CN110377053A - The flight control method and device of unmanned plane - Google Patents
The flight control method and device of unmanned plane Download PDFInfo
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- CN110377053A CN110377053A CN201910736186.XA CN201910736186A CN110377053A CN 110377053 A CN110377053 A CN 110377053A CN 201910736186 A CN201910736186 A CN 201910736186A CN 110377053 A CN110377053 A CN 110377053A
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- 238000000034 method Methods 0.000 title claims abstract description 37
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- 230000006698 induction Effects 0.000 claims abstract description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- 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
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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Abstract
The invention discloses a kind of flight control method of unmanned plane and devices, are applied to mobile terminal, this method comprises: induction gesture operation, gesture operation is to touch to be formed on the screen of the mobile terminal by user；It identifies gesture operation, gesture instruction is transferred from the database for be preset in mobile terminal, wherein include multiple gesture instructions in database, gesture instruction is corresponding with gesture operation；Gesture instruction is sent to unmanned plane, so that unmanned plane executes corresponding movement according to gesture instruction.According to the technical solution of the present embodiment, the prompt operation to unmanned plane pre-set commands is realized by gesture motion, from angles of product, gesture has got through information level, and user can obtain more information in limited physical space；From ownership goal angle, gesture interaction design can be shortened the distance between user and target, improve operation task efficiency；From user experience angle, naturally intuitive interactive mode constitutes smooth user experience.
Description
Present patent application be based on Chinese Patent Application No. is 201611110600.9, the applying date be on December 2nd, 2016,
The divisional application proposed of entitled " flight control method and device of unmanned plane ".
Technical field
The present invention relates to air vehicle technique field more particularly to the flight control methods and device of a kind of unmanned plane.
Background technique
Currently, the application of unmanned plane is gradually popularized, more typically, navigated by the photographic device that unmanned plane carries
It claps, to acquire image convenient for user.
Existing unmanned plane control mode is most are as follows: the volume using the remote controler with physical button as unmanned plane controls
End, user are manipulated speed, height and direction of unmanned plane etc. by physical button, more object are provided on usual remote controler
Key is managed, for carrying out a plurality of types of operations to unmanned plane, a large amount of physical button is cumbersome for a user, learns
Cost is excessively high.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of flight control method of unmanned plane and device, to reduce use
The problem of complexity that family manipulates unmanned plane.
It is as follows that the present invention solves technical solution used by above-mentioned technical problem:
According to an aspect of the present invention, a kind of flight control method of the unmanned plane provided is applied to mobile terminal, should
Method includes: induction gesture operation, and the gesture operation is to touch formation on the screen of the mobile terminal by user；Know
The not described gesture operation, transfers gesture instruction from the database for being preset in the mobile terminal, wherein wraps in the database
Containing multiple gesture instructions, the gesture instruction is corresponding with the gesture operation；By the gesture instruction be sent to it is described nobody
Machine, so that the unmanned plane executes corresponding movement according to the gesture instruction.
Optionally, the flight control method of unmanned plane above-mentioned, a gesture operation correspond to multiple gestures and refer to
It enables.
Optionally, the flight control method of unmanned plane above-mentioned identifies the gesture operation, described mobile whole from being preset in
Gesture instruction is transferred in the database at end, is specifically included: obtaining two input information within a preset time；What judgement inputted twice
Time interval determines first gesture instruction and second gesture instruction when being lower than preset threshold；When the interface of mobile terminal
In the first operation interface, then first gesture instruction is sent to the unmanned plane, so that the unmanned plane executes hovering movement；
When the interface of mobile terminal is in the second operation interface, then second gesture instruction is sent to the unmanned plane, so that the nothing
Man-machine execution enters a body-sensing offline mode；Wherein, body-sensing offline mode includes: the posture information of real-time acquisition intelligent terminal；
Action command is generated according to the posture information；The action command is sent to the unmanned plane, so that the unmanned plane root
Corresponding movement is executed according to the action command.
Optionally, the flight control method of unmanned plane above-mentioned, further includes: according to the current movement of the unmanned plane, meter
The pending one or more gesture operations of the user are calculated, and are drawn on the screen of the mobile terminal one or more
The corresponding figure of a gesture operation.
Optionally, the flight control method of unmanned plane above-mentioned, further includes: according to the gesture instruction, in the movement
The action description information of the unmanned plane corresponding with the gesture instruction is shown on the screen of terminal.
Another aspect according to the present invention provides a kind of flight control assemblies of unmanned plane, is applied to mobile terminal, packet
Include: induction module incudes gesture operation, and the gesture operation is to touch shape on the screen of the mobile terminal by user
At；Identification module identifies the gesture operation, transfers gesture instruction from the database for being preset in the mobile terminal, wherein
It include multiple gesture instructions in the database, the gesture instruction is corresponding with the gesture operation；Sending module, will be described
Gesture instruction is sent to the unmanned plane, so that the unmanned plane executes corresponding movement according to the gesture instruction.
Optionally, the flight control assemblies of unmanned plane above-mentioned, a gesture operation correspond to multiple gestures and refer to
It enables.
Optionally, the flight control assemblies of unmanned plane above-mentioned, the identification module, specifically include: module are obtained, pre-
If obtaining two input information in the time；Judgment module judges interarrival, when being lower than preset threshold, really
Fixed first gesture instruction and second gesture instruction；First control module, when the interface of mobile terminal is in the first operation circle
First gesture instruction is then sent to the unmanned plane by face, so that the unmanned plane executes hovering movement；Second control module,
When the interface of mobile terminal is in the second operation interface, then second gesture instruction is sent to the unmanned plane, so that the nothing
Man-machine execution enters a body-sensing offline mode；Wherein, body-sensing offline mode includes: the posture information of real-time acquisition intelligent terminal；
Action command is generated according to the posture information；The action command is sent to the unmanned plane, so that the unmanned plane root
Corresponding movement is executed according to the action command.
Optionally, the flight control assemblies of unmanned plane above-mentioned, further includes: the first drafting module, according to the unmanned plane
Current movement calculates the pending one or more gesture operations of the user, and draws on the screen of the mobile terminal
Make the corresponding figure of one or more of gesture operations.
Optionally, the flight control assemblies of unmanned plane above-mentioned, further includes: the second drafting module refers to according to the gesture
It enables, the action description information of the unmanned plane corresponding with the gesture instruction is shown on the screen of the mobile terminal.
According to above technical scheme, the flight control method and device of a kind of unmanned plane of the invention at least have following excellent
Point:
The prompt operation to unmanned plane pre-set commands is realized by gesture motion, from angles of product, gesture has got through letter
Level is ceased, user can obtain more information in limited physical space；From ownership goal angle, gesture interaction designs energy
Shorten the distance between user and target, improves operation task efficiency；From user experience angle, naturally intuitive interactive mode structure
At smooth user experience.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the flight control method of unmanned plane of the embodiment of the present invention；
Fig. 2 is a kind of relevant gesture operation schematic diagram of flight control method of unmanned plane of the embodiment of the present invention；
Fig. 3 is a kind of flow chart of the flight control method of unmanned plane of the embodiment of the present invention；
Fig. 4 is a kind of flow chart of the flight control method of unmanned plane of the embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of the flight control method of unmanned plane of the embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of the flight control method of unmanned plane of the embodiment of the present invention；
Fig. 7 is a kind of block diagram of the flight control assemblies of unmanned plane of the embodiment of the present invention；
Fig. 8 is a kind of block diagram of the flight control assemblies of unmanned plane of the embodiment of the present invention；
Fig. 9 is a kind of block diagram of the flight control assemblies of unmanned plane of the embodiment of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
As shown in Figure 1, providing a kind of flight control method of unmanned plane in one embodiment of the present of invention, it is applied to move
Dynamic terminal, mobile terminal include but is not limited to mobile phone, tablet computer etc., this method comprises:
Step S110 incudes gesture operation, and gesture operation is to touch to be formed on the screen of the mobile terminal by user.?
In the present embodiment, the gesture operation of user can be completed based on the touch screen sensor installed on mobile terminal or attitude transducer,
For example, user can carry out the touch operations such as click, double click, slide on the touch screen of mobile phone
Step S120 identifies gesture operation, gesture instruction is transferred from the database for be preset in mobile terminal, wherein number
According to, comprising multiple gesture instructions, gesture instruction is corresponding with gesture operation in library.In the present embodiment, operation used by a user
Gesture is all based on daily life cognitive operation, and common operating gesture is as shown in Fig. 2, a variety of operating gestures shown in it are equal
Suitable for the technical solution of the present embodiment, corresponding gesture instruction is formed in the case where no exacerbation user remembers and bears, is come
Complete various tasks required for user.Gesture operation and corresponding gesture instruction are stored in mobile terminal data library,
To transfer at any time.
Gesture instruction is sent to unmanned plane by step S130, so that unmanned plane executes corresponding movement according to gesture instruction.
In the present embodiment, the corresponding operational order of gesture instruction, the parameter for flare maneuver, unmanned plane to unmanned plane are controlled
System.In the present embodiment, the example controlled unmanned plane is as follows:
As shown in figure 3, providing a kind of control method of unmanned plane in one embodiment of the present of invention, step S120 includes:
Step S310, obtains two input information within a preset time.
Step S320, judges interarrival, when be lower than preset threshold when, determine a first gesture instruction and
The instruction of one second gesture.
First gesture instruction is then sent to nobody when the interface of mobile terminal is in the first operation interface by step S330
Machine, so that unmanned plane executes hovering movement.In the present embodiment, it controls unmanned plane by first gesture to hover, when nobody
When machine is in hovering, time enough is capable of providing for user's switching operation modes, i.e., subsequent body-sensing offline mode.
Second gesture instruction is then sent to nobody when the interface of mobile terminal is in the second operation interface by step S340
Machine, so that unmanned plane, which executes, enters a body-sensing offline mode；Wherein, body-sensing offline mode includes: real-time acquisition intelligent terminal
Posture information；Action command is generated according to posture information；Action command is sent to unmanned plane, so that unmanned plane refers to according to movement
It enables and executes corresponding movement.In the present embodiment, intelligent terminal includes but is not limited to virtual reality glasses, and user is by virtual reality
After on eyeglasses-wearing to head, change the posture of virtual reality glasses by the movements such as come back, bow；With virtual reality glasses
The change of posture, virtual reality glasses generate corresponding action command and are sent to unmanned plane, so that controlling unmanned plane carries out phase
The movement answered, under body-sensing offline mode, the flight of unmanned plane and the head pose of user are related, so that user is easy to control
System.
As shown in figure 4, providing a kind of flight control method of unmanned plane in one embodiment of the present of invention, comprising:
Step S410 incudes gesture operation, and gesture operation is to touch to be formed on the screen of the mobile terminal by user.
Step S420 identifies gesture operation, gesture instruction is transferred from the database for be preset in mobile terminal, wherein number
According to, comprising multiple gesture instructions, gesture instruction is corresponding with gesture operation in library.
Gesture instruction is sent to unmanned plane by step S430, so that unmanned plane executes corresponding movement according to gesture instruction.
Step S440 calculates the pending one or more gesture operations of user according to the current movement of unmanned plane, and
The corresponding figure of one or more gesture operations is drawn on the screen of mobile terminal.In the present embodiment, as shown in figure 5, working as nothing
When the man-machine state before take off, can analyze user can carry out slide upwards on the screen of the mobile terminal at this time,
Manipulation unmanned plane takes off, and passes through the gesture operation of figure real user in the screen of mobile terminal at this time.
Step S450 shows unmanned plane corresponding with gesture instruction according to gesture instruction on the screen of the mobile terminal
Action description information.In the present embodiment, as shown in fig. 6, unmanned plane is currently at the state of landing, then in the screen of mobile terminal
Display is currently in landing on curtain；Meanwhile on the screen of the mobile terminal, the gesture that also prompt user can currently carry out is grasped
The figure of work and corresponding gesture instruction manipulate unmanned plane to instruct user.
As shown in fig. 7, providing a kind of flight control assemblies of unmanned plane in one embodiment of the present of invention, it is applied to move
Dynamic terminal, mobile terminal includes but is not limited to mobile phone, tablet computer etc., which includes:
Induction module 710 incudes gesture operation, and gesture operation is to touch shape on the screen of the mobile terminal by user
At.In the present embodiment, the gesture operation of user can be based on the touch screen sensor or attitude transducer installed on mobile terminal
It completes, for example, user can carry out the touch operations such as click, double click, slide on the touch screen of mobile phone
Identification module 720 identifies gesture operation, gesture instruction is transferred from the database for be preset in mobile terminal, wherein
It include multiple gesture instructions in database, gesture instruction is corresponding with gesture operation.In the present embodiment, behaviour used by a user
It makes a sign with the hand and is all based on daily life cognitive operation, common operating gesture is as shown in Fig. 2, a variety of operating gestures shown in it
It is suitable for the technical solution of the present embodiment, forms corresponding gesture instruction in the case where no exacerbation user remembers and bears,
To complete various tasks required for user.Gesture operation and corresponding gesture instruction are stored in mobile terminal data library
In, to transfer at any time.
Gesture instruction is sent to unmanned plane by sending module 730, so that unmanned plane executes corresponding move according to gesture instruction
Make.In the present embodiment, the corresponding operational order of gesture instruction, for flare maneuver, unmanned plane to unmanned plane parameter into
Row control.In the present embodiment, the example controlled unmanned plane is as follows:
As shown in figure 8, providing a kind of control device of unmanned plane in one embodiment of the present of invention, identification module includes:
Module 810 is obtained, obtains two input information within a preset time.
Judgment module 820, judges interarrival, when being lower than preset threshold, determines that a first gesture refers to
It enables and a second gesture instructs.
First control module 830, when the interface of mobile terminal is in the first operation interface, then by first gesture instruction transmission
To unmanned plane, so that unmanned plane executes hovering movement.In the present embodiment, unmanned plane is controlled by first gesture to hover,
When unmanned plane is in hovering, time enough is capable of providing for user's switching operation modes, i.e., subsequent body-sensing flight mould
Formula.
Second control module 840, when the interface of mobile terminal is in the second operation interface, then by second gesture instruction transmission
To unmanned plane, so that unmanned plane, which executes, enters a body-sensing offline mode；Wherein, body-sensing offline mode includes: real-time acquisition intelligence
The posture information of terminal；Action command is generated according to posture information；Action command is sent to unmanned plane so that unmanned plane according to
Action command executes corresponding movement.In the present embodiment, intelligent terminal includes but is not limited to virtual reality glasses, and user will be empty
After quasi- Reality glasses are worn onto head, change the posture of virtual reality glasses by the movements such as come back, bow；With virtual existing
The change of real glasses posture, virtual reality glasses generate corresponding action command and are sent to unmanned plane, to control unmanned plane
It is acted accordingly, under body-sensing offline mode, the flight of unmanned plane and the head pose of user are related, so that user is easy to
It is controlled.
As shown in figure 9, providing a kind of flight control assemblies of unmanned plane in one embodiment of the present of invention, comprising:
Induction module 910 incudes gesture operation, and gesture operation is to touch shape on the screen of the mobile terminal by user
At.
Identification module 920 identifies gesture operation, gesture instruction is transferred from the database for be preset in mobile terminal, wherein
It include multiple gesture instructions in database, gesture instruction is corresponding with gesture operation.
Gesture instruction is sent to unmanned plane by sending module 930, so that unmanned plane executes corresponding move according to gesture instruction
Make.
First drafting module 940 calculates the pending one or more gestures behaviour of user according to the current movement of unmanned plane
Make, and draws the corresponding figure of one or more gesture operations on the screen of the mobile terminal.In the present embodiment, such as Fig. 5 institute
Show, before unmanned plane is in and takes off when state, can analyze user can slide upwards on the screen of the mobile terminal at this time
Dynamic operation, manipulation unmanned plane take off, and pass through the gesture operation of figure real user in the screen of mobile terminal at this time.
Second drafting module 950 shows nothing corresponding with gesture instruction according to gesture instruction on the screen of the mobile terminal
Man-machine action description information.In the present embodiment, as shown in fig. 6, unmanned plane is currently at the state of landing, then mobile whole
Display is currently in landing on the screen at end；Meanwhile on the screen of the mobile terminal, also prompt user that can currently carry out
The figure of gesture operation and corresponding gesture instruction manipulate unmanned plane to instruct user.
Preferred embodiments of the present invention have been described above with reference to the accompanying drawings, not thereby limiting the scope of the invention.This
Without departing from the scope and spirit of the invention, there are many variations to implement the present invention by field technical staff, for example as one
The feature of a embodiment can be used for another embodiment and obtain another embodiment.It is all to use institute within technical concept of the invention
Any modifications, equivalent replacements, and improvements of work, should all be within interest field of the invention.
Claims (10)
1. a kind of flight control method of unmanned plane is applied to mobile terminal, which is characterized in that this method comprises:
Incude gesture operation, the gesture operation is to touch formation on the screen of the mobile terminal by user；
It identifies the gesture operation, transfers gesture instruction from the database for being preset in the mobile terminal, wherein the data
It include multiple gesture instructions in library, the gesture instruction is corresponding with the gesture operation；The corresponding operation of the gesture instruction
Instruction, the parameter for flare maneuver and/or the unmanned plane to the unmanned plane control；
The gesture instruction is sent to the unmanned plane, so that the unmanned plane executes corresponding move according to the gesture instruction
Make.
2. the flight control method of unmanned plane according to claim 1, which is characterized in that the gesture operation is based on movement
The touch screen sensor or attitude transducer installed in terminal are completed.
3. the flight control method of unmanned plane according to claim 1 or claim 2, which is characterized in that the gesture operation is to move
The touch operation of following one: click, double click, slide is at least carried out on the touch screen of dynamic terminal.
4. the flight control method of unmanned plane according to claim 1, which is characterized in that
One gesture operation corresponds to multiple gesture instructions.
5. the flight control method of unmanned plane according to claim 4, which is characterized in that the gesture operation is identified, from pre-
It is located in the database of the mobile terminal and transfers gesture instruction, specifically include:
Two input information is obtained within a preset time；
Judge interarrival, when being lower than preset threshold, determines that first gesture instruction and a second gesture refer to
It enables；
When the interface of mobile terminal is in the first operation interface, then first gesture instruction is sent to the unmanned plane, so that institute
It states unmanned plane and executes hovering movement；
When the interface of mobile terminal is in the second operation interface, then second gesture instruction is sent to the unmanned plane, so that institute
It states unmanned plane and executes and enter a body-sensing offline mode.
6. the flight control method of unmanned plane according to claim 5, which is characterized in that the body-sensing offline mode includes:
The posture information of acquisition intelligent terminal in real time；
Action command is generated according to the posture information；
The action command is sent to the unmanned plane, so that the unmanned plane executes corresponding move according to the action command
Make.
7. the flight control method of unmanned plane according to claim 1, which is characterized in that further include:
According to the current movement of the unmanned plane, the pending one or more gesture operations of the user are calculated, and described
The corresponding figure of one or more of gesture operations is drawn on the screen of mobile terminal.
8. the flight control method of unmanned plane according to claim 1, which is characterized in that further include:
According to the gesture instruction, the unmanned plane corresponding with the gesture instruction is shown on the screen of the mobile terminal
Action description information.
9. the flight control method of unmanned plane according to claim 1, which is characterized in that further include: in the mobile terminal
Screen on, the figure of gesture operation that can also currently carry out of prompt user and corresponding gesture instruction, to instruct user
To manipulate the unmanned plane.
10. a kind of flight control assemblies of unmanned plane, the flight control applied to the described in any item unmanned planes of claim 1 to 9
Method processed characterized by comprising
Induction module incudes gesture operation, and the gesture operation is to touch shape on the screen of the mobile terminal by user
At；
Identification module identifies the gesture operation, transfers gesture instruction from the database for being preset in the mobile terminal,
In, it include multiple gesture instructions in the database, the gesture instruction is corresponding with the gesture operation；The gesture instruction
Corresponding operational order, the parameter for flare maneuver and/or the unmanned plane to the unmanned plane control；
The gesture instruction is sent to the unmanned plane by sending module, so that the unmanned plane is held according to the gesture instruction
The corresponding movement of row.
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| CN201910736186.XA CN110377053B (en) | 2016-12-02 | 2016-12-02 | Flight control method and device of unmanned aerial vehicle |
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| CN201611110600.9A CN106681354B (en) | 2016-12-02 | 2016-12-02 | The flight control method and device of unmanned plane |
| CN201910736186.XA CN110377053B (en) | 2016-12-02 | 2016-12-02 | Flight control method and device of unmanned aerial vehicle |
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| CN110377053B (en) * | 2016-12-02 | 2023-03-31 | 广州亿航智能技术有限公司 | Flight control method and device of unmanned aerial vehicle |
| CN109032164A (en) * | 2017-06-08 | 2018-12-18 | 徐海东 | A kind of unmanned plane virtual remote control device |
| US20190129937A1 (en) * | 2017-10-26 | 2019-05-02 | Autel Robotics Co., Ltd. | Method for controlling unmanned aerial vehicle, unmanned aerial vehicle and controlling device |
| CN107861683B (en) * | 2017-11-07 | 2020-08-21 | 苏州九号电子科技有限公司 | Unmanned aerial vehicle button-free operation method and device |
| DE102018120675A1 (en) | 2018-08-23 | 2020-02-27 | Autel Robotics Europe Gmbh | Method, device and system for operating a waypoint, ground station and computer-readable storage medium |
| CN109088803B (en) * | 2018-09-20 | 2023-11-07 | 塔普翊海（上海）智能科技有限公司 | AR remote control device, intelligent home remote control system and method |
| CN109324605A (en) * | 2018-11-19 | 2019-02-12 | 广州极飞科技有限公司 | A kind of flying vehicles control method, apparatus, equipment and storage medium |
| CN111615720A (en) * | 2019-06-14 | 2020-09-01 | 深圳市大疆创新科技有限公司 | Mobile platform control system, method, terminal equipment and remote control equipment |
| WO2021077414A1 (en) * | 2019-10-25 | 2021-04-29 | 深圳市大疆创新科技有限公司 | Interface display method, control system, computer readable storage medium, and unmanned aerial vehicle |
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| CN110377053B (en) | 2023-03-31 |
| WO2018099258A1 (en) | 2018-06-07 |
| CN106681354B (en) | 2019-10-08 |
| CN106681354A (en) | 2017-05-17 |
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