[go: up one dir, main page]

WO2018191927A1 - Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile - Google Patents

Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile Download PDF

Info

Publication number
WO2018191927A1
WO2018191927A1 PCT/CN2017/081330 CN2017081330W WO2018191927A1 WO 2018191927 A1 WO2018191927 A1 WO 2018191927A1 CN 2017081330 W CN2017081330 W CN 2017081330W WO 2018191927 A1 WO2018191927 A1 WO 2018191927A1
Authority
WO
WIPO (PCT)
Prior art keywords
control instruction
function key
key
triggered
specific
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/CN2017/081330
Other languages
English (en)
Chinese (zh)
Inventor
钟晓航
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
Original Assignee
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 PCT/CN2017/081330 priority Critical patent/WO2018191927A1/fr
Priority to CN201780067449.1A priority patent/CN109891371A/zh
Publication of WO2018191927A1 publication Critical patent/WO2018191927A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
    • G06F3/023—Arrangements for converting discrete items of information into a coded form, e.g. arrangements for interpreting keyboard generated codes as alphanumeric codes, operand codes or instruction codes

Definitions

  • Embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method for controlling an aircraft, a remote control device, and a mobile device.
  • unmanned moving bodies including aircraft (such as fixed-wing aircraft, rotorcraft including helicopters), motor vehicles, submarines or ships, as well as satellite space stations, or spacecraft have been widely used, for example, in the fields of detection, search and rescue, etc. .
  • Manipulation of these moving bodies is usually achieved by the user via a remote control device.
  • the remote control device is usually provided with a plurality of function keys, each of which has its corresponding control command. By triggering these function keys, the corresponding control commands can be sent to the moving body such as the aircraft to control the movement of the moving body.
  • the number of function keys on the remote control device Due to various factors such as the size of the remote control device, the user's usage habits, and the assembly of the remote control device, the number of function keys on the remote control device has a certain limit, and the number of function keys on the remote control device cannot be increased endlessly, but with the flight control With the development of technology and the increase of user demand, there are more and more types of control for moving bodies such as aircraft. The limited function keys on the remote control device cannot meet the demand, and some functional keys on the remote control device must be reused. Functions, such as enabling two or more function keys to trigger new control commands.
  • the remote control device After the function key of the function key on the remote control device is judged to be triggered, the corresponding control command is sent to the aircraft. If the user wants to send a control command of a combination key composed of the function key and other function keys, when the user triggers the function key, the remote control device cannot determine the true intention of the user, and directly sends the control of the function key. The instruction caused an error in the operation.
  • an embodiment of the present invention provides an aircraft control method based on a remote control device, wherein at least two function keys are disposed on the remote control device, and the control method includes:
  • the method further includes:
  • the step of determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered further includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the method further includes:
  • the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;
  • the candidate combination key and the corresponding control instruction are pre-stored in a list form.
  • the step of sending the first control instruction comprises:
  • the step of sending the first control instruction comprises:
  • Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;
  • the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.
  • the step of transmitting the second control instruction or not performing the instruction sending operation includes:
  • the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.
  • the step of sending the first control instruction comprises:
  • the step of transmitting the second control instruction or not performing the instruction sending operation includes:
  • the first control instruction and the second control instruction are respectively obtained by a table lookup manner according to the specific combination key and the specific function key.
  • an embodiment of the present invention provides a mobile device-based aircraft control method, where the control method includes:
  • the method further includes:
  • the step of determining whether the other function keys in the specific combination key formed by the specific function key and other function keys are triggered includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered further includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the method further includes:
  • the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;
  • the candidate combination key and the corresponding control instruction are pre-stored in a list form.
  • the step of sending the first control instruction comprises:
  • the step of sending the first control instruction comprises:
  • Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;
  • the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.
  • the step of transmitting the second control instruction or not performing the instruction sending operation includes:
  • the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.
  • the present invention also provides a remote control device for controlling an aircraft, the remote control device comprising:
  • At least two function keys a collector, a processor, a memory, and a communication module;
  • the collector, the memory, and the communication module are all coupled to the processor; the at least two function keys are coupled to the collector;
  • the collector is configured to acquire a button state of the at least two function keys
  • the memory is configured to store an operation instruction executed by the processor and a preset candidate combination key
  • the communication module is configured to send a control instruction
  • the processor is configured to: perform the following actions according to an operation instruction stored in the memory:
  • the processor is further configured to execute:
  • the step of determining, by the processor, whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the determining, by the processor, the specific function key and other function keys further includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the processor is further configured to execute:
  • the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;
  • the candidate combination key and the corresponding control instruction are pre-stored in a list form.
  • the step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:
  • the step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:
  • Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;
  • the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.
  • the step of the processor executing the second control instruction or the non-execution instruction sending operation includes:
  • the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.
  • the step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:
  • the step of the processor executing the second control instruction or the non-execution instruction sending operation includes:
  • the first control instruction and the second control instruction are respectively obtained by a table lookup manner according to the specific combination key and the specific function key.
  • the present invention also provides a mobile device for controlling an aircraft, the mobile device comprising: a processor, a memory, and a communication module;
  • the processor and the memory are both coupled to the processor;
  • the communication module is configured to send a control instruction to the aircraft or a remote control device connected to the mobile device, and receive a button state of at least two function keys set on the remote control device sent by the remote control device;
  • the processor is configured to: receive a button state of at least two function keys set on the remote control device sent by a remote control device connected to the mobile device;
  • the processor is further configured to execute:
  • the step of determining, by the processor, whether the other function key in the specific combination key formed by the specific function key and other function keys is triggered includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • the step of determining whether the other function key in the specific combination key formed by the specific function key and the other function keys is triggered by the processor further includes:
  • the step of acquiring the state of the button of the specific function key and the other function key is further performed.
  • processing is also used to execute:
  • the candidate combination key including the specific function key is used as the specific combination key, and the specific combination key formed by determining the specific function key and other function keys is performed. a step of whether the other function key is triggered;
  • the candidate combination key and the corresponding control instruction are pre-stored in a list form.
  • the step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:
  • the step of transmitting the first control instruction, if the other function keys executed by the processor are triggered, includes:
  • Determining whether the first control instruction is a control instruction executed by the aircraft or a control instruction executed by a mobile device connected to the remote control device;
  • the first control instruction is a control instruction executed by the mobile device, transmitting the first control instruction to the mobile device.
  • the step of the processor executing the second control instruction or the non-execution instruction sending operation includes:
  • the second control instruction is a control instruction executed by the mobile device, transmitting the second control instruction to the mobile device.
  • the embodiment of the present invention further determines whether a specific combination key is triggered after detecting that a specific function key on the remote control device is triggered, and transmits a specific combination when a specific combination key is triggered.
  • the control instruction corresponding to the key when the specific combination key is not triggered, sends the second control instruction or does not perform the instruction sending operation, to prevent the specific function key from being triggered, and then sends the specific function key regardless of whether a specific combination key is triggered subsequently
  • the occurrence of an instruction transmission error due to an error in the judgment of the user's intention when the specific function key is multiplexed is avoided, and the accuracy of the transmission control command is improved.
  • Figure 1 is a schematic illustration of a first embodiment of an aircraft system of the present invention
  • Figure 2 is a schematic block diagram of a remote control device in a first embodiment of the aircraft system of the present invention
  • FIG. 3 is a schematic flow chart of a first embodiment of an aircraft control method based on a remote control device according to the present invention
  • step S102 in FIG. 3 is a schematic flow chart of an embodiment of step S102 in FIG. 3;
  • FIG. 5 is a schematic flow chart of another embodiment of step S102 in FIG. 3;
  • Figure 6 is a schematic view of a second embodiment of the aircraft system of the present invention.
  • FIG. 7 is a schematic flow chart of a second embodiment of an aircraft control method based on a remote control device according to the present invention.
  • FIG. 8 is a schematic flow chart of a third embodiment of an aircraft control method based on a remote control device according to the present invention.
  • FIG. 9 is a schematic flow chart of a fourth embodiment of an aircraft control method based on a remote control device according to the present invention.
  • Figure 10 is a schematic block diagram of a mobile device in a third embodiment of the aircraft system of the present invention.
  • FIG. 1 is a schematic illustration of a first embodiment of an aircraft system of the present invention.
  • the drone system includes a remote control device 10 and a drone 20, wherein the drone 20 includes a flight body 21, a pan/tilt head 22, and an imaging device 23.
  • the pan/tilt head 22 and the image forming apparatus 23 are optional.
  • the flying body 21 includes a plurality of rotors 211 and a rotor motor 212 that drives the rotation of the rotor 211, thereby providing the power required for the drone 20 to fly.
  • the imaging device 23 is mounted on the flying body 21 via the pan/tilt head 22.
  • the imaging device 23 is used for image or video capture during flight of the drone 20, including but not limited to multi-spectral imagers, hyperspectral imagers, visible light cameras, and infrared cameras.
  • the pan/tilt head 22 is a multi-axis transmission and stabilization system including a plurality of rotating shafts 221 and a pan-tilt motor 222.
  • the pan/tilt motor 222 compensates for the photographing angle of the imaging device 23 by adjusting the rotational angle of the rotational shaft 221, and prevents or reduces the shake of the imaging device 23 by setting an appropriate buffer mechanism.
  • the imaging device 23 can be mounted on the flying body 21 directly or by other means.
  • the remote control device 10 is provided with a plurality of function keys 11 (including function keys 112 and scroll wheels 111) and an antenna 13, and the remote control device 10 is controlled by the user and communicates with the drone 20 by wireless communication. Further, the flight process of the drone 20, the photographing process of the imaging device 23, or both are controlled.
  • Fig. 2 is a schematic block diagram of a remote control device in the first embodiment of the aircraft system of the present invention.
  • the remote control device 10 of the present embodiment includes a collector 14, a processor 16, a memory 15, and a communication module 17, in addition to a plurality of function keys 11 (including function keys 112 and scroll wheels 111) and an antenna 13.
  • the collector 14, the memory 15, and the communication module 17 are all coupled to the processor 16; at least two function keys 11 are coupled to the collector 14.
  • the collector 14 is configured to acquire the button states of the at least two function keys 11; the memory 15 is configured to store the operation instructions executed by the processor 16 and the preset candidate combination keys; and the communication module 16 is configured to send the control instructions generated by the processor 16. Further, the remote control device 10 generates a corresponding control command according to the state of the button.
  • the control commands include, but are not limited to, a flight control command for controlling the flight state of the drone 20 (eg, position, altitude, direction, speed, attitude, etc.), and a shooting control command for controlling no The photographing state (for example, photographing angle, photographing time, and exposure parameters, etc.) of the imaging device 23 mounted on the human machine 20.
  • FIG. 3 is a schematic flowchart of a first embodiment of an aircraft control method based on a remote control device according to the present invention.
  • a method for controlling a remote control device to a drone may include the following steps:
  • the processor acquires the state of the button of at least two function keys through the collector, and determines whether a function key on the remote control device is triggered by using the button state.
  • the specific function key may be any one of at least two function keys set on the remote control device. In this embodiment, after it is determined that a specific function key on the remote control device is triggered, the subsequent steps are continued.
  • the specific function key may be a function key having an alternate function, that is, the specific function key may have a function of its own corresponding function, and may also be combined with other function keys having the multiplexed function keys on the remote control device;
  • the function keys can also be combined with other function keys on the remote control device that do not have a multiplexed function key, and the combined key combination has a function different from that of the specific function key and other function keys.
  • the C1 key on the remote control device can also be combined with the C2 key in addition to its original function, wherein C2 can be a function key with an alternate function (can be combined with other function keys except the C1 key).
  • Combining another combination key it can also be a function key that does not have an alternate function (can only be combined with a C1 key to form a combination key); a function when the combination key formed by the C1 key and the C2 key is triggered, and a C1 key and a C2 key
  • the original function keys are different and can be different from any other function keys on the remote control device.
  • a specific function key is not a fixed function key.
  • the specific function key is the first.
  • the function key having the alternate function is a specific function key.
  • the user can trigger on at least two function keys on the remote control device by pressing, scrolling, touching or sliding.
  • the pan/tilt back button on the remote control device can be triggered by the user by pressing, and the function keys such as the scroll wheel on the remote control device are triggered by scrolling.
  • the operation required for the corresponding trigger function key may be different. You need to set it according to the actual situation.
  • the button state of the function key is acquired, and the button state of each function key on the remote control device is periodically patrolled one by one through the collector.
  • the specific duration of the period is set according to actual requirements.
  • the duration of the period may be 14 milliseconds, 16 milliseconds, or 20 milliseconds.
  • the collector can confirm the currently detected function key when detecting the button state of each function key one by one, knowing which function key is currently detected, and when the processor receives the button sent by the collector In the state, it is also possible to obtain the button state of which button from the button state.
  • the collector can also patrol only the button state, but does not confirm which function key is detected. After the processor receives the button state sent by the collector, the processor further determines that the button state corresponds according to the button state. Function key.
  • the processor determines that one of the at least two function keys on the remote control device is triggered, the control command corresponding to the specific function key is not immediately sent, but continues to determine whether other function keys on the remote control device are triggered. And whether other function keys that are triggered can form a specific combination key with the specific function key.
  • a specific combination key does not refer to a specified combination key, but refers to a function key that can be separated from a specific function key on the remote control device by the specific function key after determining the specific function key.
  • Any combination of keys if the specific function key is a C1 key, if the C1 key and the C2 key can form a combination key, the specific combination key in this embodiment refers to the combination key composed of the C1 key and the C2 key, and the other function keys are C2 key. In this embodiment, other function keys may also refer to multiple function keys. If the C1 key and the video key can also form a combination key, the specific combination key in this embodiment is a combination of C1 key and C2 key.
  • a key or a combination of a C1 key and a video key in which case the other function keys are For the C2 button or video button. If the C1 button, the C2 button, and the recording button can constitute a combination button, then the other function buttons include the C2 button and/or the recording button.
  • step S102 may include the following steps:
  • step S101 When it is determined in step S101 that the specific function key on the remote control device is triggered, the button state of the specific function key is continuously acquired, and the state of the button of the other function key capable of forming the specific combination key with the specific function key is acquired, according to the specific
  • the button states of the function keys and other function keys recognize the user's operation intention, determine whether the user wants to use the function of the specific function key itself, or want to use the multiplexing function of the specific function key.
  • the collector when the button state of the other function keys is acquired, since the collector can acquire which function key is detected by itself, after the specific function key is determined, the collector can be configured with the specific function key. The button states of other function keys of a particular combination key are detected, and the button states of the remaining function keys are no longer detected. In addition, the collector can also detect the button state of all the function keys, and then specifically send the button states of the other function keys to the processor. For example, on the remote control device, the C1 button and the C2 button form a combination button. When the C1 button is triggered, the collector continues to check the button state of the C1 button, and also detects the button state of the C2 button, and the remote device is removed. The button states of the function keys other than the C1 key and the C2 key are no longer detected; or after the collector detects the key state of all the function keys, only the button states of the C1 key and the C2 key are sent to the processor.
  • S1022 Determine whether other function keys are triggered according to key states of other function keys.
  • Step S1023 is performed, otherwise, step S104 is executed, the second control instruction is sent, or the operation of the instruction transmission is not performed.
  • function keys may only include one function key or multiple function keys; and when other function keys include multiple function keys, each of the multiple function keys may be separately associated with a specific function key.
  • a specific combination key may be formed, or some of the plurality of function keys and a specific function key form a specific combination key, and the other part of the function key and the specific function key constitute another specific combination key. Therefore, when it is determined whether other function keys are triggered, it is determined that one or more other function keys that are triggered can form a specific combination key with the specific function keys.
  • the C1 key is a specific function key
  • the C1 key and the C2 key can constitute a specific combination key
  • the C1 key, the C2 key, and the video key can constitute another specific combination key, and when it is detected that the C2 key is triggered, it is required Continue to judge the button status of the recording button to determine whether the recording button is triggered.
  • S1023 Determine whether a trigger state of the specific function key changes according to a button state of the specific function key.
  • step S104 is executed, the second control instruction is transmitted, or the operation of the instruction transmission is not performed.
  • step S1022 and step S1023 are simultaneously executed, that is, according to the state of the button for acquiring a specific function key and other function keys, that is, whether the trigger state of the specific function key changes, and whether other function keys are triggered. Make a judgment. It should be noted that a sequential execution manner may also be adopted between step S1022 and step S1023.
  • step S104 is executed to send the second control instruction or not to execute the instruction transmission. operating.
  • S1025 Perform a step of acquiring a button state of a specific function key and other function keys.
  • the trigger state of a specific function key does not change, it means that the user continuously triggers the specific function key, then the multiplexing function of the specific function key is enabled, and the button state of the specific function key and other function keys is continuously obtained, and the specific function key is continuously determined. And whether the other function keys are triggered until it is determined that the specific function key and the other function keys are triggered, it is determined that the specific combination key of the specific function key and the other function keys is triggered, and then the step S103 is executed to send the first control instruction.
  • the C1 key and the C2 key can form a specific combination key, and the C1 key is a specific combination key.
  • the button state of the C2 key is acquired, and the button state of the C1 key is continuously obtained, and the trigger of the C1 key is judged. Whether the status has changed and whether the C2 key is triggered. If the trigger of the C1 key The state has changed. Whether the C2 key is triggered or not, the judgment of the button state of the C2 key is ended. If the trigger state of the C1 key does not change, the state of the button of the C1 key and the C2 key is continuously judged until the judgment is made. As a result, the C1 key and the C2 key are simultaneously triggered.
  • step S102 may further include the following steps:
  • S1026 Determine whether a duration of the step of whether the other function key of the specific combination key formed by the specific function key and the other function key is triggered is greater than or equal to the second preset time.
  • step S102 when step S102 is performed, the duration of step S102 is determined, that is, whether other function keys are triggered during the second preset time, or whether the trigger state of the specific function key changes. Specifically, according to the state of the button of the specific function key and other function keys acquired in a certain cycle, it is determined whether the trigger state of the specific function key changes, and/or whether other function keys are triggered, if the trigger state of the specific function key is not Changes occur, and other function keys are not triggered. Continue to determine whether the trigger status of the specific function key changes according to the specific function keys and other function key keys acquired in the next cycle, and whether other function keys are triggered, and thus cycle And record the duration of the process until the duration of the record is greater than or equal to the second preset time. In the meantime, whether the step S1027 or the step S1028 is performed is selected depending on whether the step of the step of whether the other function keys are triggered is greater than or equal to the second preset time.
  • the duration of the second preset time may be 1 second, 2 seconds, or 3 seconds, which is not specifically limited in the present invention.
  • S1027 End step of determining whether other function keys in the specific combination key formed by the specific function key and the other function keys are triggered.
  • step S1026 If the result of the step S1026 is that the duration of the step of determining whether the other function keys are triggered is greater than or equal to the second preset time, it means that the user does not trigger other function keys in the second preset time, or If the specific function key is no longer triggered within the set time, it is determined that the other function keys are not triggered. At this time, the specific function key and other function keys cannot form a specific combination key, and the trigger of the specific function key may be an erroneous operation, and the end is A determination is made as to whether the other function keys are triggered. At this time, step S104 is subsequently performed, and the second control instruction is not transmitted or the instruction transmission operation is not performed.
  • step S1026 If the result of the step S1026 is that the duration of the step of determining the other function keys is less than the second preset time, it indicates that the other function keys are triggered during the second preset time, and at this time, the specific function keys and other functions are continuously acquired.
  • the key state of the key returns to step S1021 to further determine whether the trigger state of the specific function key is still changed, or whether the key state of the other function key changes until it is determined.
  • step S103 is executed to send the first control instruction.
  • step S102 If the result of the determination in step S102 is that other function keys of the remaining function keys on the remote control device capable of forming a specific combination key with the specific function keys are triggered, the remote control device transmits the first control command.
  • the first control instruction is a control instruction corresponding to the specific combination key, and is different from the control instruction corresponding to any one of the specific combination keys.
  • the remote control device sends the first control command to the drone through its own communication module, so that the drone performs corresponding operations according to the first control instruction, and ends the process until the drone is in accordance with the first control command After the operation is performed, it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.
  • step S102 If the result of the determination in step S102 is that the other function keys of the remaining function keys on the remote control device capable of forming a specific combination key with the specific function key are not triggered, the remote control device transmits the second control instruction; or determines the specific function key.
  • the trigger is a false trigger, the operation of the transmission execution is not performed, and the flow is ended until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.
  • the second control instruction is a control instruction corresponding to the specific function key
  • the remote control device sends the second control instruction to the drone through its own communication module, so that the drone performs corresponding according to the second control instruction. operating.
  • the aircraft system may further include a mobile device 30.
  • the remote control device 10 can be connected to the mobile device 30, wherein the remote control device 10 and the mobile device 30 can be wirelessly connected or Wired connection; at this time, the first control instruction and the second control instruction may be control instructions executed by the mobile device 30.
  • the remote control device 10 determines the first control command or the second control command, and determines that the first control command or the second control command is executed by the drone 20
  • the control command is also a control command executed by the mobile device 30 connected to the remote control device 10; if the first control command or the second control command is a control command executed by the drone 20, the remote control device 10 transmits the first to the drone 20 A control command or a second control command; if the first control command or the second control command is a control command executed by the mobile device 30, the remote control device 10 transmits a first control command or a second control command to the mobile device 30.
  • the mobile device 30 can determine the control commands sent by the remote control device 10 to generate control commands for controlling the drone 20.
  • the first control instruction and the first The second control command may be a control command for the mobile device 30 to generate a third control command and a fourth control command for controlling the aircraft.
  • the remote control device 10 sends the first control command or the second control command to the mobile device 30, and the mobile device 30 determines the first control command or the second control command, and determines that the first control command or the second control command is by itself.
  • the executed control command is also a control command executed by the drone 20, and if it is a control command executed by itself, the corresponding operation is performed according to the first control command or the second control command; if the control command is executed by the drone 20,
  • the first control command or the second control command further generates a third control command or a fourth control command for controlling the drone 20, and further transmits the third control command or the fourth control command to the drone 20.
  • the third control instruction may be the same as the first control instruction
  • the fourth control instruction may be the same as the second control instruction.
  • the mobile device 30 may directly send the third control command or the fourth control command to the drone 20, or may first send the third control command or the fourth control command to the remote control device 10, and then the remote control device. 10 transmits the third control command or the fourth control command to the drone 20.
  • the specific function key after the specific function key is triggered, it is further determined whether a specific combination key composed of the specific function key and other function keys on the remote control device is triggered, and when the specific combination key is triggered, the specific combination key is sent.
  • the control instruction or the instruction transmission operation is not performed, which avoids the case where the instruction is sent incorrectly when the specific function key is multiplexed, and the accuracy of the transmitted control instruction is improved.
  • FIG. 7 is a schematic flowchart of a second embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained.
  • the embodiment may further include the following steps after step S101 shown in FIG. 3:
  • S105 Determine whether a duration when the specific function key is triggered is greater than or equal to the first preset time.
  • the user's operation intention can be judged by the trigger state of the specific function key. If the time when the user triggers the specific function key is too short, the user can only think that the user only wants to trigger a specific function.
  • the function of the key itself or the false trigger of the user is determined based on the duration of the trigger of the specific function key, and step S106 or step S107 is selected according to the result of the determination.
  • the button state of the specific function key is continuously acquired, and the duration of the trigger of the specific function key, in other words, the trigger state of the specific function key is judged. If the duration of the specific function key being triggered is greater than or equal to the first preset time, it means that the user long presses the specific function key to enable the multiplexing function of the specific function key.
  • the duration of the first preset time may be 1 second, 2 seconds, or 3 seconds, and the present invention does not Body definition.
  • step S105 If the result of the determination in step S105 is that the duration of the triggering of the specific function key is greater than or equal to the first preset time, it indicates that the trigger state of the specific function key has not changed during the first preset time, in other words, the user is long. Pressing or continuously triggering the specific function key, at this time, the multiplexing function of the specific function key is enabled, and the step S102 is continued to determine whether the other function keys capable of forming the specific combination key with the specific function key are triggered, and then according to the judgment result. Step S103 or step S104 is selected, which is the same as step S102 shown in FIG. 3 to FIG. 5, and details are not described herein again.
  • step S105 If the result of the determination in step S105 is that the duration of the triggering of the specific function key is less than the first preset time, it indicates that the trigger state of the specific function key changes during the first preset time, in other words, in the first preset time. If the button state of the specific function key changes to the untriggered state, the user may trigger the specific function key for the first time, and the command transmission operation is not performed. In addition, if a third control command corresponding to the triggered duration is set, the corresponding third control command may be sent according to the duration when the specific function key is triggered, and the process is terminated until the determination is made again. The specific function key on the remote control device is triggered, and the above steps S101 and S102 are repeated. The third control instruction may be the same as the second control instruction.
  • FIG. 8 is a schematic flowchart of a third embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained.
  • the embodiment may further include the following steps after step S101 shown in FIG. 3:
  • Step S109 or step S110 is subsequently performed.
  • the search is performed in the preset at least one candidate combination key, and whether the specific function key has the multiplexing function is determined by determining whether the combination key including the specific function key can be found.
  • the at least one candidate combination key is a candidate combination key that is preset to customize each function key on the remote control device, and the at least one candidate combination key is pre-stored in the remote control device in the form of a list, and combined with the at least one candidate.
  • the control commands corresponding to the keys are also stored in the list, and can be passed from the candidate. Find a specific combination key in the key combination to determine the control instruction of the specific combination key.
  • a candidate combination key including a specific function key is used as a specific combination key, and a step of determining whether another function key of the specific combination key formed by the specific function key and the other function key is triggered is performed.
  • step S108 determines whether the specific combination key is included in the candidate combination key, and the specific function key has the multiplexing function, proceeding to step S102, determining whether other function keys capable of forming the specific combination key with the specific function key are The triggered step is the same as step S102 shown in FIG. 3 to FIG. 5, and details are not described herein again.
  • step S108 If the result of the determination in step S108 is that the specific function key is not included in the candidate combination key, it means that the specific function key and any remaining function keys on the remote control device except the specific function key cannot form a combination key, that is, no If it is required to determine the state of the button of the remaining function keys other than the specific function key on the remote control device, step S104 shown in FIG. 3 to FIG. 5 may be executed, and the second control instruction or the non-execution command sending operation may be performed, and The process is terminated until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.
  • FIG. 9 is a schematic flowchart of a fourth embodiment of an aircraft control method based on a remote control device according to the present invention, wherein the embodiment is based on the first embodiment of the control method shown in FIG. 3 to FIG. The improvement is obtained.
  • the embodiment may further include the following steps after step S102 shown in FIG. 3:
  • Step S102 determines whether a specific function key and other function keys are triggered at the same time, but when a specific function key and other function keys are simultaneously triggered, the user may also change the button state of the specific function key and/or other function keys, if At this time, the first control command corresponding to the specific combination key composed by the specific function key and other function keys is still sent, and the instruction transmission error may occur.
  • step S102 after determining that the specific function key and other function keys are triggered at the same time in step S102, it is further determined that the duration of the specific function key and the other function keys are triggered at the same time, in other words, in the third preset time, Whether the trigger state of the specific function key and the other function key changes, and step S140 or step S150 is selected according to the determination result.
  • the duration of the third preset time may be 1 second, 2 seconds, or 3 seconds, which is not specifically limited in the present invention.
  • step S130 If the result of the determination in step S130 is that the duration of the specific function key and the other function keys being triggered at the same time is greater than or equal to the third preset time, the trigger state of the specific function key and other function keys does not change during the third preset time. Determining a specific combination key composed of a specific function key and other function keys, transmitting a first control instruction corresponding to the specific combination key, and ending the process until it is determined that a specific function key on the remote control device is triggered, repeating the above steps S101 and step S102.
  • step S130 If the result of the determination in step S130 is that the duration of the specific function key and other function keys being triggered at the same time is less than the third preset time, it means that the specific function key and/or other function keys are no longer If the trigger is triggered by the user's erroneous operation, the second control command corresponding to the specific function key is sent; or the trigger of the specific function key and other function keys is considered to be a user's erroneous operation, and the instruction is not executed. The operation is sent, and the process is terminated until it is determined again that the specific function key on the remote control device is triggered, and the above-described steps S101 and S102 are repeated.
  • the second embodiment, the third embodiment, and the fourth embodiment of the aircraft control method shown in FIG. 7 to FIG. 9 can be combined with each other to form a new embodiment, and the content of the corresponding step is performed as shown in FIGS. 7 to 9.
  • the second embodiment, the third embodiment and the fourth embodiment of the aircraft control method are the same, and are not described herein again.
  • the aircraft system may further include a mobile device 30 through which control execution can be sent to the drone 20, the aircraft system in this embodiment and the aircraft system shown in FIG.
  • the second embodiment is the same, referring to FIG. 10, different from the second embodiment of the aircraft system, the mobile device 30 in the present embodiment includes a processor 31, a memory 32 and a communication module 33; the communication module 33 and the memory 32 are both connected to the processor 3.
  • the communication module 33 is configured to send a control instruction to the drone 20 or the remote control device 10 connected to the mobile device 30, and receive a button state of at least two function keys 11 set on the remote control device 10 transmitted by the remote control device 10.
  • the remote control device 10 transmits the button state of each function key 11 on the remote control device 10 acquired by the collector 14 to the mobile device 30 through its own communication module 17.
  • the communication module 33 of the mobile device 30 receives the button state sent by the remote device 10, and transmits the received button state to the processor 31, and the processor 31 uses the button state of each function key sent by the remote device 10;
  • the state of the button determines that a specific function key is triggered; determines whether another function key of the specific combination key formed by the specific function key and other function keys is triggered; if the other function key is triggered, sends the first control instruction; otherwise, sends the first The second control instruction or the non-execution instruction transmission operation.
  • the mobile device 30 can perform the first method of the aircraft control method as shown in FIGS. 3 to 8.
  • the second embodiment, the third embodiment, and/or the fourth embodiment refer to the description of the steps corresponding to FIG. 3 to FIG. 8 , and details are not described herein again.
  • the mobile device 30 since the first control instruction and the second control instruction in this embodiment are both generated by the mobile device 30 according to the received button state, in other words, the mobile device 30 generates the first control command or the second control.
  • the instruction is executed, it can be known that the first control instruction or the second control instruction is executed by itself or by the aircraft, and the third control instruction and the fourth control instruction are not required to be generated according to the first control instruction and the second control instruction.
  • the present invention also discloses a remote control device for controlling an aircraft, the remote control device having the same structure as the remote control device shown in FIG. 2, which is used to implement the remote control device-based aircraft shown in FIGS. 3 to 7.
  • Control method please refer to Figure 3 to Figure 8 and the corresponding step description for details.
  • the present invention also discloses a storage device in which program data is stored, which can be executed to implement the first embodiment, the second embodiment, and the third embodiment of the aircraft control method shown in FIGS. 3 to 7.
  • program data is stored, which can be executed to implement the first embodiment, the second embodiment, and the third embodiment of the aircraft control method shown in FIGS. 3 to 7.
  • FIG. 3 to FIG. 8 please refer to FIG. 3 to FIG. 8 and corresponding step descriptions for detailed description.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)
  • Telephone Function (AREA)

Abstract

Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile. Le procédé comprend les étapes qui consistent : à déterminer qu'une touche de fonction spécifique parmi au moins deux touches de fonction est actionnée (S101) ; à déterminer en outre si une autre touche de fonction dans une combinaison de touches spécifique formée par la touche de fonction spécifique et l'autre touche de fonction est actionnée (S102) ; si l'autre touche de fonction est actionnée, à envoyer une première instruction de commande (S103) ; et, sinon, à envoyer une seconde instruction de commande ou à ne pas exécuter d'opération d'envoi d'instruction (S104). Ce procédé de commande évite l'envoi erroné d'une instruction en raison d'une mauvaise évaluation de l'intention d'un utilisateur lorsqu'une touche de fonction spécifique est réutilisée, ce qui permet d'améliorer la précision de l'envoi d'une instruction de commande.
PCT/CN2017/081330 2017-04-21 2017-04-21 Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile Ceased WO2018191927A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2017/081330 WO2018191927A1 (fr) 2017-04-21 2017-04-21 Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile
CN201780067449.1A CN109891371A (zh) 2017-04-21 2017-04-21 飞行器的控制方法、遥控设备和移动设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/081330 WO2018191927A1 (fr) 2017-04-21 2017-04-21 Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile

Publications (1)

Publication Number Publication Date
WO2018191927A1 true WO2018191927A1 (fr) 2018-10-25

Family

ID=63856467

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/081330 Ceased WO2018191927A1 (fr) 2017-04-21 2017-04-21 Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile

Country Status (2)

Country Link
CN (1) CN109891371A (fr)
WO (1) WO2018191927A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111836091A (zh) * 2020-06-01 2020-10-27 视联动力信息技术股份有限公司 遥控设备的响应方法、装置、电子设备及存储介质
CN114582112A (zh) * 2022-03-03 2022-06-03 深圳市镭润科技有限公司 一种遥控器控制方法及遥控器

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001069369A (ja) * 1999-08-31 2001-03-16 Hitachi Ltd テレビジョン受像機
CN1779617A (zh) * 2004-11-23 2006-05-31 华为技术有限公司 一种组合键实现功能激活的方法
CN101533267A (zh) * 2009-04-03 2009-09-16 白金颖 基于按键复用型遥控器的按键处理方法和装置
CN104349198A (zh) * 2014-11-12 2015-02-11 深圳市申江科技开发有限公司 遥控器及遥控器的控制方法
CN105451049A (zh) * 2016-01-08 2016-03-30 浪潮软件集团有限公司 一种多按键交互的方法及机顶盒
CN105575095A (zh) * 2016-02-03 2016-05-11 普宙飞行器科技（深圳）有限公司 一种无人机双遥控系统
CN105678990A (zh) * 2015-12-31 2016-06-15 赵旭 一种遥控器及其检测、控制方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8060930B2 (en) * 2004-10-08 2011-11-15 Sharp Laboratories Of America, Inc. Methods and systems for imaging device credential receipt and authentication
CN101256444A (zh) * 2007-02-28 2008-09-03 欧蜀平 一种对源自用户按键动作的信息流进行处理和转换的方法
JP4931234B2 (ja) * 2007-07-05 2012-05-16 キヤノン株式会社 情報処理装置及びその制御方法、並びにプログラム
CN103279203B (zh) * 2013-03-28 2017-02-01 深圳市共进电子股份有限公司 一种按键复用的方法及多功能按键
WO2014179659A1 (fr) * 2013-05-02 2014-11-06 Synaptics Incorporated Touches multifonctions offrant des fonctions supplémentaires et permettant de prévisualiser les fonctions
CN103475926A (zh) * 2013-09-13 2013-12-25 深圳好视网络科技有限公司 基于机顶盒设备的输入法实现方法及控制系统
CN104767513B (zh) * 2015-04-24 2018-06-05 努比亚技术有限公司 多功能按键及移动终端
CN105468152B (zh) * 2015-11-24 2019-02-19 小米科技有限责任公司 基于可穿戴设备的终端操作控制方法、装置和设备
CN205249356U (zh) * 2015-12-22 2016-05-18 深圳市大疆创新科技有限公司 拍摄设备及其控制装置
CN106527725A (zh) * 2016-11-16 2017-03-22 上海楼顶网络科技有限公司 一种vr/ar环境下的利用视野中心轨迹给设备输入信息或指令的方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001069369A (ja) * 1999-08-31 2001-03-16 Hitachi Ltd テレビジョン受像機
CN1779617A (zh) * 2004-11-23 2006-05-31 华为技术有限公司 一种组合键实现功能激活的方法
CN101533267A (zh) * 2009-04-03 2009-09-16 白金颖 基于按键复用型遥控器的按键处理方法和装置
CN104349198A (zh) * 2014-11-12 2015-02-11 深圳市申江科技开发有限公司 遥控器及遥控器的控制方法
CN105678990A (zh) * 2015-12-31 2016-06-15 赵旭 一种遥控器及其检测、控制方法
CN105451049A (zh) * 2016-01-08 2016-03-30 浪潮软件集团有限公司 一种多按键交互的方法及机顶盒
CN105575095A (zh) * 2016-02-03 2016-05-11 普宙飞行器科技（深圳）有限公司 一种无人机双遥控系统

Also Published As

Publication number Publication date
CN109891371A (zh) 2019-06-14

Similar Documents

Publication Publication Date Title
US10222792B2 (en) Drone piloting device adapted to hold piloting commands and associated control method
WO2016183771A1 (fr) Procédé de commande de véhicule aérien sans pilote et dispositif basé sur un mode sans tête
US20160309124A1 (en) Control system, a method for controlling an uav, and a uav-kit
US9738382B2 (en) Drone immersion-piloting system
CN108924520B (zh) 传输控制方法、装置、控制器、拍摄设备及飞行器
WO2017181512A1 (fr) Procédé et dispositif de commande de vol de véhicule aérien sans pilote
CN110692027A (zh) 用于提供无人机应用的易用的释放和自动定位的系统和方法
CN106292799B (zh) 无人机、遥控装置及其控制方法
WO2019100204A1 (fr) Procédé de traitement vidéo, dispositif, véhicule aérien, système et support de stockage
JP2016174360A (ja) 飛行型または転動型ドローンに対する遠隔制御デバイスの向きを最適化する方法
EP3261405B1 (fr) Réseau local pour l'échange simultané de données entre un drone et une pluralité de terminaux utilisateur, désignant un terminal utilisateur principal unique controlant le drone
CN110114125B (zh) 无人机操纵系统、操纵信号发射器组和无人机操纵方法
US20180307225A1 (en) Method for piloting a rotary wing drone, related computer program, electronic apparatus and drone
US11575832B2 (en) Imaging device, camera-mounted drone, mode control method, and program
CN108460354B (zh) 无人机控制方法、装置、无人机及系统
WO2018191927A1 (fr) Procédé de commande de véhicule aérien, dispositif de télécommande et dispositif mobile
CN204287973U (zh) 飞行相机
JP6744033B2 (ja) 移動体操縦システム、操縦シグナル送信システム、移動体操縦方法、プログラム、および記録媒体
JP2020126666A (ja) 移動体操縦システム、操縦シグナル送信システム、移動体操縦方法、プログラム、および記録媒体
JP7574846B2 (ja) 無人航空機遠隔操作装置、無人航空機遠隔操作システム、無人航空機遠隔操作方法及びプログラム
WO2017000907A1 (fr) Appareil de commande à distance et système de commande à distance
WO2020172873A1 (fr) Procédé de communication d'un véhicule aérien sans pilote, et véhicule aérien sans pilote
WO2018223378A1 (fr) Procédé et dispositif de commande de véhicule aérien sans pilote, et véhicule aérien sans pilote
US20160299501A1 (en) Method for adjusting the direction of head end of aircraft and remote control aircraft using the same
KR102052578B1 (ko) 드론을 제어하는 원핸드 원격 조종 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17906002

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17906002

Country of ref document: EP

Kind code of ref document: A1