WO2018119981A1 - Control method, control device and control system for movable device - Google Patents

Abstract

A control method, control device (100, 10, 30, 50, 70, 90), and control system for a movable device (20, 40, 60, 80), capable of resolving the problem that the movable device (20, 40, 60, 80) cannot move toward an expected direction due to inaccurate user operation in a process of controlling the movable device (20, 40, 60, 80), so that the movable device (20, 40, 60, 80) is controlled more accurately. The control method comprises: obtaining a control signal generated by operation in an operation region of the control device (10, 30, 50, 70, 90, 100) (S11); and if an operation position of the control signal is in a first preset region in the operation region, controlling the movable device (20, 40, 60, 80) according to an instruction corresponding to a current preset direction associated with the first preset region (S12).

Description

Control method, control device and control system for mobile device [Technical Field]

Embodiments of the present invention relate to the field of mobile device control technologies, and in particular, to a control method, a control device, and a control system for a mobile device.

【Background technique】

Unmanned aerial vehicles have been widely used in various fields, including disaster investigation and rescue, air surveillance, transmission line inspection, aerial photography, aerial survey and military. In addition, after the corresponding equipment is installed on the unmanned aerial vehicle, various operations such as detection of harmful gases, spraying of pesticides, relay of communication signals, and investigation of ground traffic conditions can be completed.

Nowadays, more and more UAVs can be controlled directly using mobile terminals, often using controls that simulate traditional joysticks on the phone interface to control the aircraft. The virtual joystick of the existing mobile terminal often has a problem that the user cannot truly realize the one-way operation of up, down, left, right, or up, down, left, and right. The reason is that the user uses the virtual joystick on the touch screen. Since the virtual joystick cannot provide all the actual force feedback of the physical joystick, the control in both directions is often triggered at the same time.

[Summary of the Invention]

The embodiment of the invention provides a control method, a control device and a control system for a mobile device, which can solve the problem that the mobile device cannot move in an expected direction due to inaccurate user operation, and the control of the mobile device is more accurate.

In order to solve the above technical problem, a technical solution adopted by the embodiment of the present invention is to provide a control method of a mobile device, which is applied to a control device end for controlling a mobile device, and the control method includes: acquiring a control device The control signal generated by the operation area is operated; if the operation position of the control signal is in the first preset area in the operation area, the movable device is controlled by the instruction corresponding to the current preset direction associated with the first preset area.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a control device for controlling a mobile device, where the control device includes: a signal receiver for acquiring operation in an operation area of the control device And generating a control signal; the processor is configured to: when the operating position of the control signal is in the first preset area in the operation area, generate an instruction corresponding to the current preset direction associated with the first preset area; a transmitter for transmitting instructions to a removable device to control the movement Mobile equipment.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a control device for controlling a mobile device, where the control device includes: an acquisition module, configured to acquire an operation area in the control device And a control module, configured to control, by the instruction corresponding to the current preset direction associated with the first preset area, the movable device when the operation position of the control signal is in the first preset area in the operation area .

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a control method of a mobile device, which is applied to a system composed of a control device and a movable device, and the control method includes: controlling device acquisition in control a control signal generated by the operation area of the device, when the operation position of the control signal is in the first preset area in the operation area, generating an instruction corresponding to the current preset direction associated with the first preset area, and Sending instructions to the mobile device, the mobile device receiving the instructions and controlling the mobile device with the instructions; or

The control device acquires a control signal generated by operating in an operation area of the control device, and transmits a control signal to the movable device, the movable device receiving the control signal, and the first preset area in the operation area at the operation position of the control signal The internal device controls the mobile device with an instruction corresponding to the current preset direction associated with the first preset area.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a control system, including a control device and a mobile device, where the control device is used to control the mobile device, and the control device includes: first signal receiving And a first processor, configured to generate a first preset when the operating position of the control signal is within the first preset area in the operating area An instruction corresponding to a current preset direction associated with the area; a first signal transmitter for transmitting an instruction to the mobile device; and the movable device includes: a second signal receiver for receiving the instruction; and a second processor, Used to control a removable device with instructions; or

The control device includes: a first signal receiver for acquiring a control signal generated by operating in an operation area of the control device; a first signal transmitter for transmitting a control signal to the mobile device; the movable device comprising: a second signal receiver, configured to receive a control signal; and a second processor, configured to generate a current pre-associated with the first preset area when the operating position of the control signal is within the first preset area in the operation area Set the instructions corresponding to the direction to control the removable device.

In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is to provide a control system, including a control device and a mobile device, where the control device is used to control the mobile device, and the control device includes: an acquisition module, Controlling signals generated by operating in the operating area of the control device a first control module, configured to generate an instruction corresponding to a current preset direction associated with the first preset area when the operation position of the control signal is in the first preset area in the operation area; And transmitting the instruction to the mobile device; the mobile device includes: a receiving module, configured to receive an instruction sent by the transmitting module; and a control module, configured to control the movable object according to the instruction; or

The control device includes: an acquisition module, configured to acquire a control signal generated by operating in an operation area of the control device; a transmitting module, configured to send a control signal to the mobile device; and the mobile device includes: a receiving module, Receiving a control signal; the second control module is configured to: when the operation position of the control signal is in the first preset area in the operation area, the instruction corresponding to the current preset direction associated with the first preset area may be Mobile devices.

The beneficial effects of the embodiments of the present invention are: in the control method of the mobile device provided by the embodiment of the present invention, the control signal generated by operating in the operation area of the control device is acquired; the operation position of the control signal is in the operation area. In the first preset area, the movable device is controlled by an instruction corresponding to the current preset direction associated with the first preset area. In the above manner, the preset area is associated with the preset direction, and when the control signal is located in the preset area, the movable device is controlled to move to the preset direction, which can solve the inaccurate operation of the user, and the mobile device cannot be expected. The problem of moving the direction makes the control of the mobile device more precise.

[Description of the Drawings]

1 is a schematic flow chart of a first embodiment of a method for controlling a mobile device according to the present invention;

2 is a first schematic diagram of an operation area in a control method of a mobile device according to the present invention;

3 is a second schematic diagram of an operation area in a control method of a mobile device according to the present invention;

4 is a third schematic diagram of an operation area in a control method of the mobile device of the present invention;

5 is a fourth schematic diagram of an operation area in a control method of a mobile device according to the present invention;

6 is a fifth schematic diagram of an operation area in a control method of a mobile device according to the present invention;

7 is a schematic flow chart of a second embodiment of a method for controlling a mobile device according to the present invention;

8 is a schematic flow chart of a third embodiment of a method for controlling a mobile device according to the present invention;

9 is a schematic structural view of a first embodiment of a control device of the present invention;

Figure 10 is a schematic structural view of a second embodiment of the control device of the present invention;

11 is a schematic structural view of a first embodiment of a control system of the present invention;

Figure 12 is a schematic structural view of a second embodiment of the control system of the present invention;

Figure 13 is a schematic structural view of a third embodiment of the control system of the present invention;

Figure 14 is a schematic view showing the structure of a fourth embodiment of the control system of the present invention.

【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of a first embodiment of a method for controlling a mobile device according to the present invention. The control method is applied to a control device. The method includes:

S11: Acquire a control signal generated by operating in an operation area of the control device.

The control device may be a dedicated remote controller, or may be a mobile terminal, such as a mobile phone, a tablet computer, or the like.

Optionally, in an embodiment, the operation in the operation area may be a touch operation, and the control signal is a touch signal generated by the touch operation.

Optionally, in other embodiments, the operations in the operation area may also be a mouse operation, a contactless sensing operation, or the like.

S12: If the operation position of the control signal is in the first preset area in the operation area, the movable device is controlled by an instruction corresponding to the current preset direction associated with the first preset area.

The operation area may be a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

As shown in FIG. 2, the circular area therein represents an operation area, and the sector area represents the first preset area. It can be understood that in the non-mechanical joystick control mode, that is, the touch, non-contact gesture interaction, mouse control and the like, it is difficult to accurately issue the control command when controlling the moving direction of the movable device. For example, in the case of touch control, when it is necessary to control the movable device to move forward, it is necessary to click or slide in the direction of the arrow in FIG. 2. However, in actual operation, it is often impossible to accurately control the touch point in the direction of the arrow, but to deviate, and the movable device cannot be controlled to move forward, but to move in the direction of deviation.

In this embodiment, by associating the first preset area with the preset direction, if the direction indicated by the first preset area itself is not the preset direction, after the association, the control signal indicates the area preset area. The movement of the movable device is controlled according to an instruction corresponding to the associated preset direction.

Taking FIG. 2 as an example, when the shaded area S is associated with the control command moving in the X direction, when the control signal is located in the shaded area S, the mobile device is controlled to move forward in the X direction.

Optionally, as shown in FIG. 3, in an embodiment, the sector area is located at one side of a current preset direction associated with the first preset area.

For example, the sector area S is located on one side of the X direction associated with the first preset area. It should be noted that the sector S may include the line where the X direction is located, or may not include the line where the X direction is located. That is, when the control signal is located on the line in the X direction, the movable device can be directly controlled to move in the X direction according to the prior art, or the movable device can be controlled to move according to the X direction associated with the sector region S according to the present embodiment.

Optionally, as shown in FIG. 4, in an embodiment, there are two sector-shaped regions respectively located on opposite sides of a current preset direction associated with the first preset region.

For example, the sector area includes a first sector area S1 and a second sector area S2, and the first sector area S1 and the second sector area S2 are respectively located on both sides in the X direction. Specifically, the preset directions associated with the first sector region S 1 and the second sector region S2 are both the X direction. Therefore, regardless of whether the control signal is located in the first sector region S1 or the second sector region S2, the movable device is controlled to Move in the X direction.

Alternatively, in the embodiments of Figures 3 and 4 above, the central angle of the sector is less than or equal to 5°. It can be understood that, taking the touch control as an example, when the user needs to control the movable device in the X direction, the touch position thereof is not too far from the X direction, and the angle of the deviation is small, so it is limited to 5° in the embodiment. .

In addition, in other embodiments, the central angle of the sector area can be set by receiving a user instruction, and the user can set an arbitrary angle according to his own needs. Optionally, the angle range is 0-45°.

As shown in FIG. 5, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, and a third axis direction that are separated from the center point of the operation area by a predetermined angle and radiated outward respectively. And the direction of the fourth axis.

Optionally, the preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90°. For example, the X1 direction, the X2 direction, the X3 direction, and the X4 direction in FIG.

Specifically, in the embodiment, the mobile device is an unmanned aerial vehicle, and the S12 may include: if the current preset direction associated with the first preset area is the first axis direction, controlling the mobile device to rise; Controlling the movable device to descend if the current preset direction associated with the first preset area is the second axis direction; if the current preset direction associated with the first preset area is the third axis direction, the control is movable The device turns left; if the current preset direction associated with the first preset area is the fourth axis direction, the movable device is controlled to turn right.

Optionally, in an embodiment, S11 may be specifically: acquiring a continuous control signal generated by continuously operating in an operation area of the control device. It can be understood that, taking the touch signal as an example, the user generally operates on the touch screen by sliding, and the track of the sliding operation generates a continuous touch signal.

Optionally, in this embodiment, S12 may be: if the operation start position of the continuous control signal is in the current preset direction associated with the first preset area, and the operation end position of the continuous control signal is at the first preset The area controls the mobile device with an instruction corresponding to the current preset direction associated with the first preset area.

Optionally, in this embodiment, S12 may further be: if the operation end position is outside the first operation area, the instruction corresponding to the predetermined direction associated with the area on both sides of the superimposed operation position controls the movable device.

Specifically, as shown in FIG. 6 , the starting position of the sliding operation is A→B, wherein the A point is located in the first preset area, the associated direction is the X direction, and the B point is located outside the first preset area, and the corresponding point is The moving direction is the axis Y direction where the point B is located, and the movement of the movable device in the Z direction superimposed in the X direction and the Y direction can be controlled. Alternatively, the Z direction may be an angle bisector of the angle formed by the X direction and the Y direction.

Additionally, in other embodiments, user instructions may also be received to set an area determination for determining a control command from a start position or an end position of the control operation.

Optionally, in an embodiment, the control device may include two operation modes, and may be arbitrarily switched according to a user's instruction. In the first mode of operation, the control signal is acquired using the embodiment as described above, and in the second mode of operation, the area of the control signal is indeterminate, and the movable device is directly controlled according to the setting command corresponding to the operation position of the control signal.

Different from the prior art, the control method of the device capable of the present embodiment includes: acquiring a control signal generated by operating in an operation area of the control device; and if the operation position of the control signal is in the first preset area in the operation area, The movable device is controlled by an instruction corresponding to the current preset direction associated with the first preset area. In the above manner, the preset area is associated with the preset direction, and when the control signal is located in the preset area, the movable device is controlled to move to the preset direction, which can solve the inaccurate operation of the user, and the mobile device cannot be expected. The problem of moving the direction makes the control of the mobile device more precise.

Referring to FIG. 7, FIG. 7 is a schematic flowchart of a second embodiment of a method for controlling a mobile device according to the present invention. The method is for controlling a system composed of a device and a movable device, the method comprising:

S71: The control device acquires a control signal generated by operating in an operation area of the control device, and generates a current preset associated with the first preset area when the operation position of the control signal is in the first preset area in the operation area. The instruction corresponding to the direction and sends the instruction to the removable device.

S72: The mobile device receives the instruction and controls the mobile device with the instruction.

In the present embodiment, the control device converts the control signal into a control command and transmits it to the mobile device.

Referring to FIG. 8, FIG. 8 is a schematic flowchart diagram of a third embodiment of a method for controlling a mobile device according to the present invention. The method is used to control a device and a mobile device. The method includes:

S81: The control device acquires a control signal generated by operating in an operation area of the control device, and transmits the control signal to the movable device.

S82: The mobile device is configured to receive the control signal, and when the operation position of the control signal is in the first preset area in the operation area, the instruction corresponding to the current preset direction associated with the first preset area may be controlled. Mobile devices.

In the present embodiment, the control device simply transmits a control signal to the mobile device, and the mobile device converts the control signal into a control command.

Wherein, the control device and the mobile device can communicate by wire or wirelessly, and when the mobile device is an unmanned aerial vehicle, the control device and the unmanned aerial vehicle communicate by wireless, including but not limited to infrared, Bluetooth, WIFI and other methods.

Optionally, the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

The fan-shaped area is located at one side of the current preset direction associated with the first preset area.

There are two sector-shaped regions, which are respectively located on opposite sides of the current preset direction associated with the first preset region.

Wherein, the central angle of the sector area is less than or equal to 5°.

Optionally, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, a third axis direction, and a first direction that are separated from each other by a center point of the operation area Four axis direction.

The preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90 degrees.

Optionally, S72 or S76 may specifically include: if the current preset direction associated with the first preset area is The first axis direction controls the movable device to rise; if the current preset direction associated with the first preset region is the second axis direction, the movable device is controlled to descend; if the current preset direction associated with the first preset region is In the third axis direction, the movable device is controlled to turn left; if the current preset direction associated with the first preset region is the fourth axis direction, the movable device is controlled to turn right.

Optionally, the control device acquires a continuous control signal generated by continuous operation of the operating region of the control device.

S72 or S82 may specifically include: if the operation start position of the continuous control signal is in a current preset direction associated with the first preset area, and the operation end position of the continuous control signal is in the first preset area, the first The instruction corresponding to the current preset direction associated with the preset area controls the movable device.

S72 or S82 may specifically include: if the operation end position is outside the first operation area, the instruction corresponding to the predetermined direction associated with the area on both sides of the superimposed operation position controls the movable device.

Optionally, the operation is a touch operation, and the control signal is a touch signal generated by the touch operation. The method further includes: obtaining an operation mode of the control device; determining, when the control device is in the first operation mode, whether the operation position of the control signal is in the first preset area in the operation area; and the control device is in the second operation mode The movable device is directly controlled by a setting command corresponding to the operation position of the control signal.

Referring to FIG. 9, FIG. 9 is a schematic structural diagram of a first embodiment of a control device for controlling a mobile device. The control device 90 includes a signal receiver 91, a processor 92, and a signal transmitter 93.

The signal receiver 91 is configured to acquire a control signal generated by operating in an operation area of the control device; the processor 92 is configured to generate the first preset when the operation position of the control signal is within the first preset area in the operation area The instruction corresponding to the current preset direction associated with the area; the signal transmitter 93 is configured to send an instruction to the mobile device to control the mobile device.

Optionally, the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

The fan-shaped area is located at one side of the current preset direction associated with the first preset area.

There are two sector-shaped regions, which are respectively located on opposite sides of the current preset direction associated with the first preset region.

Wherein, the central angle of the sector area is less than or equal to 5°.

Optionally, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, a third axis direction, and a first direction that are separated from each other by a center point of the operation area Four axis direction.

The preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90 degrees.

Optionally, the processor 92 is configured to: when the current preset direction associated with the first preset area is the first axis direction, generate an instruction for controlling the rise of the mobile device; and the current preset associated with the first preset area When the direction is the second axis direction, generating an instruction for controlling the falling of the movable device; when the current preset direction associated with the first preset area is the third axis direction, generating an instruction for controlling the leftward rotation of the movable device; When the current preset direction associated with the area is the fourth axis direction, an instruction to control the right turn of the movable device is generated.

Optionally, the signal receiver 91 is specifically configured to acquire a continuous control signal generated by continuously operating in an operation area of the control device. The processor 92 is specifically configured to: when the operation start position of the continuous control signal is in the current preset direction associated with the first preset area, and the operation end position of the continuous control signal is in the first preset area, generate the first The instruction corresponding to the current preset direction associated with the preset area. The processor 92 is further configured to superimpose an instruction corresponding to a predetermined direction associated with an area on both sides of the operation position when the operation end position is outside the first operation area.

Optionally, the operation is a touch operation, and the control signal is a touch signal generated by the touch operation.

Optionally, the processor 92 is further configured to acquire an operation mode of the control device. The processor 92 is further configured to: when the control device is in the first operation mode, determine whether the operation position of the control signal is in the first preset area in the operation area. And when the control device is in the second operation mode, the movable device is directly controlled by a setting instruction corresponding to the operation position of the control signal.

Optionally, the mobile device is an unmanned aerial vehicle, the control device is a remote controller of the unmanned aerial vehicle, and the operation area is a virtual joystick on the operation interface of the remote controller. Specifically, the control device may be a mobile phone, and an APP for controlling the unmanned aerial vehicle is installed in the mobile phone. After the APP is opened, the operation interface displays a circular operation area as shown in FIG. 2-6, and the user passes the operation area. The touch operation controls the movement of the unmanned aerial vehicle.

Referring to FIG. 10, FIG. 10 is a schematic structural diagram of a second embodiment of a control device according to the present invention. The control device is used to control a mobile device. The control device 100 includes an acquisition module 101 and a control module 102.

The obtaining module 101 is configured to acquire a control signal generated by operating in an operation area of the control device; and the control module 102 is configured to use the first preset area when the operating position of the control signal is in the first preset area in the operation area The instructions corresponding to the current preset direction of the association control the mobile device.

Optionally, the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

The fan-shaped area is located at one side of the current preset direction associated with the first preset area.

There are two sector-shaped regions, which are respectively located on opposite sides of the current preset direction associated with the first preset region.

Wherein, the central angle of the sector area is less than or equal to 5°.

Optionally, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, a third axis direction, and a first direction that are separated from each other by a center point of the operation area Four axis direction.

The preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90 degrees.

Optionally, the control module 102 is configured to: when the current preset direction associated with the first preset area is the first axis direction, control the movable device to rise; and the current preset direction associated with the first preset area is the second In the axial direction, the movable device is controlled to descend; when the current preset direction associated with the first preset region is the third axis direction, the movable device is controlled to turn left; the current preset direction associated with the first preset region is the first Control the movable device to turn right when in the four-axis direction.

Optionally, the obtaining module 101 is specifically configured to acquire a continuous control signal generated by continuously operating in an operation area of the control device. The control module 102 is specifically configured to: when the operation start position of the continuous control signal is in the current preset direction associated with the first preset area, and the operation end position of the continuous control signal is in the first preset area, the first pre- The instruction corresponding to the current preset direction associated with the area controls the movable device. The control module 102 is further configured to control the movable device according to an instruction corresponding to a predetermined direction associated with the area on both sides of the operation position when the operation end position is outside the first operation area.

Optionally, the operation is a touch operation, and the control signal is a touch signal generated by the touch operation. The obtaining module 101 is further configured to acquire an operation mode of the control device. The control device 102 further includes a determining module, configured to determine, when the control device is in the first operating mode, whether the operating position of the control signal is in the first preset region in the operating region. The control module is further configured to directly control the movable device by using a setting instruction corresponding to an operation position of the control signal when the control device is in the second operation mode.

Referring to FIG. 11, FIG. 11 is a schematic structural view of a first embodiment of a control system of the present invention, which includes a control device 10 and a movable device 20.

The control device 10 includes:

The first signal receiver 1001 is configured to acquire a control signal generated by operating in an operation area of the control device.

a first processor 1002, configured to be in a first preset area in an operation area at an operation position of the control signal In the intra-domain, an instruction corresponding to the current preset direction associated with the first preset area is generated.

The first signal transmitter 1003 is configured to send an instruction to the mobile device.

The removable device 20 includes:

The second signal receiver 2001 is configured to receive an instruction.

The second processor 2002 is configured to control the mobile device with an instruction.

In the present embodiment, the first processor 1002 of the control device 10 converts the control signal into a control command and transmits it to the mobile device 20.

Referring to FIG. 12, FIG. 12 is a schematic structural view of a second embodiment of a control system of the present invention, which includes a control device 30 and a movable device 40.

Wherein, the control device 30 includes:

The first signal receiver 3001 is configured to acquire a control signal generated by operating in an operation area of the control device.

The first signal transmitter 3002 is configured to send a control signal to the mobile device.

The removable device 40 includes:

The second signal receiver 4001 is configured to receive a control signal.

The second processor 4002 is configured to: when the operating position of the control signal is in the first preset area in the operation area, generate an instruction corresponding to the current preset direction associated with the first preset area, to control the movable device.

In the present embodiment, the control device 30 simply transmits a control signal to the mobile device 40, and the second processor 4002 of the mobile device 40 converts the control signal into a control command.

Wherein, the control device and the mobile device can communicate by wire or wirelessly, and when the mobile device is an unmanned aerial vehicle, the control device and the unmanned aerial vehicle communicate by wireless, including but not limited to infrared, Bluetooth, WIFI and other methods.

Optionally, the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

The fan-shaped area is located at one side of the current preset direction associated with the first preset area.

There are two sector-shaped regions, which are respectively located on opposite sides of the current preset direction associated with the first preset region.

Wherein, the central angle of the sector area is less than or equal to 5°.

Optionally, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, and a third axis direction that are separated from the center point of the operation area by a preset angle and radiated outward respectively. And the direction of the fourth axis.

The preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90 degrees.

Optionally, the first processor 1002 or the second processor 4002 is specifically configured to: when the current preset direction associated with the first preset area is the first axis direction, generate an instruction for controlling the rise of the mobile device; When the current preset direction associated with the preset area is the second axis direction, an instruction for controlling the falling of the movable device is generated; when the current preset direction associated with the first preset area is the third axis direction, generating the control movable device left The instruction of turning: when the current preset direction associated with the first preset area is the fourth axis direction, generating an instruction for controlling the right turn of the movable device.

Optionally, the first signal receiver is specifically configured to acquire a continuous control signal generated by continuously operating in an operation area of the control device. The first processor 1002 or the second processor 4002 is specifically configured to be in a current preset direction associated with the first preset area at an operation start position of the continuous control signal, and the operation end position of the continuous control signal is at the first pre- When the area is set, an instruction corresponding to the current preset direction associated with the first preset area is generated. The first processor 1002 or the second processor 4002 is further configured to superimpose an instruction corresponding to a predetermined direction associated with an area on both sides of the operation position when the operation end position is outside the first operation area.

Optionally, the operation is a touch operation, and the control signal is a touch signal generated by the touch operation. The first processor 2002 is further configured to acquire an operation mode of the control device. The first processor 2002 is further configured to determine, when the control device is in the first operation mode, whether the operation position of the control signal is in the first preset area in the operation area. And when the control device is in the second operation mode, directly generating a setting instruction corresponding to the operation position of the control signal to control the movable device.

Optionally, the mobile device is an unmanned aerial vehicle, the control device is a remote controller of the unmanned aerial vehicle, and the operation area is a virtual joystick on the operation interface of the remote controller. Specifically, the control device may be a mobile phone, and an APP for controlling the unmanned aerial vehicle is installed in the mobile phone. After the APP is opened, the operation interface displays a circular operation area as shown in FIG. 2-6, and the user passes the operation area. The touch operation controls the movement of the unmanned aerial vehicle.

Referring to FIG. 13, FIG. 13 is a schematic structural diagram of a third embodiment of a control system of the present invention, which includes a control device 50 and a movable device 60.

Wherein, the control device 50 includes:

The obtaining module 5001 is configured to acquire a control signal generated by operating in an operation area of the control device.

a first control module 5002, configured to be in a first preset in an operation area of an operation position of the control signal In the area, the movable device is controlled by an instruction corresponding to the current preset direction associated with the first preset area.

In the present embodiment, the first control module 5002 of the control device 50 controls the mobile device 60 in accordance with the control signal.

Referring to FIG. 14, FIG. 14 is a schematic structural diagram of a fourth embodiment of a control system of the present invention, which includes a control device 70 and a movable device 80.

Wherein, the control device 70 includes:

The obtaining module 7001 is configured to acquire a control signal generated by operating in an operation area of the control device.

The transmitting module 7002 is configured to send a control signal to the mobile device.

The removable device 80 includes:

The receiving module 8001 is configured to receive a control signal.

The second control module 8002 is configured to control the movable device by using an instruction corresponding to the current preset direction associated with the first preset area when the operation position of the control signal is within the first preset area in the operation area.

In the present embodiment, the control device 70 simply transmits a control signal to the mobile device 80, and the second control module 8002 of the mobile device 80 controls the mobile device according to the control signal.

Wherein, the control device and the mobile device can communicate by wire or wirelessly, and when the mobile device is an unmanned aerial vehicle, the control device and the unmanned aerial vehicle communicate by wireless, including but not limited to infrared, Bluetooth, WIFI and other methods.

Optionally, the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius, and the first preset area is a sector area centered on a center point of the operation area.

The fan-shaped area is located at one side of the current preset direction associated with the first preset area.

There are two sector-shaped regions, which are respectively located on opposite sides of the current preset direction associated with the first preset region.

Wherein, the central angle of the sector area is less than or equal to 5°.

Optionally, the preset direction associated with the first preset area includes a first axis direction, a second axis direction, a third axis direction, and a first direction that are separated from each other by a center point of the operation area Four axis direction.

The preset direction associated with the first preset area includes four first axis directions, a second axis direction, a third axis direction, and a fourth axis direction that are separated by 90 degrees.

Optionally, the first control module 5002 or the second control module 8002 is specifically configured to: in the first preset Controlling the movable device to rise when the current preset direction of the area association is the first axis direction; controlling the movable device to descend when the current preset direction associated with the first preset area is the second axis direction; When the current preset direction of the area association is the third axis direction, the movable device is controlled to turn left; when the current preset direction associated with the first preset area is the fourth axis direction, the movable device is controlled to turn right.

Optionally, the first signal receiver is specifically configured to acquire a continuous control signal generated by continuously operating in an operation area of the control device. The first control module 5002 or the second control module 8002 is specifically configured to: in the current preset direction associated with the first preset area at the operation start position of the continuous control signal, and the operation end position of the continuous control signal is in the first pre-pre When the area is set, an instruction corresponding to the current preset direction associated with the first preset area is generated. The first control module 5002 or the second control module 8002 is further configured to superimpose an instruction corresponding to a predetermined direction associated with an area on both sides of the operation position when the operation end position is outside the first operation area.

Optionally, the operation is a touch operation, and the control signal is a touch signal generated by the touch operation. The first control module 5002 is further configured to acquire an operation mode of the control device. The first control module 5002 is further configured to determine, when the control device is in the first operation mode, whether the operation position of the control signal is in the first preset area in the operation area. And when the control device is in the second operation mode, directly generating a setting instruction corresponding to the operation position of the control signal to control the movable device.

It can be understood that in the embodiments of the control device and the control system, the principle and working mode are similar to the implementation method of the control method, and details are not described herein.

In the several embodiments provided by the present invention, it should be understood that the disclosed method and apparatus may be implemented in other manners. For example, the device implementations described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated units of the other embodiments described above, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (80)

A control method for a mobile device, which is applied to a control device, and is used for controlling a mobile device, and is characterized in that: Obtaining a control signal generated by operating in an operation area of the control device; And if the operation position of the control signal is in the first preset area in the operation area, the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control method according to claim 1, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control method according to claim 2, wherein the sector area is located at one side of a current preset direction associated with the first preset area. The control method according to claim 3, wherein the sector has two sectors, which are respectively located on opposite sides of the current preset direction associated with the first preset area. The control method according to any one of claims 2 to 4, characterized in that the central angle of the sector area is less than or equal to 5°. The control method according to any one of claims 1 to 4, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin and respectively a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control method according to claim 6, wherein the preset direction associated with the first preset area comprises four first axis directions, a second axis direction, a third axis direction, and Four axis direction. The control method according to claim 6, wherein the controlling the cocoa mobile device by the instruction corresponding to the preset direction associated with the first preset area comprises: Controlling the movable device to rise if the current preset direction associated with the first preset area is the first axis direction; Controlling the movable device to descend if the current preset direction associated with the first preset area is the second axis direction; Controlling the movable device to turn left if the current preset direction associated with the first preset area is the third axis direction; And if the current preset direction associated with the first preset area is the fourth axis direction, controlling the movable device to turn right. The control method according to any one of claims 1 to 4, wherein the control device acquires a control signal generated by operating in an operation area of the control device, including: The control device acquires a continuous control signal generated by continuous operation of the operating region of the control device. The control method according to claim 9, wherein if the operation start position of the continuous control signal is in a current preset direction associated with the first preset area, and the operation of the continuous control signal The ending position is in the first preset area, and the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control method according to claim 9, wherein if the operation end position is outside the first operation area, command control corresponding to a predetermined direction associated with an area on both sides of the operation position is superimposed The mobile device. The control method according to claim 1, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control method according to claim 1 or 12, further comprising: after the control device acquires a control signal generated by operating in an operation area of the control device, Obtaining an operation mode of the control device; Determining, when the control device is in the first operation mode, whether an operation position of the control signal is within a first preset area in the operation area; When the control device is in the second operation mode, the movable device is directly controlled by a setting instruction corresponding to an operation position of the control signal. A control device for controlling a mobile device, comprising: a signal receiver for acquiring a control signal generated by operating in an operation area of the control device; a processor, configured to generate an instruction corresponding to a current preset direction associated with the first preset area when an operation position of the control signal is within a first preset area in the operation area; a signal transmitter for transmitting the instructions to the mobile device to control the mobile device. The control device according to claim 14, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control device according to claim 15, wherein the sector area is located at one side of a current preset direction associated with the first preset area. The control apparatus according to claim 16, wherein said sector area is two. They are respectively located on both sides of the current preset direction associated with the first preset area. The control device according to any one of claims 15-17, characterized in that the central angle of the sector is less than or equal to 5°. The control device according to any one of claims 14-17, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control device according to claim 19, wherein the preset direction associated with the first predetermined area comprises four first axial directions, a second axial direction, a third axial direction, and Four axis direction. The control device according to claim 19, wherein the processor is specifically configured to: And generating an instruction for controlling the rise of the movable device when the current preset direction associated with the first preset area is the first axis direction; And generating, when the current preset direction associated with the first preset area is the second axis direction, an instruction to control the falling of the movable device; And generating an instruction to control the leftward rotation of the movable device when the current preset direction associated with the first preset area is the third axis direction; And when the current preset direction associated with the first preset area is the fourth axis direction, generating an instruction to control the right rotation of the movable device. The control device according to any one of claims 14-17, wherein the signal receiver is specifically configured to acquire a continuous control signal generated by continuous operation in an operation area of the control device. The control device according to claim 22, wherein the processor is specifically configured to: in an operation start position of the continuous control signal, in a current preset direction associated with the first preset area, and When the operation end position of the continuous control signal is in the first preset area, an instruction corresponding to the current preset direction associated with the first preset area is generated. The control device according to claim 22, wherein the processor is specifically configured to superimpose an area on both sides of the operation position when the operation end position is outside the first operation area The instruction corresponding to the predetermined direction. The control device according to claim 14, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control device according to claim 14 or 25, wherein the processor is further configured to acquire an operation mode of the control device; The processor is further configured to determine, when the control device is in the first operation mode, whether an operation position of the control signal is within a first preset area in the operation area; When the control device is in the second operation mode, the movable device is directly controlled by a setting instruction corresponding to an operation position of the control signal. The control device according to claim 14, wherein the movable device is an unmanned aerial vehicle, the control device is a remote controller of the unmanned aerial vehicle, and the operation area is an operation interface of the remote controller Virtual joystick. A control device for controlling a mobile device, comprising: An acquisition module, configured to acquire a control signal generated by operating in an operation area of the control device; a control module, configured to control, according to an instruction corresponding to a current preset direction associated with the first preset area, when an operation position of the control signal is in a first preset area in the operation area Mobile device. The control device according to claim 28, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control device according to claim 29, wherein the sector area is located at one side of a current preset direction associated with the first preset area. The control device according to claim 30, wherein the sector has two sectors, respectively located on opposite sides of a current preset direction associated with the first preset region. A control apparatus according to any one of claims 29 to 31, wherein the central angle of the sector is less than or equal to 5°. The control device according to any one of claims 28 to 31, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin and respectively a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control device according to claim 33, wherein the preset direction associated with the first predetermined area comprises four first axis directions, a second axis direction, a third axis direction, and Four axis direction. The control device according to claim 33, wherein the control module is specifically configured to: Controlling the movable device to rise when the current preset direction associated with the first preset area is the first axis direction; Controlling the movable device to descend when the current preset direction associated with the first preset area is the second axis direction; Controlling the movable device to turn left when the current preset direction associated with the first preset area is the third axis direction; And when the current preset direction associated with the first preset area is the fourth axis direction, the movable device is controlled to turn right. The control device according to any one of claims 28 to 31, wherein the acquisition module is specifically configured to acquire a continuous control signal generated by continuous operation in an operation area of the control device. The control device according to claim 36, wherein the control module is specifically configured to: in an operation start position of the continuous control signal, in a current preset direction associated with the first preset area, and When the operation end position of the continuous control signal is in the first preset area, the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control device according to claim 36, wherein the controller is specifically configured to superimpose an area on both sides of the operation position when the operation end position is outside the first operation area An instruction corresponding to the predetermined direction controls the movable device. The control device according to claim 28, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control device according to claim 28 or 39, wherein the acquisition module is further configured to acquire an operation mode of the control device; The control device further includes a determining module, configured to determine, when the control device is in the first operating mode, whether an operating position of the control signal is within a first preset area in the operating area; The control module is further configured to directly control, by the setting instruction corresponding to the operation position of the control signal, the movable device when the control device is in the second operation mode. A control method for a mobile device, which is applied to a system comprising a control device and a movable device, and is characterized in that: The control device acquires a control signal generated by operating in an operation area of the control device, and when the operation position of the control signal is in a first preset area in the operation area, generating the first pre- Setting an instruction corresponding to a current preset direction associated with the area, and transmitting the instruction to the mobile device, the movable device receiving the instruction, and controlling the movable device by using the instruction Prepared; or The control device acquires a control signal generated by operating in an operation area of the control device, and transmits the control signal to the mobile device, the movable device receives the control signal, and in the control When the operation position of the signal is within the first preset area in the operation area, the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control method according to claim 41, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control method according to claim 42, wherein the sector area is located at one side of a current preset direction associated with the first preset area. The control method according to claim 43, wherein there are two sector-shaped regions respectively located on opposite sides of a current preset direction associated with the first preset region. The control method according to any one of claims 42 to 44, characterized in that the central angle of the sector area is less than or equal to 5°. The control method according to any one of claims 41 to 44, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control method according to claim 46, wherein the preset direction associated with the first preset area comprises four first axis directions, a second axis direction, a third axis direction, and Four axis direction. The control method according to claim 46, wherein the controlling the cocoa mobile device by the instruction corresponding to the preset direction associated with the first preset area comprises: Controlling the movable device to rise if the current preset direction associated with the first preset area is the first axis direction; Controlling the movable device to descend if the current preset direction associated with the first preset area is the second axis direction; Controlling the movable device to turn left if the current preset direction associated with the first preset area is the third axis direction; And if the current preset direction associated with the first preset area is the fourth axis direction, controlling the movable device to turn right. The control method according to any one of claims 41 to 44, wherein the control device acquires a control signal generated by operating in an operation area of the control device, including: The control device acquires a continuous control signal generated by continuous operation of the operating region of the control device. The control method according to claim 49, wherein if the operation start position of the continuous control signal is in a current preset direction associated with the first preset area, and the operation of the continuous control signal The ending position is in the first preset area, and the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control method according to any one of claims 49, wherein if the operation end position is outside the first operation area, a predetermined direction associated with an area on both sides of the operation position is superimposed A corresponding instruction controls the mobile device. The control method according to claim 41, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control method according to claim 41 or claim 52, further comprising: after the control device acquires a control signal generated by operating in an operation area of the control device, Obtaining an operation mode of the control device; Determining, when the control device is in the first operation mode, whether an operation position of the control signal is within a first preset area in the operation area; When the control device is in the second operation mode, the movable device is directly controlled by a setting instruction corresponding to an operation position of the control signal. A control system includes a control device and a movable device, the control device for controlling the movable device, wherein The control device includes: a first signal receiver for acquiring a control signal generated by operating in an operation area of the control device; a first processor, configured to be in the operation area at an operation position of the control signal An instruction corresponding to a current preset direction associated with the first preset area is generated when the first preset area is in the middle; the first signal transmitter is configured to send the instruction to the mobile device The removable device includes: a second signal receiver for receiving the instruction; a second processor for controlling the movable device with the instruction; or The control device includes: a first signal receiver for acquiring a control signal generated by operating in an operation area of the control device; and a first signal transmitter for transmitting the control signal to the movable device The movable device includes: a second signal receiver for receiving the control signal; and a second processor, configured to be in a first preset area in the operation area at an operation position of the control signal In the intra-domain, an instruction corresponding to the current preset direction associated with the first preset area is generated to control the mobile device. The control system according to claim 54, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control system according to claim 55, wherein the sector area is located on a side of a current preset direction associated with the first preset area. The control system according to claim 56, wherein the sector has two sectors, respectively located on opposite sides of a current preset direction associated with the first preset region. A control system according to any one of claims 55-57, wherein the central angle of the sector is less than or equal to 5°. The control system according to any one of claims 54 to 57, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin and respectively a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control system according to claim 59, wherein the predetermined direction associated with the first predetermined area comprises four first axial directions, a second axial direction, a third axial direction, and Four axis direction. The control system according to claim 59, wherein the first processor or the second processor is specifically configured to: And generating an instruction for controlling the rise of the movable device when the current preset direction associated with the first preset area is the first axis direction; And generating, when the current preset direction associated with the first preset area is the second axis direction, an instruction to control the falling of the movable device; And generating an instruction to control the leftward rotation of the movable device when the current preset direction associated with the first preset area is the third axis direction; And when the current preset direction associated with the first preset area is the fourth axis direction, generating an instruction to control the right rotation of the movable device. The control system according to any one of claims 54 to 57, wherein the first signal receiver is specifically configured to acquire a continuous control signal generated by continuous operation in an operation area of the control device. The control system according to claim 62, wherein the first processor or the second processor is specifically configured to be in the first preset area at an operation start position of the continuous control signal In the current preset direction of the association, and the operation end position of the continuous control signal is in the first preset area, an instruction corresponding to the current preset direction associated with the first preset area is generated. The control system according to claim 62, wherein said first processor or said second processor is specifically configured to superimpose said said when said operation end position is outside said first operation area An instruction corresponding to a predetermined direction associated with an area on both sides of the operation position. The control system according to claim 54, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control system according to claim 54 or 65, wherein the first processor is further configured to acquire an operation mode of the control device; The first processor is further configured to determine, when the control device is in the first operation mode, whether an operation position of the control signal is within a first preset area in the operation area; When the control device is in the second operation mode, a setting instruction corresponding to the operation position of the control signal is directly generated to control the movable device. The control system according to claim 54, wherein said movable device is an unmanned aerial vehicle, said control device is a remote controller of said unmanned aerial vehicle, and said operation area is an operation interface of said remote controller Virtual joystick. A control system includes a control device and a movable device, the control device for controlling the mobile device, wherein The control device includes: an acquisition module, configured to acquire a control signal generated by operating in an operation area of the control device; and a first control module, configured to be in an operation position of the control signal in the operation area And generating, by the transmitting module, the instruction corresponding to the current preset direction associated with the first preset area, the transmitting module, configured to send the instruction to the mobile device, where the mobile device includes a receiving module, configured to receive an instruction transmitted by the transmitting module, and a control module, configured to control the movable object according to the instruction; or The control device includes: an acquisition module, configured to acquire a control signal generated by operating in an operation area of the control device; a transmitting module, configured to send the control signal to the mobile device; The receiving module is configured to receive the control signal, and the second control module is configured to use the first preset when the operating position of the control signal is in the first preset area in the operating area The instruction corresponding to the current preset direction associated with the area controls the movable device. The control system according to claim 68, wherein the operation area is a circular area on the touch screen centered on a predetermined center point and radiated by a predetermined radius, and the first preset area is the operation area The center point is the fan-shaped area of the center. The control system according to claim 69, wherein the sector area is located on a side of a current preset direction associated with the first preset area. The control system according to claim 70, wherein the sector has two sectors located on opposite sides of a current preset direction associated with the first preset area. A control system according to any one of claims 69-71, wherein the central angle of the sector is less than or equal to 5°. The control system according to any one of claims 68-71, wherein the preset direction associated with the first preset area comprises a preset angle by using a center point of the operation area as an origin a first axial direction, a second axial direction, a third axial direction, and a fourth axial direction radiated outward. The control system according to claim 73, wherein the predetermined direction associated with the first predetermined area comprises four first axis directions, a second axis direction, a third axis direction, and Four axis direction. The control system according to claim 73, wherein the first control module or the second control module is specifically configured to: Controlling the movable device to rise when the current preset direction associated with the first preset area is the first axis direction; Controlling the movable device to descend when the current preset direction associated with the first preset area is the second axis direction; Controlling the movable device to turn left when the current preset direction associated with the first preset area is the third axis direction; And when the current preset direction associated with the first preset area is the fourth axis direction, the movable device is controlled to turn right. The control system according to any one of claims 68-71, wherein the acquisition module is specifically configured to acquire a continuous control signal generated by continuous operation in an operation area of the control device. The control system according to claim 76, wherein the first control module or the second control module is specifically configured to be in the first preset area at an operation start position of the continuous control signal In the current preset direction of the association, and the operation end position of the continuous control signal is in the first When a preset area is used, the movable device is controlled by an instruction corresponding to a current preset direction associated with the first preset area. The control system according to claim 76, wherein the first control module or the second control module is specifically configured to superimpose the said operation end position when outside the first operation area An instruction corresponding to a predetermined direction associated with an area on both sides of the operation position controls the movable device. The control system of claim 68, wherein the operation is a touch operation, and the control signal is a touch signal generated by a touch operation. The control system according to claim 68 or 79, wherein the acquisition module is further configured to acquire an operation mode of the control device; The control device further includes a determining module, configured to determine, when the control device is in the first operating mode, whether an operating position of the control signal is within a first preset area in the operating area; The first control module is further configured to directly control, by the setting instruction corresponding to the operation position of the control signal, the movable device when the control device is in the second operation mode.

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