator may specifically be a horizontal linear motor.
- other vibrators may also be used, such as a vertical linear motor, a rotor motor, and the like.
- Multiple vibrators can be set in the motion sensing remote control, and different vibrators can be distributed in different positions of the motion sensing remote control, which can be specifically designed according to actual needs.
- the somatosensory remote control can be used to control the aircraft.
- the aircraft can be a physical aircraft or a virtual aircraft in software. Since the control of the aircraft has a certain threshold, the user can carry out the simulation exercise of the aircraft control in the flight simulation software before formally controlling the aircraft. It can be used to control aircraft in flight simulation software.
- FIG. 3 is a flow chart of a control method provided in an embodiment of the present application. The method includes the following steps:
- An attitude sensor may be provided in the motion sensing remote control, so the attitude of the motion sensing remote control may be obtained through the attitude sensor.
- the attitude sensor may include an inertial measurement unit (IMU).
- IMU inertial measurement unit
- the angular velocity of the somatosensory remote control can be measured through the angular velocity meter in the IMU, and the attitude change of the somatosensory remote control can be calculated by the measured angular velocity, so that it can be calculated Real-time posture of the somatosensory remote control.
- the somatosensory remote controller can be in any posture held by the user, and when the posture of the somatosensory remote controller enters the target posture range, the vibrator in the somatosensory remote controller can be controlled to vibrate.
- the target posture range may at least include a reference posture, which may be a posture range including the reference posture, for example, may be a posture range centered on the reference posture.
- the target attitude range can be, for example, pitch ⁇ [-1,+1] and roll ⁇ [-1,+ 1] attitude range.
- the reference posture may be the posture of the somatosensory remote controller when there is no tilt, and no tilt means keeping it horizontal. If we continue to take the previous example as an example, for an attitude, no matter what the yaw angle yaw corresponding to the attitude is, as long as the pitch angle and roll angle of the attitude satisfy pitch ⁇ [-1,+1] and roll ⁇ [- 1,+1], the attitude falls within the range of the target attitude.
- the somatosensory remote control there are two control modes of the somatosensory remote control.
- the first is that the aircraft follows the attitude change of the somatosensory remote control
- the second is that the gimbal of the aircraft follows the attitude change of the somatosensory remote control.
- the first control mode when the attitude of the somatosensory remote controller enters the target attitude range, since the attitude of the somatosensory remote controller is close to the reference attitude at this time, that is, the somatosensory remote controller has no tilt, the fuselage of the aircraft following the somatosensory remote controller There is also no inclination, so that the user can clearly know that the aircraft is in an attitude without inclination of the fuselage according to the vibration sent by the vibrator, without distracting judgment.
- the gimbal of the aircraft following the somatosensory remote controller can be in the center posture, so that the user can clearly know the gimbal of the aircraft according to the vibration emitted by the vibrator Currently returned.
- the aforementioned aircraft fuselage without tilt means that in a windless environment, the aircraft fuselage is not tilted relative to the horizontal plane. More specifically, the aircraft fuselage can be kept horizontal in the pitch and roll directions, so It can keep its position on the horizontal plane unchanged. It is understandable that in a windless environment, if the fuselage of the aircraft is tilted in the pitch direction, the aircraft will not be able to maintain its original position and will move forward and backward. If the fuselage of the aircraft is tilted in the roll direction, Then the aircraft will move in the left and right directions, and it will also not be able to maintain the original position.
- the fuselage of the aircraft in order to keep the position of the aircraft unchanged, the fuselage of the aircraft can be controlled to tilt to a certain extent to counteract the influence of the wind force. That is to say, in a windy environment, the fuselage of the aircraft is not inclined relative to a certain surface, and this surface forms a certain angle with the horizontal plane to offset the influence of wind force. It should be understood that the non-tilt of the fuselage of the aircraft described herein should be interpreted differently in different environments.
- the non-tilt of the fuselage of the aircraft means that the position of the aircraft on the horizontal plane/a certain surface can remain unchanged, but it does not mean that the position of the aircraft in space remains unchanged.
- the user increases or decreases the throttle by pulling the trigger on the somatosensory remote controller when the aircraft body is not tilted, the aircraft can rise or descend vertically, while the aircraft body remains Horizontal, that is, there is no slope.
- the rotation of the aircraft in the yaw direction also belongs to the situation that the fuselage of the aircraft is not tilted. At this time, although the orientation of the aircraft has changed, the position of the aircraft on the horizontal plane The position remains the same.
- non-tilt described in the embodiment of this application does not mean absolutely no tilt, as long as the fuselage of the aircraft or the somatosensory remote control is substantially tilt-free or close to no tilt, the position on the horizontal plane/a certain surface can be approximately unchanged, it belongs to the non-tilt described in the embodiment of this application.
- a vibrator is provided in the somatosensory remote control.
- the vibrator can be controlled to vibrate, so that the user can clearly know the vibration of the somatosensory remote control according to the vibration felt.
- the aircraft has entered the target attitude range, and it is clearly known that the fuselage of the aircraft has not tilted or the gimbal on the aircraft has returned to the center.
- the vibration provided by the vibrator can remind the user of the deviation between the attitude of the current somatosensory remote controller and the reference attitude, so that the user can more accurately control the aircraft or the gimbal mounted on the aircraft.
- a gesture threshold can be pre-configured, and when the gesture difference between the gesture of the somatosensory remote control and the reference gesture is greater than the preset threshold, the vibrator can be controlled to vibrate, so that the user can know the current somatosensory sensation according to the vibration he feels.
- the remote controller roughly deviates from the reference posture by how much.
- multiple different thresholds can also be pre-configured.
- the vibrator can feed back vibration, but the , the vibration effect provided by the vibrator can also be different.
- the greater the threshold that the posture difference exceeds the higher the intensity of the vibration fed back by the vibrator, so that when the user manipulates the somatosensory remote control, the tilt of the somatosensory remote control can be adjusted according to the feedback vibration. more accurate judgments.
- the attitude of the somatosensory remote controller is coupled with the attitude of the aircraft, so the attitude difference between the gesture of the somatosensory remote controller and the reference attitude, in addition to reflecting the In addition to the degree of inclination, it also reflects the degree of inclination of the aircraft's fuselage, and the degree of inclination of the aircraft's fuselage is closely related to the trajectory and flight speed of the aircraft. In this case, if the user has a more accurate estimate of the attitude difference Judgment can greatly improve the user's control accuracy of the aircraft.
- the vibration information of the aircraft can be obtained, and the vibration of the vibrator in the somatosensory remote control can be controlled according to the vibration information, so as to simulate the vibration of the aircraft.
- the vibration of the vibrator in the somatosensory remote control can be controlled according to the vibration information, so as to simulate the vibration of the aircraft.
- the user can perceive the vibration of the aircraft.
- the immersive feeling of the rod improves the user's control experience.
- the aircraft can be transmitted to the somatosensory remote controller through the image transmission technology.
- the vibration information can be measured by the inertial measurement unit on the aircraft.
- the vibration information can at least include the acceleration information of the aircraft, Of course, other information such as vibration frequency and vibration amplitude may also be included.
- the wind force of the environment where the aircraft is located can also be reflected by the vibration of the somatosensory remote controller.
- the vibration information of the aircraft can be obtained, and the deviation between the vibration information and the pre-calibrated basic vibration information can be calculated, and the vibration of the vibrator can be controlled according to the deviation.
- the pre-calibrated basic vibration information is the vibration information corresponding to the aircraft in a windless environment, that is, the vibration is only caused by the aircraft's own components when it is working (such as the vibration generated by the rotation of the rotor), without the influence of wind, so the calculated
- the deviation or difference between the vibration information and the basic vibration information can simply reflect the wind force of the current environment, so that the user can have a more accurate perception of the wind force on the aircraft to a certain extent according to the vibration of the vibrator.
- the somatosensory remote control can be used in various ways.
- the somatosensory remote controller can only be connected to the aircraft. At this time, the user can observe the movement of the aircraft with human eyes and use the somatosensory remote controller to control the aircraft.
- the somatosensory remote controller can only be connected to the display device, and the display device can run flight simulation software, so that the user can control the virtual aircraft in the flight simulation software through the somatosensory remote controller to perform simulation exercises on aircraft control.
- the motion-sensing remote controller, the display device and the aircraft can establish a connection.
- FIG. 4 here, and the display device in FIG. 4 may be flying glasses. The pictures taken by the aircraft can be transmitted to the flight glasses through the image transmission system, and the flight glasses can display the pictures taken by the aircraft. command to perform the corresponding action.
- the display device can acquire the posture of the motion-sensing remote controller, determine the corresponding flight direction according to the posture of the motion-sensing remote controller, and mark the flight direction on the screen through a designated pattern.
- Figure 5 can be the screen displayed by the flight glasses.
- the circle pattern in it is used to identify the current flight direction, that is, when the attitude of the somatosensory remote control changes, the flight direction will also change accordingly.
- the circle pattern of the can move accordingly to indicate the changed flight direction.
- the display device can display an animation effect in which the specified pattern is attracted to the center of the display interface.
- the animation effect cooperates with the vibration provided by the vibrator to give the user a clearer feedback.
- the display device when the posture of the somatosensory remote controller enters the range of the target posture, the display device can not only display the above-mentioned animation effect, but also play a specified sound effect. Sound effects on magnets.
- the vibration provided by the vibrator when the posture of the somatosensory remote controller enters the target posture range can be crisp, so that it can better fit the animation effect of the ball being attracted by the magnet and form a more natural feedback.
- the crispness mentioned above is a feeling, and specific to the parameters of the vibration, it may be that the duration of the vibration is short, the intensity of the vibration is low, and the like.
- the user's manipulation can also be guided by the vibration of the somatosensory remote controller.
- the display device can obtain the pictures taken by the aircraft. Therefore, in one embodiment, the display device can perform AI recognition on the pictures taken by the aircraft, and determine the recommended posture of the somatosensory remote control in this scene, and The recommended posture can be sent to the motion sensing remote control. After acquiring the recommended posture, the motion-sensing remote controller can control the vibrator to vibrate according to the posture difference between the current posture of the motion-sensing remote controller and the recommended posture.
- the vibrator can be controlled to vibrate, and the intensity of the vibration can be positively correlated with the posture difference, that is, the deviation between the current posture of the somatosensory remote controller and the recommended posture
- the intensity of the vibration can be positively correlated with the posture difference, that is, the deviation between the current posture of the somatosensory remote controller and the recommended posture
- the display device can identify obstacles based on the pictures taken by the aircraft, and identify the position of the obstacle and the flight status information of the aircraft.
- the position of the obstacle may be, for example, the front and left front of the aircraft
- the flight status information of the aircraft may be, for example, the current flight direction and flight speed of the aircraft.
- the display device can calculate the recommended attitude of the somatosensory remote controller by combining the position of the obstacle and the flight status information of the aircraft.
- the display device can make a decision If the aircraft should turn right to avoid obstacles, the recommended attitude of the motion-sensing remote control can be calculated.
- the display device can transmit the recommended posture to the motion-sensing remote controller, so that the motion-sensing remote controller can send out vibrations through the vibrator to guide the user's manipulation according to the recommended posture.
- the vibrator in the somatosensory remote controller can not only vibrate when the posture of the somatosensory remote controller enters the target posture range, but also vibrate in other events to prompt the user.
- the flight state information of the aircraft can be obtained, and when the flight state information indicates that the aircraft has entered a return state or is in the process of returning, the vibrator can be controlled to vibrate.
- the vibrator after acquiring the flight state information of the aircraft, if the flight state information indicates that the aircraft is in a braking state or is currently braking, the vibrator can be controlled to vibrate.
- the vibrator may be controlled to vibrate in order to prompt the user that the flight gear of the aircraft has been switched successfully.
- the vibrator can provide vibrations with different vibration effects according to different events that trigger vibration.
- the vibration effect may at least include a difference in any of the following aspects: the duration of the vibration, the frequency of the vibration, the intensity of the vibration, the number of times of the vibration, and the rhythm of the vibration.
- the corresponding vibration parameters can be set in advance for each event that triggers vibration, and the corresponding relationship between the event and the vibration parameter is pre-stored in the somatosensory remote control.
- the vibration parameter corresponding to the currently occurring event can be determined according to the pre-stored correspondence, and the vibrator can be controlled to vibrate according to the vibration parameter to provide the vibration effect corresponding to the vibration parameter.
- the vibrator can provide crisp vibrations.
- the vibrator can provide two consecutive short vibrations.
- the vibrator can provide a violent vibration.
- the flight gear of the aircraft is switched, it can provide different vibrations according to the different gears after switching.
- the vibrator can be controlled to vibrate. After switching gears and entering S mode (sports mode), you can control the vibrator to vibrate twice. If you enter M mode (manual mode) after switching the flight gear, you can control the vibrator to vibrate three times.
- the vibrator when the posture of the motion sensing remote controller changes from within the target posture range to outside the target posture range, the vibrator may also be controlled to vibrate. In this way, when the user maintains the somatosensory remote control within the target posture range, he no longer needs to expend too much energy, but only needs to follow the vibration prompts fed back by the vibrator, and the control experience is greatly improved.
- a vibrator is provided in the somatosensory remote control.
- the vibrator can be controlled to vibrate, so that the user can clearly know the vibration of the somatosensory remote control according to the vibration felt.
- the aircraft has entered the target attitude range, and it is clearly known that the fuselage of the aircraft has not tilted or the gimbal on the aircraft has returned to the center.
- FIG. 6 is a schematic structural diagram of the control device provided by the embodiment of the present application.
- the device can be applied to a somatosensory remote controller, which can be used to control an aircraft, and a vibrator is arranged inside it.
- the device includes : a processor 610 and a memory 620 storing a computer program, the processor implements the following methods when executing the computer program:
- the vibrator is controlled to vibrate.
- control device provided in the embodiment of the present application can also implement any of the control methods provided in the embodiment of the present application.
- control methods provided in the embodiment of the present application.
- the control device provided in the embodiment of the present application can control the vibration of the vibrator when the posture of the somatosensory remote controller enters the target posture range, so that the user can clearly know that the somatosensory remote controller has entered the target posture range according to the vibration felt.
- the fuselage of the aircraft has not tilted or the gimbal on the aircraft has been returned to the center.
- FIG. 7 is a schematic structural diagram of the somatosensory remote control provided by the embodiment of the present application, which is used to control the aircraft, which may include:
- An attitude sensor 710 configured to collect the attitude of the somatosensory remote controller
- a communication module 720 configured to establish communication with the aircraft and/or the display device
- the vibrator 730 is used to generate vibration feedback
- a processor 740 and a memory 750 storing a computer program the processor implements the following steps when executing the computer program:
- the vibrator is controlled to vibrate.
- the fuselage of the aircraft does not tilt.
- the gimbal mounted on the aircraft is in the center attitude.
- the attitude of the somatosensory remote controller is coupled with the attitude of the aircraft, and the aircraft can follow the attitude changes of the somatosensory remote controller.
- the attitude of the motion-sensing remote controller is coupled with the attitude of the gimbal mounted on the aircraft, and the gimbal can follow the attitude change of the motion-sensing remote controller.
- the target posture range includes at least a reference posture
- the reference posture is a posture of the motion sensing remote controller when there is no tilt.
- the processor is also used for:
- the vibrator is controlled to vibrate.
- multiple different thresholds are pre-configured, and the greater the threshold exceeded by the attitude difference, the greater the intensity of the vibration fed back by the vibrator.
- the processor is also used for:
- the vibration information of the aircraft is acquired, and the vibrator is controlled according to the vibration information to simulate the vibration of the aircraft.
- the vibration information is measured by an IMU on the aircraft.
- the vibration information includes at least acceleration information.
- the processor is also used for:
- the vibration information of the aircraft is obtained, and the vibration of the vibrator is controlled according to the deviation between the vibration information and the pre-calibrated basic vibration information, and the basic
- the vibration information is corresponding vibration information of the aircraft in a windless environment.
- the processor is also used for:
- the recommended posture of the motion-sensing remote controller is obtained from the display device, and when the posture difference between the posture of the motion-sensing remote controller and the recommended posture increases, the vibrator is controlled to vibrate.
- the recommended attitude is obtained by the display device identifying obstacles based on the images captured by the aircraft, and calculating based on the positions of the identified obstacles and the flight status information of the aircraft.
- the processor is also used for:
- the flight state information of the aircraft is acquired, and when it is determined according to the flight state information that the aircraft enters a return state, the vibrator is controlled to vibrate.
- the processor is also used for:
- the flight state information of the aircraft is acquired, and when it is determined according to the flight state information that the aircraft enters a braking state, the vibrator is controlled to vibrate.
- the processor is also used for:
- the vibrator is controlled to vibrate.
- the vibration effect fed back by the vibrator is different in different vibration-triggering events.
- different vibration effects at least include differences in any of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, times of vibration, rhythm of vibration.
- the vibrator includes a transverse linear motor.
- the somatosensory remote control provided by the embodiment of the present application is provided with a vibrator, and when the posture of the somatosensory remote controller enters the target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know that the somatosensory remote controller has When entering the target attitude range, it is clear that the fuselage of the aircraft has not tilted or the gimbal on the aircraft has returned to the center.
- control system which is a schematic structural diagram of the control system provided in the embodiment of the present application, the control system may include: an aircraft 810 and a somatosensory remote control for controlling the aircraft device 820;
- the somatosensory remote controller is used to: acquire the gesture of the somatosensory remote controller, and control the vibrator in the somatosensory remote controller to vibrate when the gesture of the somatosensory remote controller enters a target gesture range;
- the aircraft is used for: performing corresponding actions according to the attitude change of the motion-sensing remote controller and/or the control instruction issued by the motion-sensing remote controller.
- the fuselage of the aircraft does not tilt.
- the gimbal mounted on the aircraft is in the center attitude.
- the attitude of the somatosensory remote controller is coupled with the attitude of the aircraft, and the aircraft can follow the attitude changes of the somatosensory remote controller.
- the attitude of the motion-sensing remote controller is coupled with the attitude of the gimbal mounted on the aircraft, and the gimbal can follow the attitude change of the motion-sensing remote controller.
- the target posture range includes at least a reference posture
- the reference posture is a posture of the motion sensing remote controller when there is no tilt.
- the somatosensory remote controller is also used for:
- the vibrator is controlled to vibrate.
- multiple different thresholds are pre-configured, and the greater the threshold exceeded by the attitude difference, the greater the intensity of the vibration fed back by the vibrator.
- the somatosensory remote controller is also used for:
- the vibration information of the aircraft is acquired, and the vibrator is controlled according to the vibration information to simulate the vibration of the aircraft.
- the vibration information is measured by an IMU on the aircraft.
- the vibration information includes at least acceleration information.
- the somatosensory remote controller is also used for:
- the vibration information of the aircraft is obtained, and the vibration of the vibrator is controlled according to the deviation between the vibration information and the pre-calibrated basic vibration information, and the basic
- the vibration information is corresponding vibration information of the aircraft in a windless environment.
- it also includes: a display device connected to the somatosensory remote controller.
- the display device is configured to: obtain the posture of the motion-sensing remote controller, determine the flight direction corresponding to the posture of the motion-sensing remote controller, and mark the flight direction on the display interface with a specified pattern; when the motion-sensing remote controller When the posture of the remote controller enters the range of the target posture, an animation effect of the designated pattern being attracted to the center of the display interface is displayed.
- the display device is configured to: play a specified sound effect when the gesture of the motion-sensing remote controller enters the target gesture range.
- the somatosensory remote controller is also used for:
- the recommended posture of the motion-sensing remote controller is obtained from the display device, and when the posture difference between the posture of the motion-sensing remote controller and the recommended posture increases, the vibrator is controlled to vibrate.
- the recommended attitude is obtained by the display device identifying obstacles based on the images captured by the aircraft, and calculating based on the positions of the identified obstacles and the flight status information of the aircraft.
- the display device includes flying glasses.
- the somatosensory remote controller is also used for:
- the flight state information of the aircraft is acquired, and when it is determined according to the flight state information that the aircraft enters a return state, the vibrator is controlled to vibrate.
- the somatosensory remote controller is also used for:
- the flight state information of the aircraft is acquired, and when it is determined according to the flight state information that the aircraft enters a braking state, the vibrator is controlled to vibrate.
- the somatosensory remote controller is also used for:
- the vibrator is controlled to vibrate.
- the vibration effect fed back by the vibrator is different in different vibration-triggering events.
- different vibration effects at least include differences in any of the following aspects: duration of vibration, frequency of vibration, intensity of vibration, times of vibration, rhythm of vibration.
- the vibrator includes a transverse linear motor.
- a vibrator is arranged in the motion sensing remote control, and when the posture of the motion sensing remote control enters the target posture range, the vibrator can be controlled to vibrate, so that the user can clearly know the motion sensing remote control according to the vibration felt It has entered the target attitude range, and it is clearly known that the fuselage of the aircraft has not tilted or the gimbal on the aircraft has returned to the center.
- the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any control method provided in the embodiment of the present application is implemented.
- Embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having program code embodied therein.
- Computer usable storage media includes both volatile and non-permanent, removable and non-removable media, and may be implemented by any method or technology for information storage.
- Information may be computer readable instructions, data structures, modules of a program, or other data.
- Examples of storage media for computers include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
- PRAM phase change memory
- SRAM static random access memory
- DRAM dynamic random access memory
- RAM random access memory
- ROM read only memory
- EEPROM Electrically Erasable Programmable Read-Only Memory
- Flash memory or other memory technology
- CD-ROM Compact Disc Read-Only Memory
- DVD Digital Versatile Disc
- Magnetic tape cartridge tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to
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Abstract
本申请实施例提供了一种控制方法，应用于体感遥控器，所述体感遥控器中设置有振动器，所述体感遥控器用于控制飞行器，所述方法包括：获取所述体感遥控器的姿态；当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动马达振动器振动。本申请实施例提供的方法，可以解决用户无法明确知道体感遥控器是否进入目标姿态范围的技术问题。
Description
本申请涉及无人机技术领域，尤其涉及一种控制方法、控制装置、体感遥控器、控制系统和计算机可读存储介质。
飞行器通常通过遥控器来进行操控，遥控器包括传统的摇杆遥控器和新型的体感遥控器。摇杆遥控器上包括一个或多个摇杆，用户可以通过操控摇杆来输入对飞行器的控制指令，从而实现对飞行器的操控。而对于体感遥控器，用户可以手持体感遥控器，并可以通过改变体感遥控器的姿态来实现对飞行器的操控。
发明内容
本申请实施例提供了一种控制方法、控制装置、体感遥控器、控制系统和计算机可读存储介质，目的之一是解决用户无法明确知道体感遥控器是否进入目标姿态范围的技术问题。
本申请实施例第一方面提供了一种控制方法，应用于体感遥控器，所述体感遥控器中设置有振动器，所述体感遥控器用于控制飞行器，所述方法包括：
获取所述体感遥控器的姿态；
当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动马达振动器振动。
本申请实施例第二方面提供了一种控制装置，包括：处理器和存储有计算机程序的存储器，所述处理器在执行所述计算机程序时实现本申请实施例提供的任一种控制方法。
本申请实施例第三方面提供了一种体感遥控器，用于控制飞行器，所述体感遥控器包括：
姿态传感器，用于采集所述体感遥控器的姿态；
通信模块，用于与飞行器和/或显示设备建立通信；
振动器，用于产生振动反馈；
处理器和存储有计算机程序的存储器，所述处理器在执行所述计算机程序时实现以下步骤：
通过所述姿态传感器获取所述体感遥控器的姿态；
当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动器振动。
本申请实施例第四方面提供了一种控制系统，包括：飞行器和用于控制所述飞行器的体感遥控器；
所述体感遥控器用于：获取所述体感遥控器的姿态，当所述体感遥控器的姿态进入目标姿态范围时，控制所述体感遥控器中的振动器振动；
所述飞行器用于：根据所述体感遥控器的姿态变化和/或所述体感遥控器发出的控制指令执行相应的动作。
本申请实施例第五方面提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本申请实施例提供的任一种控制方法。
本申请实施例提供的控制方法，体感遥控器中设置有振动器，当体感遥控器的姿态进入目标姿态范围时，可以控制该振动器振动，从而用户可以根据感受到的振动明确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的体感遥控器的基准姿态示意图。
图2是本申请实施例提供的体感遥控器的内部结构图。
图3是本申请实施例提供的控制方法的流程图。
图4是本申请实施例提供的体感遥控器的使用场景图。
图5是本申请实施例提供的飞行眼镜的显示界面。
图6是本申请实施例提供的控制装置的结构示意图。
图7是本申请实施例提供的体感遥控器的结构示意图。
图8是本申请实施例提供的控制系统的结构示意图。
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，都属于本申请保护的范围。
飞行器通常通过遥控器来进行操控，遥控器包括传统的摇杆遥控器和新型的体感遥控器。摇杆遥控器上包括一个或多个摇杆，用户可以通过操控摇杆来输入对飞行器的控制指令，从而实现对飞行器的操控。而对于体感遥控器，用户可以手持体感遥控器，并可以通过改变体感遥控器的姿态来实现对飞行器的操控。
对于摇杆遥控器，由于其每个摇杆都配置有弹簧，因此当摇杆偏离其初始的中立点位置时，弹簧会反馈一个用于将摇杆恢复到中立点位置的力，所以，用户只要松开摇杆，摇杆便可在弹簧的作用下自动恢复至中立点位置，从而可以方便的实现如飞行器悬停、飞行器的机身无倾斜或飞行器云台回中等操作。
而体感遥控器也存在与所述中立点位置相似的基准姿态，该基准姿态也可以称为姿态零位。在一个例子中，该基准姿态可以是体感遥控器无倾斜时的姿态，可以参考图1，图1中的体感遥控器保持水平，在俯仰方向和横滚方向上均无倾斜，该姿态可以是体感遥控器的基准姿态。
对于用户而言，使体感遥控器到达基准姿态是经常需要进行的操作。例如，在一种应用中，体感遥控器的姿态可以与飞行器的姿态耦合，即飞行器可以跟随体感遥控器的姿态变化，此时，将体感遥控器操控至基准姿态，可以实现飞行器的机身无倾斜。当飞行器的机身无倾斜时，飞行器可以保持其在水平面上的位置不变，不会因机身倾斜而运动。又比如，在一种应用中，体感遥控器的姿态可以与飞行器上搭载的云台的姿态耦合，即云台可以跟随体感遥控器的姿态变化，比如当用户操控体感遥控器抬头或低头时，飞行器的云台也可以跟着抬头或者低头。此时，将体感遥控器操控至基准姿态，可以使飞行器上的云台回中，所谓回中，即云台相对于飞行器的姿态可以恢复至零位，比如正对飞行器的正前方。
然而，体感遥控器并没有摇杆遥控器的松开摇杆即可使恢复中立点位置的设计，所以当用户需要体感遥控器到达基准姿态时，用户只能凭感觉将体感遥控器调整至大 致无倾斜的姿态，无法明确得知体感遥控器是否已经真实的处于基准姿态，操控感很差。
为此，本申请实施例提供了一种控制方法，该方法可以应用于体感遥控器。可以参考图2，图2是本申请实施例提供的体感遥控器的内部结构图。其中，体感遥控器内可以设置有振动器210，该振动器210可以与电路板220连接。这里，振动器是能够进行振动的电机，在一个例子中，振动器具体可以是横向线性马达，当然，也可以采用其他的振动器，比如纵向线性马达、转子马达等等。
体感遥控器内可以设置多个振动器，不同的振动器可以分布在体感遥控器的不同位置，具体可以根据实际需求进行设计。
体感遥控器可以用于控制飞行器，这里，飞行器可以是实体的飞行器，也可以软件中虚拟的飞行器。由于飞行器的操控具有一定的门槛，因此用户在正式上手操控飞行器之前可以在飞行模拟软件中进行飞行器操控的模拟练习，此时，体感遥控器可以与运行飞行模拟软件的显示设备连接，体感遥控器可以用于操控飞行模拟软件中的飞行器。
可以参考图3，图3是本申请实施例提供的控制方法的流程图，该方法包括以下步骤：
S302、获取体感遥控器的姿态。
S304、当体感遥控器的姿态进入目标姿态范围时，控制振动器振动。
体感遥控器内可以设置有姿态传感器，因此可以通过姿态传感器获取体感遥控器的姿态。在一种实施方式中，姿态传感器可以包括惯性测量单元IMU，通过IMU中的角速度计可以测量得到的体感遥控器的角速度，通过测量得到的角速度可以计算出体感遥控器的姿态变化，从而可以计算出体感遥控器的实时姿态。
体感遥控器在用户手持下可以处于任意姿态，而当体感遥控器的姿态进入目标姿态范围时，可以控制体感遥控器内的振动器进行振动。这里，目标姿态范围可以至少包括基准姿态，其可以是包含基准姿态的姿态范围，例如可以是以基准姿态为中心的姿态范围。在一个例子中，若基准姿态对应的是俯仰角pitch＝0且横滚角roll＝0的姿态，则目标姿态范围例如可以是pitch∈[-1,+1]且roll∈[-1,+1]的姿态范围。
如前所述，基准姿态可以是体感遥控器无倾斜时的姿态，而无倾斜意味着保持水平。若继续以前文中的例子举例，则对于一个姿态，无论该姿态对应的偏航角yaw是多少，只要该姿态的俯仰角和横滚角满足pitch∈[-1,+1]且roll∈[-1,+1]的条件，则该姿态落入所述目标姿态范围。
在前文中曾提及体感遥控器的两种操控模式，第一种是飞行器跟随体感遥控器的姿态变化，第二种是飞行器的云台跟随体感遥控器的姿态变化。其中，对于第一种操控模式，当体感遥控器的姿态进入目标姿态范围时，由于此时体感遥控器的姿态接近基准姿态，即体感遥控器无倾斜，因此跟随体感遥控器的飞行器的机身也无倾斜，从而用户可以根据振动器发出的振动明确的知道飞行器已经处于机身无倾斜的姿态，而不必分神进行判断。对于第二种操控模式，当体感遥控器的姿态进入目标姿态范围时，跟随体感遥控器的飞行器的云台可以处于回中姿态，从而用户可以根据振动器发出的振动明确的知道飞行器的云台当前已经回中。
上述的飞行器的机身无倾斜，是指在无风环境中，飞行器的机身相对于水平面没有倾斜，更具体的，即飞行器的机身可以在俯仰方向和横滚方向上保持水平，从而飞行器可以保持其在水平面上的位置不变。可以理解的，在无风环境中，若飞行器的机身在俯仰方向存在倾斜，则飞行器将无法保持在原位置，会在前后方向上进行运动，若飞行器的机身在横滚方向上存在倾斜，则飞行器会在左右方向上进行运动，同样无法保持在原位置。而在有风环境中，若飞行器的机身仍然保持水平，则飞行器会在风力的作用下产生位移，即无法保持在原位置。对于此情况，为了保持飞行器的位置不变，可以控制飞行器的机身产生一定的倾斜，以抵消风力的影响。也就是说，在有风环境下，飞行器的机身相对于某个面没有倾斜，而这个面与水平面成一定的角度，以抵消风力的影响。应当理解，本文所述的飞行器的机身无倾斜针对不同的环境应该有不同的理解。
还需要注意的是，飞行器的机身无倾斜意味着飞行器在水平面/某个面上的位置可以保持不变，但并不意味着飞行器在空间中的位置保持不变。在一种情况中，若用户在飞行器的机身无倾斜时，通过扣动体感遥控器上的扳机加大或减小油门，则飞行器可以垂直上升或垂直下降，此时飞行器的机身仍然保持水平，即不存在倾斜。此外，在某些实施例中，飞行器在偏航方向上的转动也属于飞行器的机身无倾斜的情况，此时，虽然飞行器的朝向发生了改变，但在飞行器在水平面/某个面上的位置仍然是不变的。
需要说明的是，本申请实施例所描述的无倾斜并不是指绝对的无倾斜，只要飞行器的机身或体感遥控器大致无倾斜或接近无倾斜，在水平面/某个面上的位置可以大致不变，则属于本申请实施例所描述的无倾斜。
本申请实施例提供的控制方法，体感遥控器中设置有振动器，当体感遥控器的姿态进入目标姿态范围时，可以控制该振动器振动，从而用户可以根据感受到的振动明 确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
当用户在操控体感遥控器时，对于体感遥控器的当前姿态与基准姿态的姿态差，用户并没有准确的判断，只是根据飞行器拍摄到的画面的变化以及自身的手感模糊的进行衡量，操控感较差。在一种实施方式中，可以通过振动器提供振动来提示用户当前体感遥控器的姿态与基准姿态的偏差，使用户能够更精准的操控飞行器或飞行器上搭载的云台。具体的，可以预先配置一个姿态的阈值，当体感遥控器的姿态与基准姿态的姿态差大于该预先配置的阈值时，可以控制振动器振动，从而，用户能够根据感受到的振动知晓当前的体感遥控器大致偏离了基准姿态多少。
在一种实施方式中，还可以预先配置多个不同的阈值，当体感遥控器的姿态和基准姿态之间的姿态差超过任意一个阈值时，振动器都可以反馈振动，但根据超过的阈值不同，振动器所提供的振动效果也可以不同。比如在一个例子中，所述姿态差超过的阈值越大，振动器反馈的振动的强度可以越高，从而用户在操控体感遥控器时，根据反馈的振动即可对体感遥控器此时的倾斜程度有较准确的判断。
对用户而言，准确知道体感遥控器的姿态与基准姿态之间的姿态差是有重要意义的。可以举个例子，在飞行器跟随体感遥控器的姿态变化的模式中，体感遥控器的姿态与飞行器的姿态耦合，因此体感遥控器的姿态与基准姿态之间的姿态差，除了反映体感遥控器的倾斜程度以外，也反映飞行器的机身倾斜程度，而飞行器的机身倾斜程度与飞行器的运动轨迹和飞行速度都密切相关，在这种情况下，若用户对所述姿态差有更为准确的判断，则可以大大提高用户对飞行器的操控精度。
在一种实施方式中，可以获取飞行器的振动信息，并可以根据该振动信息控制体感遥控器中的振动器振动，以模拟飞行器的振动。通过振动器模拟飞行器的振动，可以使用户感知到飞行器的振动情况，这一方面有利于用户把握飞行器的工作状态(例如是否有异常)，另一方面可以给用户带来在飞机仓内操控操作杆的身临其境的感觉，提高用户的操控体验。
对于飞行器的振动信息，飞行器可以通过图传技术传输给体感遥控器，这里，振动信息可以是飞行器上的惯性测量单元测量得到的，在一个例子中，该振动信息至少可以包括飞行器的加速度信息，当然还可以包括振动的频率、振动的振幅等其他信息。
在一种实施方式中，还可以通过体感遥控器的振动来反映飞行器所处环境的风力大小。具体的，当体感遥控器的姿态在目标姿态范围内时，可以获取飞行器的振动信息，并可以计算该振动信息与预先标定的基础振动信息的偏差，根据该偏差控制振动 器振动。这里，预先标定的基础振动信息是飞行器在无风环境时对应的振动信息，即该振动仅是飞行器自身器件在工作时引起的(比如旋翼旋转产生的振动)，没有风力的影响，因此计算出的振动信息与基础振动信息的偏差或者差值，可以单纯的反映当前环境的风力大小，从而用户根据振动器的振动即可一定程度上对飞行器所承受的风力有较准确的感知。
体感遥控器可以有多种使用方式。在一种方式中，体感遥控器可以仅与飞行器连接，此时，用户可以通过人眼观察飞行器的运动，利用手中的体感遥控器对飞行器进行操控。在一种方式中，体感遥控器可以仅与显示设备连接，该显示设备可以运行飞行模拟软件，从而用户可以通过体感遥控器操控飞行模拟软件中虚拟的飞行器，进行飞行器操控的模拟练习。在一种方式中，体感遥控器、显示设备和飞行器三者可以建立连接。这里可以参考图4，图4中的显示设备可以是飞行眼镜。飞行器拍摄的画面可以通过图传系统传输给飞行眼镜，飞行眼镜可以显示飞行器拍摄的画面，飞行器还可以获取体感遥控器的姿态变化或体感遥控器发出的控制指令，从而可以根据该姿态变化或控制指令执行相应的动作。
当体感遥控器的姿态进入目标姿态范围时，除了可以控制振动器进行振动以外，还可以配合其他方面的反馈，以给用户更好的操控感。在一种实施方式中，显示设备可以获取体感遥控器的姿态，可以根据体感遥控器的姿态确定对应的飞行方向，并可以将该飞行方向通过指定的图案标识在画面中。可以参考图5，图5可以是飞行眼镜显示的画面，其中的圆圈图案用于标识当前的飞行方向，即当体感遥控器的姿态发生变化时，飞行方向也会相应的发生变化，显示画面中的圆圈图案可以相应的移动以指示变化后的飞行方向。当体感遥控器的姿态进入目标姿态范围时，显示设备可以显示所述指定图案被吸附到显示界面的中心的动画效果，该动画效果配合振动器提供的振动，可以给用户更清晰的反馈。
在一种实施方式中，当体感遥控器的姿态进入目标姿态范围时，显示设备除了可以显示上述的动画效果以外，还可以播放指定的音效，该音效例如可以是小球被磁铁吸附后撞击在磁铁上的音效。
在一种实施方式中，振动器在体感遥控器的姿态进入目标姿态范围时所提供的振动可以是清脆的，从而可以更贴合小球被磁铁吸附的动画效果，形成更自然的反馈。所述的清脆是一种感觉，具体到振动的参数上，可以是该振动的持续时长较短、振动的强度较低等。
在一种实施方式中，还可以通过体感遥控器的振动来对用户的操控进行指导。如 前所述，显示设备可以获取飞行器拍摄的画面，因此在一种实施方式中，显示设备可以对飞行器拍摄的画面进行AI识别，并确定出在该场景下的体感遥控器的推荐姿态，并可以将该推荐姿态发送给体感遥控器。体感遥控器在获取到该推荐姿态后，可以根据体感遥控器的当前姿态和所述推荐姿态的姿态差，控制振动器进行振动。例如，当体感遥控器的当前姿态与推荐姿态的姿态差增大时，可以控制振动器进行振动，并且振动的强度可以与所述姿态差正相关，即体感遥控器的当前姿态和推荐姿态偏差越大，振动器提供的振动越强烈，以提示用户当前的操控与推荐的操控不同，保持当前的操控可能会给飞行器带来危险。
可以举个例子，例如显示设备可以根据飞行器拍摄的画面对障碍物进行识别，识别出障碍物的位置和飞行器的飞行状态信息。这里，障碍物的位置例如可以是位于飞行器的正前方和左前方，飞行器的飞行状态信息例如可以是飞行器当前的飞行方向和飞行速度。那么，显示设备结合障碍物的位置和飞行器的飞行状态信息，可以计算出体感遥控器的推荐姿态，对应到上述例子中，由于飞行器的正前方和左前方都有障碍物，因此显示设备可以决策出飞行器应该向右转向以躲避障碍物，可以计算出体感遥控器的推荐姿态，该推荐姿态例如可以是体感遥控器向右倾斜的一个姿态。显示设备可以将该推荐姿态传输给体感遥控器，从而体感遥控器可以根据该推荐姿态，通过振动器发出振动以对用户的操控进行指导。
体感遥控器中的振动器，除了可以在体感遥控器的姿态进入目标姿态范围的事件发生时进行振动，还可以在其他事件中进行振动以提示用户。在一种实施方式中，可以获取飞行器的飞行状态信息，当该飞行状态信息指示飞行器进入返航状态或正在进行返航时，可以控制振动器进行振动。在一种实施方式中，在获取飞行器的飞行状态信息后，若该飞行状态信息指示飞行器进入刹车状态或当前正在刹车，可以控制振动器振动。在一种实施方式中，当飞行器的飞行档位在用户的操控下发生切换时，为提示用户飞行器的飞行档位切换成功，可以控制振动器进行振动。
以上对各种可以触发振动的事件进行了说明，而需要注意的是，振动器可以根据发生的触发振动的事件不同而提供不同的振动效果的振动。这里，振动效果可以至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。在具体实现时，在一种实施方式中，可以预先为各个触发振动的事件设置对应的振动参数，并在体感遥控器中预先存储事件和振动参数的对应关系，当确定发生了某个触发振动的事件时，可以根据预先存储的对应关系确定当前发生的事件对应的振动参数，并可以根据该振动参数控制振动器进行振动，以提供该振动参数对应 的振动效果。比如，当体感遥控器的姿态进入目标姿态范围的事件发生时，振动器可以提供清脆的振动，当确定飞行器正在返航时，振动器可以提供连续的两个短促的振动，当确定飞行器进入刹车状态时，振动器可以提供一个剧烈的振动。当飞行器的飞行档位发生切换时，可以根据切换后的档位的不同而提供不同的振动，比如若飞行档位切换后进入P档模式(GPS模式)，可以控制振动器振动一下，若飞行档位切换后进入S档模式(运动模式)，可以控制振动器振动两下，若飞行档位切换后进入M档模式(手动模式)，可以控制振动器振动三下。
在一种实施方式中，当体感遥控器的姿态从目标姿态范围内变化到目标姿态范围外时，也可以控制振动器进行振动。如此，用户在维持体感遥控器在目标姿态范围内时，不再需要花费太多精力，仅需要根据振动器反馈的振动提示即可，操控体验大大提升。
本申请实施例提供的控制方法，体感遥控器中设置有振动器，当体感遥控器的姿态进入目标姿态范围时，可以控制该振动器振动，从而用户可以根据感受到的振动明确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
下面请参考图6，图6是本申请实施例提供的控制装置的结构示意图，该装置可以应用于体感遥控器，该体感遥控器可以用于控制飞行器，其内设置有振动器，该装置包括：处理器610和存储有计算机程序的存储器620，所述处理器在执行所述计算机程序时实现以下方法：
获取体感遥控器的姿态；
当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动器振动。
本申请实施例提供的控制装置还可以实现本申请实施例提供的任一种控制方法，具体可以参考前文的相关内容，在此不再赘述。
本申请实施例提供的控制装置，当体感遥控器的姿态进入目标姿态范围时，可以控制振动器振动，从而用户可以根据感受到的振动明确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
本申请实施例还提供了一种体感遥控器，可以参考图7，图7是本申请实施例提供的体感遥控器的结构示意图，其用于控制飞行器，其内可以包括：
姿态传感器710，用于采集所述体感遥控器的姿态；
通信模块720，用于与飞行器和/或显示设备建立通信；
振动器730，用于产生振动反馈；
处理器740和存储有计算机程序的存储器750，所述处理器在执行所述计算机程序时实现以下步骤：
通过所述姿态传感器获取所述体感遥控器的姿态；
当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动器振动。
可选的，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器的机身无倾斜。
可选的，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器上搭载的云台处于回中姿态。
可选的，所述体感遥控器的姿态与所述飞行器的姿态耦合，所述飞行器能够跟随所述体感遥控器的姿态变化。
可选的，所述体感遥控器的姿态与所述飞行器上搭载的云台的姿态耦合，所述云台能够跟随所述体感遥控器的姿态变化。
可选的，所述目标姿态范围至少包括基准姿态，所述基准姿态是所述体感遥控器无倾斜时的姿态。
可选的，所述处理器还用于：
当所述体感遥控器的姿态与所述基准姿态的姿态差大于预先配置的阈值时，控制所述振动器振动。
可选的，预先配置了多个不同的所述阈值，所述姿态差超过的阈值越大，所述振动器反馈的振动的强度越大。
可选的，所述处理器还用于：
获取所述飞行器的振动信息，根据所述振动信息对所述振动器进行控制，以模拟所述飞行器的振动。
可选的，所述振动信息是所述飞行器上的IMU测量得到的。
可选的，所述振动信息至少包括加速度信息。
可选的，所述处理器还用于：
当所述体感遥控器的姿态在所述目标姿态范围内时，获取所述飞行器的振动信息，根据所述振动信息与预先标定的基础振动信息的偏差，控制所述振动器振动，所述基础振动信息是所述飞行器在无风环境时对应的振动信息。
可选的，所述处理器还用于：
从所述显示设备获取所述体感遥控器的推荐姿态，当所述体感遥控器的姿态与所述推荐姿态的姿态差增大时，控制所述振动器振动。
可选的，所述推荐姿态是所述显示设备根据所述飞行器拍摄的画面对障碍物进行识别，并根据识别得到的障碍物的位置以及所述飞行器的飞行状态信息计算得到的。
可选的，所述处理器还用于：
获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入返航状态时，控制所述振动器振动。
可选的，所述处理器还用于：
获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入刹车状态时，控制所述振动器振动。
可选的，所述处理器还用于：
当所述飞行器的飞行档位发生切换时，控制所述振动器振动。
可选的，所述振动器在不同的触发振动的事件中反馈的振动效果不同。
可选的，不同的振动效果至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。
可选的，所述振动器包括横向线性马达。
以上所提供的体感遥控器的各种实施方式，其具体实现可以参考前文中的相关内容，在此不再赘述。
本申请实施例提供的体感遥控器，其内设置有振动器，当体感遥控器的姿态进入目标姿态范围时，可以控制振动器振动，从而用户可以根据感受到的振动明确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
本申请实施例还提供了一种控制系统，可以参考图8，图8是本申请实施例提供的控制系统的结构示意图，该控制系统可以包括：飞行器810和用于控制所述飞行器的体感遥控器820；
所述体感遥控器用于：获取所述体感遥控器的姿态，当所述体感遥控器的姿态进入目标姿态范围时，控制所述体感遥控器中的振动器振动；
所述飞行器用于：根据所述体感遥控器的姿态变化和/或所述体感遥控器发出的控制指令执行相应的动作。
可选的，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器的机身无倾斜。
可选的，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器上搭载的云台处于回中姿态。
可选的，所述体感遥控器的姿态与所述飞行器的姿态耦合，所述飞行器能够跟随 所述体感遥控器的姿态变化。
可选的，所述体感遥控器的姿态与所述飞行器上搭载的云台的姿态耦合，所述云台能够跟随所述体感遥控器的姿态变化。
可选的，所述目标姿态范围至少包括基准姿态，所述基准姿态是所述体感遥控器无倾斜时的姿态。
可选的，所述体感遥控器还用于：
当所述体感遥控器的姿态与所述基准姿态的姿态差大于预先配置的阈值时，控制所述振动器振动。
可选的，预先配置了多个不同的所述阈值，所述姿态差超过的阈值越大，所述振动器反馈的振动的强度越大。
可选的，所述体感遥控器还用于：
获取所述飞行器的振动信息，根据所述振动信息对所述振动器进行控制，以模拟所述飞行器的振动。
可选的，所述振动信息是所述飞行器上的IMU测量得到的。
可选的，所述振动信息至少包括加速度信息。
可选的，所述体感遥控器还用于：
当所述体感遥控器的姿态在所述目标姿态范围内时，获取所述飞行器的振动信息，根据所述振动信息与预先标定的基础振动信息的偏差，控制所述振动器振动，所述基础振动信息是所述飞行器在无风环境时对应的振动信息。
可选的，还包括：显示设备，所述显示设备与所述体感遥控器连接。
可选的，所述显示设备用于：获取所述体感遥控器的姿态，确定所述体感遥控器的姿态对应的飞行方向，将所述飞行方向以指定图案标识在显示界面；当所述体感遥控器的姿态进入所述目标姿态范围时，显示所述指定图案被吸附到所述显示界面的中心的动画效果。
可选的，所述显示设备用于：当所述体感遥控器的姿态进入所述目标姿态范围时，播放指定音效。
可选的，所述体感遥控器还用于：
从所述显示设备获取所述体感遥控器的推荐姿态，当所述体感遥控器的姿态与所述推荐姿态的姿态差增大时，控制所述振动器振动。
可选的，所述推荐姿态是所述显示设备根据所述飞行器拍摄的画面对障碍物进行识别，并根据识别得到的障碍物的位置以及所述飞行器的飞行状态信息计算得到的。
可选的，所述显示设备包括飞行眼镜。
可选的，所述体感遥控器还用于：
获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入返航状态时，控制所述振动器振动。
可选的，所述体感遥控器还用于：
获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入刹车状态时，控制所述振动器振动。
可选的，所述体感遥控器还用于：
当所述飞行器的飞行档位发生切换时，控制所述振动器振动。
可选的，所述振动器在不同的触发振动的事件中反馈的振动效果不同。
可选的，不同的振动效果至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。
可选的，所述振动器包括横向线性马达。
以上所提供的控制系统的各种实施方式，其具体实现可以参考前文中的相关内容，在此不再赘述。
本申请实施例提供的控制系统，体感遥控器内设置有振动器，当体感遥控器的姿态进入目标姿态范围时，可以控制振动器振动，从而用户可以根据感受到的振动明确的知道体感遥控器已经进入目标姿态范围，明确的知道此时的飞行器的机身已经无倾斜或者飞行器上的云台已经回中。
本申请实施例还提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现本申请实施例提供的任一种控制方法。
以上针对每个保护主题均提供了多种实施方式，在不存在冲突或矛盾的基础上，本领域技术人员可以根据实际情况自由对各种实施方式进行组合，由此构成各种不同的技术方案。而本申请文件限于篇幅，未能对所有组合而得的技术方案展开说明，但可以理解的是，这些未能展开的技术方案也属于本申请实施例公开的范围。
本申请实施例可采用在一个或多个其中包含有程序代码的存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。计算机可用存储介质包括永久性和非永久性、可移动和非可移动媒体，可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括但不限于：相变内存(PRAM)、静态随机存取存储器 (SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上对本申请实施例所提供的方法和装置进行了详细介绍，本文中应用了具体个例对本申请的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本申请的方法及其核心思想；同时，对于本领域的一般技术人员，依据本申请的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本申请的限制。
Claims (70)
- 一种控制方法，其特征在于，应用于体感遥控器，所述体感遥控器中设置有振动器，所述体感遥控器用于控制飞行器，所述方法包括：获取所述体感遥控器的姿态；当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动器振动。
- 根据权利要求1所述的方法，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器的机身无倾斜。
- 根据权利要求1所述的方法，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器上搭载的云台处于回中姿态。
- 根据权利要求1所述的方法，其特征在于，所述体感遥控器的姿态与所述飞行器的姿态耦合，所述飞行器能够跟随所述体感遥控器的姿态变化。
- 根据权利要求1所述的方法，其特征在于，所述体感遥控器的姿态与所述飞行器上搭载的云台的姿态耦合，所述云台能够跟随所述体感遥控器的姿态变化。
- 根据权利要求1所述的方法，其特征在于，所述目标姿态范围至少包括基准姿态，所述基准姿态是所述体感遥控器无倾斜时的姿态。
- 根据权利要求6所述的方法，其特征在于，所述方法还包括：当所述体感遥控器的姿态与所述基准姿态的姿态差大于预先配置的阈值时，控制所述振动器振动。
- 根据权利要求7所述的方法，其特征在于，预先配置了多个不同的所述阈值，所述姿态差超过的阈值越大，所述振动器反馈的振动的强度越大。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：获取所述飞行器的振动信息，根据所述振动信息对所述振动器进行控制，以模拟所述飞行器的振动。
- 根据权利要求9所述的方法，其特征在于，所述振动信息是所述飞行器上的IMU测量得到的。
- 根据权利要求10所述的方法，其特征在于，所述振动信息至少包括加速度信息。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：当所述体感遥控器的姿态在所述目标姿态范围内时，获取所述飞行器的振动信息，根据所述振动信息与预先标定的基础振动信息的偏差，控制所述振动器振动，所述基础振动信息是所述飞行器在无风环境时对应的振动信息。
- 根据权利要求1所述的方法，其特征在于，所述体感遥控器与显示设备连接。
- 根据权利要求13所述的方法，其特征在于，所述显示设备用于：获取所述体感遥控器的姿态，确定所述体感遥控器的姿态对应的飞行方向，将所述飞行方向以指定图案标识在显示界面；当所述体感遥控器的姿态进入所述目标姿态范围时，显示所述指定图案被吸附到所述显示界面的中心的动画效果。
- 根据权利要求13所述的方法，其特征在于，所述显示设备用于：当所述体感遥控器的姿态进入所述目标姿态范围时，播放指定音效。
- 根据权利要求13所述的方法，其特征在于，所述方法还包括：从所述显示设备获取所述体感遥控器的推荐姿态，当所述体感遥控器的姿态与所述推荐姿态的姿态差增大时，控制所述振动器振动。
- 根据权利要求16所述的方法，其特征在于，所述推荐姿态是所述显示设备根据所述飞行器拍摄的画面对障碍物进行识别，并根据识别得到的障碍物的位置以及所述飞行器的飞行状态信息计算得到的。
- 根据权利要求13-17任一项所述的方法，其特征在于，所述显示设备包括飞行眼镜。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入返航状态时，控制所述振动器振动。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入刹车状态时，控制所述振动器振动。
- 根据权利要求1所述的方法，其特征在于，所述方法还包括：当所述飞行器的飞行档位发生切换时，控制所述振动器振动。
- 根据权利要求1-21任一项所述的方法，其特征在于，所述振动器在不同的触发振动的事件中反馈的振动效果不同。
- 根据权利要求19所述的方法，其特征在于，不同的振动效果至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。
- 根据权利要求1所述的方法，其特征在于，所述振动器包括横向线性马达。
- 一种控制装置，其特征在于，包括：处理器和存储有计算机程序的存储器， 所述处理器在执行所述计算机程序时实现如权利要求1-24任一项所述的方法。
- 一种体感遥控器，其特征在于，用于控制飞行器，所述体感遥控器包括：姿态传感器，用于采集所述体感遥控器的姿态；通信模块，用于与飞行器和/或显示设备建立通信；振动器，用于产生振动反馈；处理器和存储有计算机程序的存储器，所述处理器在执行所述计算机程序时实现以下步骤：通过所述姿态传感器获取所述体感遥控器的姿态；当所述体感遥控器的姿态进入目标姿态范围时，控制所述振动器振动。
- 根据权利要求26所述的体感遥控器，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器的机身无倾斜。
- 根据权利要求26所述的体感遥控器，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器上搭载的云台处于回中姿态。
- 根据权利要求26所述的体感遥控器，其特征在于，所述体感遥控器的姿态与所述飞行器的姿态耦合，所述飞行器能够跟随所述体感遥控器的姿态变化。
- 根据权利要求26所述的体感遥控器，其特征在于，所述体感遥控器的姿态与所述飞行器上搭载的云台的姿态耦合，所述云台能够跟随所述体感遥控器的姿态变化。
- 根据权利要求26所述的体感遥控器，其特征在于，所述目标姿态范围至少包括基准姿态，所述基准姿态是所述体感遥控器无倾斜时的姿态。
- 根据权利要求31所述的体感遥控器，其特征在于，所述处理器还用于：当所述体感遥控器的姿态与所述基准姿态的姿态差大于预先配置的阈值时，控制所述振动器振动。
- 根据权利要求32所述的体感遥控器，其特征在于，预先配置了多个不同的所述阈值，所述姿态差超过的阈值越大，所述振动器反馈的振动的强度越大。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：获取所述飞行器的振动信息，根据所述振动信息对所述振动器进行控制，以模拟所述飞行器的振动。
- 根据权利要求34所述的体感遥控器，其特征在于，所述振动信息是所述飞行器上的IMU测量得到的。
- 根据权利要求34所述的体感遥控器，其特征在于，所述振动信息至少包括加 速度信息。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：当所述体感遥控器的姿态在所述目标姿态范围内时，获取所述飞行器的振动信息，根据所述振动信息与预先标定的基础振动信息的偏差，控制所述振动器振动，所述基础振动信息是所述飞行器在无风环境时对应的振动信息。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：从所述显示设备获取所述体感遥控器的推荐姿态，当所述体感遥控器的姿态与所述推荐姿态的姿态差增大时，控制所述振动器振动。
- 根据权利要求38所述的体感遥控器，其特征在于，所述推荐姿态是所述显示设备根据所述飞行器拍摄的画面对障碍物进行识别，并根据识别得到的障碍物的位置以及所述飞行器的飞行状态信息计算得到的。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入返航状态时，控制所述振动器振动。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入刹车状态时，控制所述振动器振动。
- 根据权利要求26所述的体感遥控器，其特征在于，所述处理器还用于：当所述飞行器的飞行档位发生切换时，控制所述振动器振动。
- 根据权利要求26-42任一项所述的体感遥控器，其特征在于，所述振动器在不同的触发振动的事件中反馈的振动效果不同。
- 根据权利要求43所述的体感遥控器，其特征在于，不同的振动效果至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。
- 根据权利要求26所述的体感遥控器，其特征在于，所述振动器包括横向线性马达。
- 一种控制系统，其特征在于，包括：飞行器和用于控制所述飞行器的体感遥控器；所述体感遥控器用于：获取所述体感遥控器的姿态，当所述体感遥控器的姿态进入目标姿态范围时，控制所述体感遥控器中的振动器振动；所述飞行器用于：根据所述体感遥控器的姿态变化和/或所述体感遥控器发出的控制指令执行相应的动作。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器的机身无倾斜。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器的姿态进入目标姿态范围时，所述飞行器上搭载的云台处于回中姿态。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器的姿态与所述飞行器的姿态耦合，所述飞行器能够跟随所述体感遥控器的姿态变化。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器的姿态与所述飞行器上搭载的云台的姿态耦合，所述云台能够跟随所述体感遥控器的姿态变化。
- 根据权利要求46所述的控制系统，其特征在于，所述目标姿态范围至少包括基准姿态，所述基准姿态是所述体感遥控器无倾斜时的姿态。
- 根据权利要求51所述的控制系统，其特征在于，所述体感遥控器还用于：当所述体感遥控器的姿态与所述基准姿态的姿态差大于预先配置的阈值时，控制所述振动器振动。
- 根据权利要求52所述的控制系统，其特征在于，预先配置了多个不同的所述阈值，所述姿态差超过的阈值越大，所述振动器反馈的振动的强度越大。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器还用于：获取所述飞行器的振动信息，根据所述振动信息对所述振动器进行控制，以模拟所述飞行器的振动。
- 根据权利要求54所述的控制系统，其特征在于，所述振动信息是所述飞行器上的IMU测量得到的。
- 根据权利要求54所述的控制系统，其特征在于，所述振动信息至少包括加速度信息。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器还用于：当所述体感遥控器的姿态在所述目标姿态范围内时，获取所述飞行器的振动信息，根据所述振动信息与预先标定的基础振动信息的偏差，控制所述振动器振动，所述基础振动信息是所述飞行器在无风环境时对应的振动信息。
- 根据权利要求46所述的控制系统，其特征在于，还包括：显示设备，所述显示设备与所述体感遥控器连接。
- 根据权利要求58所述的控制系统，其特征在于，所述显示设备用于：获取所 述体感遥控器的姿态，确定所述体感遥控器的姿态对应的飞行方向，将所述飞行方向以指定图案标识在显示界面；当所述体感遥控器的姿态进入所述目标姿态范围时，显示所述指定图案被吸附到所述显示界面的中心的动画效果。
- 根据权利要求58所述的控制系统，其特征在于，所述显示设备用于：当所述体感遥控器的姿态进入所述目标姿态范围时，播放指定音效。
- 根据权利要求58所述的控制系统，其特征在于，所述体感遥控器还用于：从所述显示设备获取所述体感遥控器的推荐姿态，当所述体感遥控器的姿态与所述推荐姿态的姿态差增大时，控制所述振动器振动。
- 根据权利要求61所述的控制系统，其特征在于，所述推荐姿态是所述显示设备根据所述飞行器拍摄的画面对障碍物进行识别，并根据识别得到的障碍物的位置以及所述飞行器的飞行状态信息计算得到的。
- 根据权利要求58-62任一项所述的控制系统，其特征在于，所述显示设备包括飞行眼镜。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器还用于：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入返航状态时，控制所述振动器振动。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器还用于：获取所述飞行器的飞行状态信息，当根据所述飞行状态信息确定所述飞行器进入刹车状态时，控制所述振动器振动。
- 根据权利要求46所述的控制系统，其特征在于，所述体感遥控器还用于：当所述飞行器的飞行档位发生切换时，控制所述振动器振动。
- 根据权利要求46-66任一项所述的控制系统，其特征在于，所述振动器在不同的触发振动的事件中反馈的振动效果不同。
- 根据权利要求67所述的控制系统，其特征在于，不同的振动效果至少包括以下任一方面的不同：振动的持续时长、振动的频率、振动的强度、振动的次数、振动的节奏。
- 根据权利要求46所述的控制系统，其特征在于，所述振动器包括横向线性马达。
- 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-24任一项所述的方法。
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| CN104898826A (zh) * | 2015-04-17 | 2015-09-09 | 杭州豚鼠科技有限公司 | 体感控制装置 |
| WO2017061367A1 (ja) * | 2015-10-09 | 2017-04-13 | シャープ株式会社 | 体感制御装置 |
| CN108227729A (zh) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | 一种体感控制系统及体感控制方法 |
| CN108992934A (zh) * | 2018-08-10 | 2018-12-14 | 深圳市富斯科技有限公司 | 一种全空域姿态反馈系统 |
| CN109596123A (zh) * | 2018-12-07 | 2019-04-09 | 湖北航天飞行器研究所 | 一种可穿戴体感式导航联络装置 |
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| CN104898826A (zh) * | 2015-04-17 | 2015-09-09 | 杭州豚鼠科技有限公司 | 体感控制装置 |
| WO2017061367A1 (ja) * | 2015-10-09 | 2017-04-13 | シャープ株式会社 | 体感制御装置 |
| CN108227729A (zh) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | 一种体感控制系统及体感控制方法 |
| CN108992934A (zh) * | 2018-08-10 | 2018-12-14 | 深圳市富斯科技有限公司 | 一种全空域姿态反馈系统 |
| CN109596123A (zh) * | 2018-12-07 | 2019-04-09 | 湖北航天飞行器研究所 | 一种可穿戴体感式导航联络装置 |
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