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WO2018119981A1 - Procédé de commande, dispositif de commande et système de commande pour dispositif déplaçable - Google Patents

Procédé de commande, dispositif de commande et système de commande pour dispositif déplaçable Download PDF

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Publication number
WO2018119981A1
WO2018119981A1 PCT/CN2016/113370 CN2016113370W WO2018119981A1 WO 2018119981 A1 WO2018119981 A1 WO 2018119981A1 CN 2016113370 W CN2016113370 W CN 2016113370W WO 2018119981 A1 WO2018119981 A1 WO 2018119981A1
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WIPO (PCT)
Prior art keywords
area
control
preset
control device
control signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/113370
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English (en)
Chinese (zh)
Inventor
郭灼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201680002528.XA priority Critical patent/CN107077280B/zh
Priority to PCT/CN2016/113370 priority patent/WO2018119981A1/fr
Publication of WO2018119981A1 publication Critical patent/WO2018119981A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/724—User interfaces specially adapted for cordless or mobile telephones
    • H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
    • H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
    • H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances

Definitions

  • 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.
  • 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.
  • various operations such as detection of harmful gases, spraying of pesticides, relay of communication signals, and investigation of ground traffic conditions can be completed.
  • 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.
  • 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.
  • control device for controlling a mobile device
  • 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.
  • control device for controlling a mobile device
  • 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 .
  • 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.
  • 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.
  • 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.
  • the movable device 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.
  • 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.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for controlling a mobile device according to the present invention
  • FIG. 2 is a first schematic diagram of an operation area in a control method of a mobile device according to the present invention
  • FIG. 3 is a second schematic diagram of an operation area in a control method of a mobile device according to the present invention.
  • FIG. 4 is a third schematic diagram of an operation area in a control method of the mobile device of the present invention.
  • FIG. 5 is a fourth schematic diagram of an operation area in a control method of a mobile device according to the present invention.
  • FIG. 6 is a fifth schematic diagram of an operation area in a control method of a mobile device according to the present invention.
  • FIG. 7 is a schematic flow chart of a second embodiment of a method for controlling a mobile device according to the present invention.
  • FIG. 8 is a schematic flow chart of a third embodiment of a method for controlling a mobile device according to the present invention.
  • FIG. 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.
  • FIG. 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.
  • 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.
  • the operation in the operation area may be a touch operation
  • the control signal is a touch signal generated by the touch operation
  • the operations in the operation area may also be a mouse operation, a contactless sensing operation, or the like.
  • 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.
  • the circular area therein represents an operation area
  • the sector area represents the first preset area.
  • 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.
  • the sector area is located at one side of a current preset direction associated with the first preset area.
  • the sector area S is located on one side of the X direction associated with the first preset area.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • the angle range is 0-45°.
  • 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.
  • 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°.
  • first axis directions for example, the X1 direction, the X2 direction, the X3 direction, and the X4 direction in FIG.
  • the mobile device is an unmanned aerial vehicle
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the Z direction may be an angle bisector of the angle formed by the X direction and the Y direction.
  • 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.
  • control device may include two operation modes, and may be arbitrarily switched according to a user's instruction.
  • 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.
  • 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.
  • 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.
  • 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:
  • 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.
  • control device converts the control signal into a control command and transmits it to the mobile device.
  • 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:
  • 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.
  • 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 are 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.
  • control device simply transmits a control signal to the mobile device, and the mobile device converts the control signal into a control command.
  • 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.
  • the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius
  • 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.
  • the central angle of the sector area is less than or equal to 5°.
  • 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.
  • 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.
  • 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.
  • the operation is a touch operation
  • 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.
  • 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.
  • the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius
  • 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.
  • the central angle of the sector area is less than or equal to 5°.
  • 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.
  • 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.
  • 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.
  • the operation is a touch operation
  • the control signal is a touch signal generated by the touch operation
  • 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.
  • the mobile device is an unmanned aerial vehicle
  • the control device is a remote controller of the unmanned aerial vehicle
  • the operation area is a virtual joystick on the operation interface of the remote controller.
  • 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.
  • 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.
  • the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius
  • 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.
  • the central angle of the sector area is less than or equal to 5°.
  • 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.
  • 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.
  • 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.
  • the operation is a touch operation
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius
  • 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.
  • the central angle of the sector area is less than or equal to 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 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.
  • 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.
  • 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.
  • the operation is a touch operation
  • 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.
  • the mobile device is an unmanned aerial vehicle
  • the control device is a remote controller of the unmanned aerial vehicle
  • the operation area is a virtual joystick on the operation interface of the remote controller.
  • 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.
  • 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.
  • 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.
  • the first control module 5002 of the control device 50 controls the mobile device 60 in accordance with the control signal.
  • 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.
  • 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.
  • 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.
  • 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.
  • the operation area is a circular area on the touch screen centered on the predetermined center point and radiated by a predetermined radius
  • 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.
  • the central angle of the sector area is less than or equal to 5°.
  • 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.
  • 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.
  • 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.
  • the operation is a touch operation
  • 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.
  • the disclosed method and apparatus may be implemented in other manners.
  • the device implementations described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • 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.
  • 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 may be stored in a computer readable storage medium.
  • 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. .

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé de commande, un dispositif de commande (100, 10, 30, 50, 70, 90) et un système de commande pour un dispositif déplaçable (20, 40, 60, 80) permettant de résoudre le problème selon lequel le dispositif déplaçable (20, 40, 60, 80) ne peut pas se déplacer vers une direction attendue en raison d'une opération d'utilisateur imprécise dans un processus de commande du dispositif déplaçable (20, 40, 60, 80), de telle sorte que le dispositif déplaçable (20, 40, 60, 80) soit commandé de manière plus précise. Le procédé de commande consiste : à obtenir un signal de commande généré par une exploitation dans une zone d'exploitation du dispositif de commande (10, 30, 50, 70, 90, 100) (S11); et si une position d'exploitation du signal de commande est située dans une première zone prédéfinie dans la zone d'exploitation, à commander le dispositif déplaçable (20, 40, 60, 80) conformément à une instruction correspondant à une direction prédéfinie en cours associée à la première zone prédéfinie (S12).
PCT/CN2016/113370 2016-12-30 2016-12-30 Procédé de commande, dispositif de commande et système de commande pour dispositif déplaçable Ceased WO2018119981A1 (fr)

Priority Applications (2)

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CN201680002528.XA CN107077280B (zh) 2016-12-30 2016-12-30 一种可移动设备的控制方法、控制设备及控制系统
PCT/CN2016/113370 WO2018119981A1 (fr) 2016-12-30 2016-12-30 Procédé de commande, dispositif de commande et système de commande pour dispositif déplaçable

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CN109107151A (zh) * 2018-06-22 2019-01-01 网易（杭州）网络有限公司 虚拟对象控制方法及装置、电子设备、存储介质
CN113244610B (zh) * 2021-06-02 2024-05-14 网易（杭州）网络有限公司 游戏中的虚拟移动对象控制方法、装置、设备及存储介质
CN116021521B (zh) * 2023-01-19 2025-12-26 艾利特智能机器人股份有限公司 协作机器人交互控制方法、装置、存储介质及电子设备

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