Patent Publication Number: US-2016241767-A1

Title: Mobile terminal and method for controlling the same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     Pursuant to 35 U.S.C. §119(a), this application claims the benefit of earlier filing dates and rights of priority to U.S. Provisional Application No. 62/115,982, filed in U.S.A on Feb. 13, 2015 and Korean Application No. 10-2015-0068223, filed in Republic of Korea on May 15, 2015 and No. 10-2015-0082823, filed in Republic of Korea on Jun. 11, 2015 the contents of which are incorporated by reference herein in its entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present disclosure relates to a mobile terminal capable of controlling an unmanned aerial vehicle. 
     2. Description of the Related Art 
     Mobile terminals include all types of devices configured to have a battery and a display unit, and display information on the display unit using power supplied from the battery, and formed to allow a user to hand-carry it. The mobile terminal can record and play a video and display a graphic user interface (GUI), and includes a laptop computer, a portable phone, glasses, a watch, a game machine, and the like capable of displaying screen information. 
     As it becomes multifunctional, a mobile terminal can capture still images or moving images, play music or video files, play games, receive broadcast and the like, so as to be implemented as an integrated multimedia player. Moreover, efforts are ongoing to support and increase the functionality of mobile terminals. Such efforts include software and hardware improvements, as well as changes and improvements in the structural components. 
     In recent years, various technologies for controlling the driving of an electronic device connected to a mobile terminal in a wireless manner have been developed. In case of controlling an unmanned aerial vehicle for which its flight is remotely controlled with a remote control device having move keys, a user can be unable to easily recognize the flight location of the unmanned aerial vehicle, thereby causing inconvenience in manipulation in a desired direction. 
     SUMMARY OF THE INVENTION 
     Accordingly, one aspect of the present disclosure is to provide a mobile terminal capable of more intuitively controlling an unmanned aerial vehicle. 
     In order to accomplish the foregoing task of the present disclosure, a mobile terminal according to an embodiment may perform wireless communication with an unmanned aerial vehicle having a camera configured to capture an external environment during flight, and the mobile terminal may include a body, a display unit mounted on one surface of the body to receive a touch input, a wireless communication unit configured to perform wireless communication with the unmanned aerial vehicle, a sensing unit configured to sense the posture and movement of the body, and a controller configured to form a flight control command of the unmanned aerial vehicle based on the touch input and the movement in a first mode in which the display unit is disposed in a length direction with respect to gravity, and form a capture control command of the camera based on the touch input along with the flight control command in a second mode in which the display unit is disposed in a width direction with respect to gravity. 
     According to an example associated with the present disclosure, a first mode and a second mode may be switched by the rotation of the mobile terminal body, and a control command may be formed in various ways in the first and the second mode, respectively, In other words, when a focus-me mode is activated in the second mode, the camera of the unmanned aerial vehicle may continuously capture a user of the mobile terminal, thereby allowing the user to sense his or her own location by himself or herself, and image a surrounding environment including the user. 
     According to an example associated with the present disclosure, the flight of an unmanned aerial vehicle may be controlled based on the movement of the body in the first mode, and the flight direction and flight speed of the unmanned aerial vehicle may be controlled by a touch in the second mode, thereby allowing more fine manipulation. 
     According to an example associated with the present disclosure, the display unit may be divided into a first control region for controlling flight and a second control region for controlling a function of the camera in the second mode to control each function in an independent manner. Furthermore, a desired region may be extended on the display unit, thereby allowing more precise control. 
     In order to accomplish the foregoing task of the present disclosure, a mobile terminal according to another embodiment may perform wireless communication with an unmanned aerial vehicle having a camera configured to capture an external environment during flight, and the mobile terminal may include a body, a display unit mounted on one surface of the body to receive a touch input, a sensing unit configured to sense the movement of the body, a wireless communication unit configured to perform wireless communication with the unmanned aerial vehicle, and a controller, and when a flight path containing the information of a capture target object to be captured by the camera is set, the controller may control the display unit to display a capture mode icon corresponding to a plurality of capture modes for capturing the capture target object in an automatic control mode, and form a flight control command and a capture control command for controlling the camera based on a capture mode selected by a touch applied to the display unit and the flight path, and change the flight path and the capture mode based on the touch input and the movement sensed in the automatic control mode. Accordingly, the user can switch to a manual control mode from an automatic control mode in case of need while controlling an unmanned aerial vehicle to change the flight path and capture mode. 
     According to an embodiment, the controller may control the display unit to display a capture mode icon corresponding to at least one capture mode based on the flight path in the automatic control mode, and information associated with the capture mode may be stored in a memory unit or received from a specific server. Accordingly, an unmanned aerial vehicle may be controlled by a presets control command, and thus it may not be required for the user to manually form a control command of the unmanned aerial vehicle. 
     According to an embodiment, when the flight path contains a plurality of index locations, and the selected index location corresponds to a capture target object, the controller may select a capture mode for capturing the index location based on information associated with an index location selected from the plurality of index locations, and the display unit may display the index location and an icon corresponding to the selected capture mode on a map screen. According to an embodiment, a user can select a capture mode suitable to each index location, thereby receiving a more stable capture image. 
     According to an embodiment of the present disclosure, the display unit can be disposed in a horizontal or vertical direction through the rotation of the mobile terminal to activate different modes, thereby forming different control commands transmitted to an unmanned aerial vehicle based on different control modes. 
     In case of a vertical mode, the flight direction and flight speed of an unmanned aerial vehicle may be controlled using an inclination of the body, and flight may be controlled in a more precise manner in case of a horizontal mode. 
     Furthermore, in case of a vertical mode, the flight as well as camera may be controlled based on a touch applied to the divided display unit, thereby imaging a desired region using an unmanned aerial vehicle in a more accurate manner. 
     Furthermore, a location captured by an unmanned aerial vehicle may be seen in real time through the camera, thereby more easily moving the unmanned aerial vehicle to a desired region. 
     Furthermore, an unmanned aerial vehicle may be controlled by selecting a flight control command and a capture control command previously set based on a specific criteria in an automatic control mode, and thus may not be necessarily controlled in a manual control mode, and allowed to capture when flying a region that is unseen by the user based on a capture mode suitable to the characteristics of a flight path, thereby acquiring a stable capture image. 
     Further scope of applicability of the present invention will become apparent from the detailed description given hereinafter. However, the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from this detailed description. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. 
       In the drawings: 
         FIG. 1A  is a block diagram illustrating a mobile terminal associated with the present disclosure; 
         FIGS. 1B and 1C  are conceptual views in which a mobile terminal associated with the present disclosure is seen from different directions; 
         FIG. 2A  is a flow chart illustrating a control method of a mobile terminal according to an embodiment of the present disclosure; 
         FIG. 2B  is a conceptual view illustrating the control method of  FIG. 2A ; 
         FIG. 3A  is a conceptual view illustrating the movement of a mobile terminal forming a flight control command; 
         FIG. 3B  is a conceptual view illustrating the movement of a mobile terminal for controlling an unmanned aerial vehicle; 
         FIG. 3C  is a conceptual view illustrating the flight of an unmanned aerial vehicle corresponding to the movement of a mobile terminal illustrated in  FIG. 3C ; 
         FIGS. 4A through 4C  are conceptual views illustrating a control method of a mobile terminal for controlling an unmanned aerial vehicle in a vertical mode according to an embodiment; 
         FIGS. 5A through 5D  are conceptual views illustrating a control method of controlling the flight of an unmanned aerial vehicle in a vertical mode; 
         FIGS. 6A through 6D  are conceptual view illustrating a control method for controlling the unmanned aerial vehicle in a horizontal mode; 
         FIGS. 7A through 7E  are conceptual views illustrating a control method of forming a flight control command and a capture control command in a horizontal mode; 
         FIGS. 8A and 8B  are conceptual views illustrating a control method for controlling a camera of an unmanned aerial vehicle; 
         FIGS. 9A through 9E  are conceptual views illustrating a control method of controlling an unmanned aerial vehicle based on a touch applied to the display unit  151  partitioned according to another embodiment; 
         FIGS. 10A and 10B  are conceptual views illustrating a control method when a second control region for controlling a camera is extended; 
         FIGS. 11A through 11C  are conceptual views illustrating a control method according to another embodiment in a horizontal mode; 
         FIG. 12A  is a flow chart illustrating a control method of a mobile terminal according to an embodiment of the present disclosure, and  FIGS. 12B and 12C  are conceptual views illustrating the control method of  FIG. 12A ; 
         FIGS. 12D and 12E  are conceptual views illustrating a control method of forming a flight control command and a capture control command based on a touch input and the movement of the body in a manual control mode; 
         FIG. 13  is a conceptual view illustrating a control method of limiting a manual control mode; 
         FIG. 14  is a conceptual view illustrating an execution screen in case of a horizontal mode; 
         FIGS. 15A and 15B  are conceptual views illustrating a control method of setting a flight path according to another embodiment; 
         FIGS. 16A through 16H  are conceptual views illustrating a capture mode when a capture target object is set; 
         FIGS. 17A through 17H  are conceptual views illustrating a capture mode for capturing a flight path according to various embodiments; 
         FIGS. 18A through 18C  are conceptual views illustrating a control method for setting a flight path of an unmanned aerial vehicle according to another embodiment; 
         FIG. 19A  is a flow chart illustrating a control method of setting a capture mode on a flight path, and  FIGS. 19B and 19C  are conceptual views illustrating the control method of  FIG. 19A ; 
         FIG. 20A  is a conceptual view illustrating a control method of a mobile terminal for controlling a plurality of cameras mounted on an unmanned aerial vehicle; 
         FIG. 20B  is a conceptual view illustrating a control method of a capture image captured by a plurality of cameras; 
         FIG. 20C  is a conceptual view illustrating an embodiment in which a plurality of mobile terminals are connected to an unmanned aerial vehicle in a wireless manner; 
         FIGS. 21A through 21G  are conceptual views illustrating a control method of setting a capture mode based on a specific manual; 
         FIG. 22  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to another embodiment; 
         FIGS. 23A through 23D  are conceptual views illustrating a control method of editing a flight path; and 
         FIG. 24A  is a flow chart illustrating a control method of controlling a flight path for charging an unmanned aerial vehicle, and  FIG. 24B  is a conceptual view illustrating the control method of  FIG. 24A . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Description will now be given in detail according to the exemplary embodiments disclosed herein, with reference to the accompanying drawings. For the sake of brief description with reference to the drawings, the same or equivalent components will be provided with the same reference numbers, and description thereof will not be repeated. A suffix “module” and “unit” used for constituent elements disclosed in the following description is merely intended for easy description of the specification, and the suffix itself does not give any special meaning or function. The accompanying drawings are used to help easily understand the technical idea of the present disclosure and it should be understood that the idea of the present disclosure is not limited by the accompanying drawings. The idea of the present disclosure should be construed to extend to any alterations, equivalents and substitutes besides the accompanying drawings. 
     Mobile terminals described herein may include cellular phones, smart phones, laptop computers, digital broadcasting terminals, personal digital assistants (PDAs), portable multimedia players (PMPs), navigators, slate PCs, tablet PCs, ultra books, wearable devices (for example, smart watches, smart glasses, head mounted displays (HMDs)), and the like. However, it may be easily understood by those skilled in the art that the configuration according to the exemplary embodiments of this specification can also be applied to stationary terminals such as digital TV, desktop computers and the like, excluding a case of being applicable only to the mobile terminals. 
     Referring to  FIGS. 1A through 1C ,  FIG. 1A  is a block diagram of a mobile terminal illustrating a mobile terminal associated with the present disclosure, and  FIGS. 1B and 1C  are conceptual views in which an example of the mobile terminal is seen from different directions. The mobile terminal  100  may include components, such as a wireless communication unit  110 , an input unit  120 , a sensing unit  140 , an output unit  150 , an interface unit  160 , a memory  170 , a controller  180 , a power supply unit  190  and the like.  FIG. 1A  illustrates the mobile terminal having various components, but it may be understood that implementing all of the illustrated components is not a requirement. Greater or fewer components may alternatively be implemented. 
     In more detail, the wireless communication unit  110  of those components may typically include one or more modules which permit wireless communications between the mobile terminal  100  and a wireless communication system, between the mobile terminal  100  and another mobile terminal  100 , or between the mobile terminal  100  and a network within which another mobile terminal  100  (or an external server) is located. For example, the wireless communication unit  110  may include at least one of a broadcast receiving module  111 , a mobile communication module  112 , a wireless Internet module  113 , a short-range communication module  114 , a location information module  115  and the like. 
     The input unit  120  may include a camera  121  for inputting an image signal, a microphone  122  or an audio input module for inputting an audio signal, or a user input unit  123  (for example, a touch key, a push key (or a mechanical key), etc.) for allowing a user to input information. Audio data or image data collected by the input unit  120  may be analyzed and processed by a user&#39;s control command. 
     The sensing unit  140  may include at least one sensor which senses at least one of internal information of the mobile terminal, a surrounding environment of the mobile terminal and user information. For example, the sensing unit  140  may include a proximity sensor  141 , an illumination sensor  142 , a touch sensor, an acceleration sensor, a magnetic sensor, a G-sensor, a gyroscope sensor, a motion sensor, an RGB sensor, an infrared (IR) sensor, a finger scan sensor, a ultrasonic sensor, an optical sensor (for example, refer to the camera  121 ), a microphone (refer to reference numeral  122 ), a battery gauge, an environment sensor (for example, a barometer, a hygrometer, a thermometer, a radiation detection sensor, a thermal sensor, a gas sensor, etc.), and a chemical sensor (for example, an electronic nose, a health care sensor, a biometric sensor, etc.). Further, the mobile terminal disclosed herein may utilize information in such a manner of combining information sensed by at least two sensors of those sensors. 
     The output unit  150  may be configured to output an audio signal, a video signal or a tactile signal. The output unit  150  may include a display unit  151 , an audio output module  152 , a haptic module  153 , an optical output module  154  and the like. The display unit  151  can have an inter-layered structure or an integrated structure with a touch sensor so as to implement a touch screen. The touch screen may provide an output interface between the mobile terminal  100  and a user, as well as functioning as the user input unit  123  which provides an input interface between the mobile terminal  100  and the user. 
     The interface unit  160  may serve as an interface with various types of external devices connected with the mobile terminal  100 . The interface unit  160 , for example, may include wired or wireless headset ports, external power supply ports, wired or wireless data ports, memory card ports, ports for connecting a device having an identification module, audio input/output (I/O) ports, video I/O ports, earphone ports, or the like. The mobile terminal  100  may execute an appropriate control associated with a connected external device, in response to the external device being connected to the interface unit  160 . 
     The memory  170  may store a plurality of application programs (or applications) executed in the mobile terminal  100 , data for operations of the mobile terminal  100 , instruction words, and the like. At least some of those application programs may be downloaded from an external server via wireless communication. Some others of those application programs may be installed within the mobile terminal  100  at the time of being shipped for basic functions of the mobile terminal  100  (for example, receiving a call, placing a call, receiving a message, sending a message, etc.). Further, the application programs may be stored in the memory  170 , installed in the mobile terminal  100 , and executed by the controller  180  to perform an operation (or a function) of the mobile terminal  100 . 
     The controller  180  can typically control an overall operation of the mobile terminal  100  in addition to the operations associated with the application programs. The controller  180  can provide or process information or functions appropriate for a user by processing signals, data, information and the like, which are input or output by the aforementioned components, or activating the application programs stored in the memory  170 . 
     The controller  180  can control at least part of the components illustrated in  FIG. 1A , in order to drive the application programs stored in the memory  170 . In addition, the controller  180  can drive the application programs by combining at least two of the components included in the mobile terminal  100  for operation. 
     The power supply unit  190  may receive external power or internal power and supply appropriate power required for operating respective elements and components included in the mobile terminal  100  under the control of the controller  180 . The power supply unit  190  may include a battery, and the battery may be an embedded battery or a replaceable battery. 
     At least part of those elements and components may be combined to implement operation and control of the mobile terminal or a control method of the mobile terminal according to various exemplary embodiments described herein. Also, the operation and control or the control method of the mobile terminal may be implemented in the mobile terminal in such a manner of activating at least one application program stored in the memory  170 . 
     Hereinafter, each aforementioned component will be described in more detail with reference to  FIG. 1A , prior to explaining various exemplary embodiments implemented by the mobile terminal  100  having the configuration. First, considering the wireless communication unit  110 , the broadcast receiving module  111  of the wireless communication unit  110  may receive a broadcast signal and/or broadcast associated information from an external broadcast managing entity via a broadcast channel. The broadcast channel may include a satellite channel and a terrestrial channel. At least two broadcast receiving modules  111  may be provided in the mobile terminal  100  to simultaneously receive at least two broadcast channels or switch the broadcast channels. 
     The mobile communication module  112  may transmit/receive wireless signals to/from at least one of network entities, for example, a base station, an external mobile terminal, a server, and the like, on a mobile communication network, which is constructed according to technical standards or transmission methods for mobile communications (for example, Global System for Mobile Communication (GSM), Code Division Multi Access (CDMA), Wideband CDMA (WCDMA), High Speed Downlink Packet access (HSDPA), Long Term Evolution (LTE), etc.) Here, the wireless signals may include audio call signal, video (telephony) call signal, or various formats of data according to transmission/reception of text/multimedia messages. 
     The wireless Internet module  113  denotes a module for wireless Internet access. This module may be internally or externally coupled to the mobile terminal  100 . The wireless Internet module  113  may transmit/receive wireless signals via communication networks according to wireless Internet technologies. Examples of such wireless Internet access may include Wireless LAN (WLAN), Wireless Fidelity (Wi-Fi) Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), Worldwide Interoperability for Microwave Access (Wimax), High Speed Downlink Packet Access (HSDPA), Long Term Evolution (LTE), and the like. The wireless Internet module  113  may transmit/receive data according to at least one wireless Internet technology within a range including even Internet technologies which are not aforementioned. 
     From the perspective that the wireless Internet accesses according to Wibro, HSDPA, GSM, CDMA, WCDMA, LTE and the like are executed via a mobile communication network, the wireless Internet module  113  which performs the wireless Internet access via the mobile communication network may be understood as a type of the mobile communication module  112 . 
     The short-range communication module  114  denotes a module for short-range communications. Suitable technologies for implementing the short-range communications may include BLUETOOTH™, Radio Frequency IDentification (RFID), Infrared Data Association (IrDA), Ultra-WideBand (UWB), ZigBee, Near Field Communication (NFC), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, and the like. The short-range communication module  114  may support wireless communications between the mobile terminal  100  and a wireless communication system, between the mobile terminal  100  and another mobile terminal  100 , or between the mobile terminal and a network where another mobile terminal  100  (or an external server) is located, via wireless personal area networks. 
     Here, the another mobile terminal  100  may be a wearable device, for example, a smart watch, a smart glass or a head mounted display (HMD), which can exchange data with the mobile terminal  100  (or to cooperate with the mobile terminal  100 ). The short-range communication module  114  may sense (recognize) a wearable device, which can communicate with the mobile terminal), near the mobile terminal  100 . In addition, when the sensed wearable device is a device which is authenticated to communicate with the mobile terminal  100  according to an embodiment of the present disclosure, the controller  180  can transmit at least part of data processed in the mobile terminal  100  to the wearable device via the short-range communication module  114 . Hence, a user of the wearable device may use the data processed in the mobile terminal  100  on the wearable device. For example, when a call is received in the mobile terminal  100 , the user can answer the call using the wearable device. Also, when a message is received in the mobile terminal  100 , the user can check the received message using the wearable device. 
     The location information module  115  denotes a module for detecting or calculating a position of the mobile terminal. An example of the location information module  115  may include a Global Position System (GPS) module or a Wi-Fi module. For example, when the mobile terminal uses the GPS module, a position of the mobile terminal may be acquired using a signal sent from a GPS satellite. As another example, when the mobile terminal uses the Wi-Fi module, a position of the mobile terminal may be acquired based on information related to a wireless access point (AP) which transmits or receives a wireless signal to or from the Wi-Fi module. According to the need, the location information module  115  may perform any function of another module of the wireless communication unit  110  to obtain data for the position of the mobile terminal in a substitutional or additional manner. The location information module  115  may be a module used to acquire the position (or current position) of the mobile terminal, and may not be necessarily limited to a module for directly calculating or acquiring the position of the mobile terminal. 
     Hereinafter, the input unit  120  will be described in more detail. The input unit  120  may be configured to provide an audio or video signal (or information) input to the mobile terminal or information input by a user to the mobile terminal. For the input of the audio information, the mobile terminal  100  may include one or a plurality of cameras  121 . The camera  121  may process image frames of still pictures or video obtained by image sensors in a video call mode or a capture mode. The processed image frames may be displayed on the display unit  151 . Further, the plurality of cameras  121  disposed in the mobile terminal  100  may be arranged in a matrix configuration. By use of the cameras  121  having the matrix configuration, a plurality of image information having various angles or focal points may be input into the mobile terminal  100 . Also, the plurality of cameras  121  may be arranged in a stereoscopic structure to acquire a left image and a right image for implementing a stereoscopic image. 
     The microphone  122  may process an external audio signal into electric audio data. The processed audio data may be utilized in various manners according to a function being executed in the mobile terminal  100  (or an application program being executed). Further, the microphone  122  may include assorted noise removing algorithms to remove noise generated in the course of receiving the external audio signal. 
     The user input unit  123  may receive information input by a user. When information is input through the user input unit  123 , the controller  180  can control an operation of the mobile terminal  100  to correspond to the input information. The user input unit  123  may include a mechanical input element (or a mechanical key, for example, a button located on a front/rear surface or a side surface of the mobile terminal  100 , a dome switch, a jog wheel, a jog switch, etc.), and a touch-sensitive input means. As one example, the touch-sensitive input means may be a virtual key, a soft key or a visual key, which is displayed on a touch screen through software processing, or a touch key which is disposed on a portion except for the touch screen. Further, the virtual key or the visual key may be displayable on the touch screen in various shapes, for example, graphic, text, icon, video or a combination thereof. 
     The sensing unit  140  may sense at least one of internal information of the mobile terminal, surrounding environment information of the mobile terminal and user information, and generate a sensing signal corresponding to it. The controller  180  can control an operation of the mobile terminal  100  or execute data processing, a function or an operation associated with an application program installed in the mobile terminal based on the sensing signal. Hereinafter, description will be given in more detail of representative sensors of various sensors which may be included in the sensing unit  140 . 
     First, a proximity sensor  141  refers to a sensor to sense presence or absence of an object approaching to a surface to be sensed, or an object disposed near a surface to be sensed, by using an electromagnetic field or infrared rays without a mechanical contact. The proximity sensor  141  may be arranged at an inner region of the mobile terminal covered by the touch screen, or near the touch screen. The proximity sensor  141  may have a longer lifespan and a more enhanced utility than a contact sensor. 
     The proximity sensor  141 , for example, may include a transmissive type photoelectric sensor, a direct reflective type photoelectric sensor, a mirror reflective type photoelectric sensor, a high-frequency oscillation proximity sensor, a capacitance type proximity sensor, a magnetic type proximity sensor, an infrared rays proximity sensor, and so on. When the touch screen is implemented as a capacitance type, the proximity sensor  141  may sense proximity of a pointer to the touch screen by changes of an electromagnetic field, which is responsive to an approach of an object with conductivity. In this instance, the touch screen (touch sensor) may be categorized into a proximity sensor. 
     Hereinafter, for the sake of brief explanation, a status that the pointer is positioned to be proximate onto the touch screen without contact will be referred to as ‘proximity touch,’ whereas a status that the pointer substantially comes in contact with the touch screen will be referred to as ‘contact touch.’ For the position corresponding to the proximity touch of the pointer on the touch screen, such position will correspond to a position where the pointer faces perpendicular to the touch screen upon the proximity touch of the pointer. The proximity sensor  141  may sense proximity touch, and proximity touch patterns (e.g., distance, direction, speed, time, position, moving status, etc.). Further, the controller  180  can process data (or information) corresponding to the proximity touches and the proximity touch patterns sensed by the proximity sensor  141 , and output visual information corresponding to the process data on the touch screen. In addition, the controller  180  can control the mobile terminal  100  to execute different operations or process different data (or information) according to whether a touch with respect to the same point on the touch screen is either a proximity touch or a contact touch. 
     A touch sensor can sense a touch (or touch input) applied onto the touch screen (or the display unit  151 ) using at least one of various types of touch methods, such as a resistive type, a capacitive type, an infrared type, a magnetic field type, and the like. As one example, the touch sensor may be configured to convert changes of pressure applied to a specific part of the display unit  151  or a capacitance occurring from a specific part of the display unit  151 , into electric input signals. Also, the touch sensor may be configured to sense not only a touched position and a touched area, but also touch pressure. Here, a touch object is an object to apply a touch input onto the touch sensor. Examples of the touch object may include a finger, a touch pen, a stylus pen, a pointer or the like. 
     When touch inputs are sensed by the touch sensors, corresponding signals may be transmitted to a touch controller. The touch controller may process the received signals, and then transmit corresponding data to the controller  180 . Accordingly, the controller  180  can sense which region of the display unit  151  has been touched. Here, the touch controller may be a component separate from the controller  180  or the controller  180  itself. 
     Further, the controller  180  can execute a different control or the same control according to a type of an object which touches the touch screen (or a touch key provided in addition to the touch screen). Whether to execute the different control or the same control according to the object which gives a touch input may be decided based on a current operating state of the mobile terminal  100  or a currently executed application program. Meanwhile, the touch sensor and the proximity sensor may be executed individually or in combination, to sense various types of touches, such as a short (or tap) touch, a long touch, a multi-touch, a drag touch, a flick touch, a pinch-in touch, a pinch-out touch, a swipe touch, a hovering touch, and the like. 
     An ultrasonic sensor may be configured to recognize position information relating to a sensing object by using ultrasonic waves. The controller  180  can calculate a position of a wave generation source based on information sensed by an illumination sensor and a plurality of ultrasonic sensors. Since light is much faster than ultrasonic waves, a time for which the light reaches the optical sensor may be much shorter than a time for which the ultrasonic wave reaches the ultrasonic sensor. The position of the wave generation source may be calculated using the fact. In more detail, the position of the wave generation source may be calculated by using a time difference from the time that the ultrasonic wave reaches based on the light as a reference signal. 
     The camera  121  constructing the input unit  120  may be a type of camera sensor. The camera sensor may include at least one of a photo sensor and a laser sensor. The camera  121  and the laser sensor may be combined to detect a touch of the sensing object with respect to a 3D stereoscopic image. The photo sensor may be laminated on the display device. The photo sensor may be configured to scan a movement of the sensing object in proximity to the touch screen. In more detail, the photo sensor may include photo diodes and transistors at rows and columns to scan content placed on the photo sensor by using an electrical signal which changes according to the quantity of applied light. Namely, the photo sensor may calculate the coordinates of the sensing object according to variation of light to thus obtain position information of the sensing object. 
     The display unit  151  can output information processed in the mobile terminal  100 . For example, the display unit  151  can display execution screen information of an application program driven in the mobile terminal  100  or user interface (UI) and graphic user interface (GUI) information in response to the execution screen information. 
     The display unit  151  can also be implemented as a stereoscopic display unit for displaying stereoscopic images. The stereoscopic display unit  152  may employ a stereoscopic display scheme such as stereoscopic scheme (a glass scheme), an auto-stereoscopic scheme (glassless scheme), a projection scheme (holographic scheme), or the like. 
     The audio output module  152  can output audio data received from the wireless communication unit  110  or stored in the memory  170  in a call signal reception mode, a call mode, a record mode, a voice recognition mode, a broadcast reception mode, and the like. Also, the audio output module  152  may also provide audible output signals related to a particular function (e.g., a call signal reception sound, a message reception sound, etc.) performed by the mobile terminal  100 . The audio output module  152  may include a receiver, a speaker, a buzzer or the like. 
     A haptic module  153  can generate various tactile effects the user can feel. A typical example of the tactile effect generated by the haptic module  153  may be vibration. Strength, pattern and the like of the vibration generated by the haptic module  153  can be controllable by a user selection or setting of the controller. For example, the haptic module  153  can output different vibrations in a combining manner or a sequential manner. 
     Besides vibration, the haptic module  153  can generate various other tactile effects, including an effect by stimulation such as a pin arrangement vertically moving with respect to a contact skin, a spray force or suction force of air through a jet orifice or a suction opening, a touch on the skin, a contact of an electrode, electrostatic force, etc., an effect by reproducing the sense of cold and warmth using an element that can absorb or generate heat, and the like. 
     The haptic module  153  can be implemented to allow the user to feel a tactile effect through a muscle sensation such as the user&#39;s fingers or arm, as well as transferring the tactile effect through a direct contact. Two or more haptic modules  153  may be provided according to the configuration of the mobile terminal  100 . 
     An optical output module  154  can output a signal for indicating an event generation using light of a light source. Examples of events generated in the mobile terminal  100  may include a message reception, a call signal reception, a missed call, an alarm, a schedule notice, an email reception, an information reception through an application, and the like. 
     A signal output by the optical output module  154  can be implemented so the mobile terminal emits monochromatic light or light with a plurality of colors. The signal output can be terminated as the mobile terminal senses a user&#39;s event checking. 
     The interface unit  160  may serve as an interface with every external device connected with the mobile terminal  100 . For example, the interface unit  160  can receive data transmitted from an external device, receive power to transfer to each element within the mobile terminal  100 , or transmit internal data of the mobile terminal  100  to an external device. For example, the interface unit  160  may include wired or wireless headset ports, external power supply ports, wired or wireless data ports, memory card ports, ports for connecting a device having an identification module, audio input/output (I/O) ports, video I/O ports, earphone ports, or the like. 
     The identification module may be a chip that stores various information for authenticating authority of using the mobile terminal  100  and may include a user identity module (UIM), a subscriber identity module (SIM), a universal subscriber identity module (USIM), and the like. In addition, the device having the identification module (referred to as ‘identifying device’, hereinafter) may take the form of a smart card. Accordingly, the identifying device may be connected with the terminal  100  via the interface unit  160 . 
     When the mobile terminal  100  is connected with an external cradle, the interface unit  160  can serve as a passage to allow power from the cradle to be supplied to the mobile terminal  100  therethrough or can serve as a passage to allow various command signals input by the user from the cradle to be transferred to the mobile terminal therethrough. Various command signals or power input from the cradle can operate as signals for recognizing that the mobile terminal is properly mounted on the cradle. 
     The memory  170  can store programs for operations of the controller  180  and temporarily store input/output data (for example, phonebook, messages, still images, videos, etc.). The memory  170  can store data related to various patterns of vibrations and audio which are output in response to touch inputs on the touch screen. 
     The memory  170  may include at least one type of storage medium including a Flash memory, a hard disk, a multimedia card micro type, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read-Only Memory (ROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Programmable Read-Only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. Also, the mobile terminal  100  can be operated in relation to a web storage device that performs the storage function of the memory  170  over the Internet. 
     As aforementioned, the controller  180  can typically control the general operations of the mobile terminal  100 . For example, the controller  180  can set or release a lock state for restricting a user from inputting a control command with respect to applications when a status of the mobile terminal meets a preset condition. 
     The controller  180  can also perform controlling and processing associated with voice calls, data communications, video calls, and the like, or perform pattern recognition processing to recognize a handwriting input or a picture drawing input performed on the touch screen as characters or images, respectively. In addition, the controller  180  can control one or combination of those components in order to implement various exemplary embodiment disclosed herein on the mobile terminal  100 . 
     The power supply unit  190  can receive external power or internal power and supply appropriate power required for operating respective elements and components included in the mobile terminal  100  under the control of the controller  180 . The power supply unit  190  may include a battery. The battery may be an embedded battery which is rechargeable or be detachably coupled to the terminal body for charging. 
     The power supply unit  190  may include a connection port. The connection port may be configured as one example of the interface unit  160  to which an external (re)charger for supplying power to recharge the battery is electrically connected. As another example, the power supply unit  190  may be configured to recharge the battery in a wireless manner without use of the connection port. Here, the power supply unit  190  can receive power, transferred from an external wireless power transmitter, using at least one of an inductive coupling method which is based on magnetic induction or a magnetic resonance coupling method which is based on electromagnetic resonance. Various embodiments described herein may be implemented in a computer-readable or its similar medium using, for example, software, hardware, or any combination thereof. 
     Referring to  FIGS. 1B and 1C , the mobile terminal  100  disclosed herein may be provided with a bar-type terminal body. However, the present disclosure may not be limited to this, but also may be applicable to various structures such as watch type, clip type, glasses type or folder type, flip type, slide type, swing type, swivel type, or the like, in which two and more bodies are combined with each other in a relatively movable manner. 
     The mobile terminal  100  may include a case (casing, housing, cover, etc.) forming the appearance of the terminal. In this embodiment, the case may be divided into a front case  101  and a rear case  102 . Various electronic components may be incorporated into a space formed between the front case  101  and the rear case  102 . At least one middle case may be additionally disposed between the front case  101  and the rear case  102   
     A display unit  151  can be disposed on a front surface of the terminal body to output information. As illustrated, a window  151   a  of the display unit  151  can be mounted to the front case  101  so as to form the front surface of the terminal body together with the front case  101 . In some cases, electronic components may also be mounted to the rear case  102 . Examples of those electronic components mounted to the rear case  102  may include a detachable battery, an identification module, a memory card and the like. Here, a rear cover  103  for covering the electronic components mounted may be detachably coupled to the rear case  102 . Therefore, when the rear cover  103  is detached from the rear case  102 , the electronic components mounted to the rear case  102  may be externally exposed. 
     As illustrated, when the rear cover  103  is coupled to the rear case  102 , a side surface of the rear case  102  may be partially exposed. In some cases, upon the coupling, the rear case  102  may also be completely shielded by the rear cover  103 . Further, the rear cover  103  may include an opening for externally exposing a camera  121   b  or an audio output module  152   b.    
     The cases  101 ,  102 ,  103  may be formed by injection-molding synthetic resin or may be formed of a metal, for example, stainless steel (STS), titanium (Ti), or the like. Unlike the example which the plurality of cases form an inner space for accommodating such various components, the mobile terminal  100  may be configured such that one case forms the inner space. In this example, a mobile terminal  100  having a uni-body formed so synthetic resin or metal extends from a side surface to a rear surface may also be implemented. 
     Further, the mobile terminal  100  may include a waterproofing unit for preventing an introduction of water into the terminal body. For example, the waterproofing unit may include a waterproofing member which is located between the window  151   a  and the front case  101 , between the front case  101  and the rear case  102 , or between the rear case  102  and the rear cover  103 , to hermetically seal an inner space when those cases are coupled. 
     The mobile terminal  100  may include a display unit  151 , first and second audio output modules  152   a  and  152   b , a proximity sensor  141 , an illumination sensor  152 , an optical output module  154 , first and second cameras  121   a  and  121   b , first and second manipulation units  123   a  and  123   b , a microphone  122 , an interface unit  160  and the like. 
     Hereinafter, description will be given of an exemplary mobile terminal  100  that the display unit  151 , the first audio output module  152   a , the proximity sensor  141 , the illumination sensor  142 , the optical output module  154 , the first camera  121   a  and the first manipulation unit  123   a  are disposed on the front surface of the terminal body, the second manipulation unit  123   b , the microphone  122  and the interface unit  160  are disposed on a side surface of the terminal body, and the second audio output module  152   b  and the second camera  121   b  are disposed on a rear surface of the terminal body, with reference to  FIG. 1C . 
     Here, those components may not be limited to the arrangement, but be excluded or arranged on another surface if necessary. For example, the first manipulation unit  123   a  may not be disposed on the front surface of the terminal body, and the second audio output module  152   b  may be disposed on the side surface other than the rear surface of the terminal body. 
     The display unit  151  can output information processed in the mobile terminal  100 . For example, the display unit  151  can display execution screen information of an application program driven in the mobile terminal  100  or user interface (UI) and graphic user interface (GUI) information in response to the execution screen information. The display unit  151  can include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT-LCD), an organic light emitting diode (OLED), a flexible display, a 3-dimensional (3D) display, and an e-ink display. 
     The display unit  151  can be implemented in two or more in number according to a configured aspect of the mobile terminal  100 . For instance, a plurality of the display units  151  may be arranged on one surface to be spaced apart from or integrated with each other, or may be arranged on different surfaces. The display unit  151  can include a touch sensor which senses a touch onto the display unit so as to receive a control command in a touching manner. When a touch is input to the display unit  151 , the touch sensor may be configured to sense this touch and the controller  180  can generate a control command corresponding to the touch. The content which is input in the touching manner may be a text or numerical value, or a menu item which can be indicated or designated in various modes. 
     The touch sensor may be configured in a form of film having a touch pattern. The touch sensor may be a metal wire, which is disposed between the window  151   a  and a display on a rear surface of the window  151   a  or patterned directly on the rear surface of the window  151   a . Or, the touch sensor may be integrally formed with the display. For example, the touch sensor may be disposed on a substrate of the display or within the display. The display unit  151  can form a touch screen together with the touch sensor. Here, the touch screen may serve as the user input unit  123  (see  FIG. 1A ). Therefore, the touch screen may replace at least some of functions of the first manipulation unit  123   a.    
     The first audio output module  152   a  may be implemented in the form of a receiver for transferring voice sounds to the user&#39;s ear or a loud speaker for outputting various alarm sounds or multimedia reproduction sounds. The window  151   a  of the display unit  151  can include a sound hole for emitting sounds generated from the first audio output module  152   a . Here, the present disclosure may not be limited to this. It may also be configured such that the sounds are released along an assembly gap between the structural bodies (for example, a gap between the window  151   a  and the front case  101 ). In this instance, a hole independently formed to output audio sounds may not be seen or hidden in terms of appearance, thereby further simplifying the appearance of the mobile terminal  100 . 
     The optical output module  154  may output light for indicating an event generation. Examples of the event generated in the mobile terminal  100  may include a message reception, a call signal reception, a missed call, an alarm, a schedule notice, an email reception, information reception through an application, and the like. When a user&#39;s event checking is sensed, the controller may control the optical output unit  154  to stop the output of the light. 
     The first camera  121   a  may process video frames such as still or moving images obtained by the image sensor in a video call mode or a capture mode. The processed video frames may be displayed on the display unit  151  or stored in the memory  170 . 
     The first and second manipulation units  123   a  and  123   b  are examples of the user input unit  123 , which may be manipulated by a user to input a command for controlling the operation of the mobile terminal  100 . The first and second manipulation units  123   a  and  123   b  may also be commonly referred to as a manipulating portion, and may employ any method if it is a tactile manner allowing the user to perform manipulation with a tactile feeling such as touch, push, scroll or the like. 
     The drawings are illustrated on the basis that the first manipulation unit  123   a  is a touch key, but the present disclosure is not limited to this. For example, the first manipulation unit  123   a  may be configured with a mechanical key, or a combination of a touch key and a push key. 
     The content received by the first and second manipulation units  123   a  and  123   b  may be set in various ways. For example, the first manipulation unit  123   a  may be used by the user to input a command such as menu, home key, cancel, search, or the like, and the second manipulation unit  123   b  may be used by the user to input a command, such as controlling a volume level being output from the first or second audio output module  152   a  or  152   b , switching into a touch recognition mode of the display unit  151 , or the like. 
     Further, as another example of the user input unit  123 , a rear input unit may be disposed on the rear surface of the terminal body. The rear input unit may be manipulated by a user to input a command for controlling an operation of the mobile terminal  100 . The content input may be set in various ways. For example, the rear input unit may be used by the user to input a command, such as power on/off, start, end, scroll or the like, controlling a volume level being output from the first or second audio output module  152   a  or  152   b , switching into a touch recognition mode of the display unit  151 , or the like. The rear input unit may be implemented into a form allowing a touch input, a push input or a combination thereof. 
     The rear input unit may be disposed to overlap the display unit  151  of the front surface in a thickness direction of the terminal body. As one example, the rear input unit may be disposed on an upper end portion of the rear surface of the terminal body such that a user can easily manipulate it using a forefinger when the user grabs the terminal body with one hand. However, the present disclosure may not be limited to this, and the position of the rear input unit may be changeable. 
     When the rear input unit is disposed on the rear surface of the terminal body, a new user interface may be implemented using the rear input unit. Also, the aforementioned touch screen or the rear input unit may substitute for at least part of functions of the first manipulation unit  123   a  located on the front surface of the terminal body. Accordingly, when the first manipulation unit  123   a  is not disposed on the front surface of the terminal body, the display unit  151  can be implemented to have a larger screen. 
     Further, the mobile terminal  100  may include a finger scan sensor which scans a user&#39;s fingerprint. The controller may use fingerprint information sensed by the finger scan sensor as an authentication means. The finger scan sensor may be installed in the display unit  151  or the user input unit  123 . The microphone  122  may be formed to receive the user&#39;s voice, other sounds, and the like. The microphone  122  may be provided at a plurality of places, and configured to receive stereo sounds. 
     The interface unit  160  may serve as a path allowing the mobile terminal  100  to exchange data with external devices. For example, the interface unit  160  may be at least one of a connection terminal for connecting to another device (for example, an earphone, an external speaker, or the like), a port for near field communication (for example, an Infrared Data Association (IrDA) port, a Bluetooth port, a wireless LAN port, and the like), or a power supply terminal for supplying power to the mobile terminal  100 . The interface unit  160  may be implemented in the form of a socket for accommodating an external card, such as Subscriber Identification Module (SIM), User Identity Module (UIM), or a memory card for information storage. 
     The second camera  121   b  may be further mounted to the rear surface of the terminal body. The second camera  121   b  may have an image capturing direction, which is substantially opposite to the direction of the first camera unit  121   a . The second camera  121   b  may include a plurality of lenses arranged along at least one line. The plurality of lenses may also be arranged in a matrix configuration. The cameras may be referred to as an ‘array camera.’ When the second camera  121   b  is implemented as the array camera, images may be captured in various manners using the plurality of lenses and images with better qualities may be obtained. A flash  124  may be disposed adjacent to the second camera  121   b . When an image of a subject is captured with the camera  121   b , the flash  124  may illuminate the subject. 
     The second audio output module  152   b  may further be disposed on the terminal body. The second audio output module  152   b  may implement stereophonic sound functions in conjunction with the first audio output module  152   a  (refer to  FIG. 1A ), and may be also used for implementing a speaker phone mode for call communication. At least one antenna for wireless communication may be disposed on the terminal body. The antenna may be installed in the terminal body or formed on the case. For example, an antenna which configures a part of the broadcast receiving module  111  (see  FIG. 1A ) may be retractable into the terminal body. Alternatively, an antenna may be formed in a form of film to be attached onto an inner surface of the rear cover  103  or a case including a conductive material may serve as an antenna. 
     A power supply unit  190  for supplying power to the mobile terminal  100  may be disposed on the terminal body. The power supply unit  190  may include a batter  191  which is mounted in the terminal body or detachably coupled to an outside of the terminal body. The battery  191  may receive power via a power source cable connected to the interface unit  160 . Also, the battery  191  may be (re)chargeable in a wireless manner using a wireless charger. The wireless charging may be implemented by magnetic induction or electromagnetic resonance. 
     Further, the drawing illustrates that the rear cover  103  is coupled to the rear case  102  for shielding the battery  191 , so as to prevent separation of the battery  191  and protect the battery  191  from an external impact or foreign materials. When the battery  191  is detachable from the terminal body, the rear case  103  may be detachably coupled to the rear case  102 . 
     An accessory for protecting an appearance or assisting or extending the functions of the mobile terminal  100  may further be provided on the mobile terminal  100 . As one example of the accessory, a cover or pouch for covering or accommodating at least one surface of the mobile terminal  100  may be provided. The cover or pouch may cooperate with the display unit  151  to extend the function of the mobile terminal  100 . Another example of the accessory may be a touch pen for assisting or extending a touch input onto a touch screen. 
     A mobile terminal according to an embodiment of the present disclosure can perform wireless communication with an unmanned aerial vehicle to control a function of the unmanned aerial vehicle. Here, the unmanned aerial vehicle may be an aircraft that does not use a runway, wherein various functions such as transportation of a thing, capturing an image, low-altitude reconnaissance search can be mounted on a small-sized body formed in a relatively light weight. A mobile terminal according to an embodiment of the present disclosure may form a control command for controlling the flight of the unmanned aerial vehicle, and form a control command for controlling a camera configured to capture an external environment during flight among various electronic elements mounted on the unmanned aerial vehicle. 
     Hereinafter, a control method of controlling various functions of the unmanned aerial vehicle using the mobile terminal will be described. In particular,  FIG. 2A  is a flow chart illustrating a control method of a mobile terminal according to an embodiment of the present disclosure, and  FIG. 2B  is a conceptual view illustrating the control method of  FIG. 2A . 
     Referring to  FIGS. 2A and 2B , the mobile terminal  100  performs wireless communication with an unmanned aerial vehicle  10  having a camera (S 210 ). For example, an application for controlling the unmanned aerial vehicle  10  may be provided on the mobile terminal. The touch screen  151  displays an icon of the application on a home screen page. The controller  180  executes the application based on a touch input applied to the icon, and displays a first control screen  500 . The first control screen  500  may include a first image  510  corresponding to an image being captured by the camera of the unmanned aerial vehicle  10  and a second image  520  corresponding to a region for receiving a user&#39;s touch input to form a control command. The touch screen  151  is divided into a first and a second region to display the first and the second image  510 ,  520  in each region. 
     When the application is performed, the camera of the unmanned aerial vehicle  10  is activated to capture an external environment. In other words, the controller  180  transmits a control signal for activating the camera by the execution of the application. When the unmanned aerial vehicle  10  is supported on the ground, the first image  510  may correspond to a capture screen of the ground. 
     A touch input applied to the display unit  151  is sensed (S 211 ). The posture and movement of the body is sensed when the application is executed (S 213 ). Here, the posture of the body corresponds to the placement of a terminal from a specific criteria. For example, the posture may correspond to a placement sensed by the gravity sensor (G-sensor) included in the sensing unit  140 . The operation mode of the mobile terminal is divided into a vertical mode and a horizontal mode based on the posture of the display unit  151  with respect to the direction of gravity. 
     The vertical mode corresponds to when the gravity direction is substantially the same as the length direction of the display unit  151  (or when an angle between the gravity direction and the length direction corresponds to less than a reference angle). The display direction of screen information displayed on the display unit  151  in the vertical mode is the same as the length direction of the display unit  151 . Meanwhile, the horizontal mode corresponds to when the gravity direction crosses the length direction of the display unit  151  (or when an angle between the gravity direction and the length direction of the display unit  151  is larger than a reference angle). In other words, it corresponds to when the width direction of the display unit  151  and the gravity direction are arranged in substantially the same direction. The display direction of screen information in the horizontal mode is the same as the width direction of the display unit  151 . In other words, the same screen information is displayed in different directions in the horizontal mode and vertical mode. 
     The movement is sensed by a sensing unit including the acceleration sensor, magnetic sensor, gravity sensor (G-sensor), gyroscope sensor, and the like. The sensing unit senses inclination, movement, rotation, and the like with respect to three axes perpendicular to one another defined around the center of the body. A control mode is selected based on the direction of the display unit  151  according to the posture of the body with respect to the gravity direction (S 214 ). When either one of the horizontal mode and vertical mode is activated, the sensing unit senses the movement of the body based on its activated time point to form a control command. In other words, the movement of the body which is a basis of the control command corresponds to a relative change from a time point at which a specific mode is activated. 
     When the display unit is disposed such that the gravity direction crosses the length direction of the display unit  151 , the controller  180  activates the horizontal mode and forms a flight control command based on a touch input applied to the display unit  151  and the sensed movement (S 215 ). Here, the flight control command corresponds to a control command for controlling the movement of the unmanned aerial vehicle. 
     Referring to  FIG. 2B , when an angle change of the body is sensed based on the movement of an end portion of the body when the mobile terminal is in a vertical mode while executing the application, the controller  180  forms a first flight control command of controlling flight for increasing the altitude of the unmanned aerial vehicle  10  (S 215 ). 
     When the flight control command is formed, the controller  180  controls the wireless communication unit  110  to transmit the flight control command to the unmanned aerial vehicle  10 . As illustrated in the drawing, upon receiving the first flight control command, the unmanned aerial vehicle  10  flies to be elevated from the ground. Furthermore, upon receiving image information captured from the camera of the unmanned aerial vehicle  10  controlled by the first flight control command, the display unit  151  displays first image  510  corresponding to the image information in the first region. Furthermore, the second region of the display unit  151  receives a touch input for forming and changing the flight control command. Furthermore, the display unit  151  can display a guide coordinate for guiding a touch input for forming the flight control command in the second region. 
     Further, when a movement corresponding to the flight control command is continuously sensed, the controller  180  controls a mode change according to the rotation of the body. The controller  180  activates a horizontal mode when the gravity direction is substantially the same as the width direction of the display unit  151  or an angle therebetween is less than a preset reference angle. In other words, when the body is disposed such that the gravity direction is in parallel with the width direction of the display unit  151 , the flight control command and capture control command are formed based on a touch input applied to the display unit  151  and the movement of the body (S 216 ). 
     In other words, the flight control command and the capture control command can be formed at the same time based on a distinguished user input (and the movement of the body) in the horizontal mode. The capture control command controls a capture range, a capture angle, and the like of the camera of the unmanned aerial vehicle  10 . Furthermore, the flight of the unmanned aerial vehicle  10  for changing the capture range may be controlled based on the capture control command. 
     Flight control commands formed in the vertical mode and the horizontal mode can be formed by different methods and information included in the flight control commands may be distinguished from each other. This will be described in detail with reference to  FIG. 2B . The controller  180  controls the wireless communication unit  110  to transmit at least one of the formed flight control command and the capture control command to the unmanned aerial vehicle  10  (S 217 ). 
     Referring to  FIG. 2B , the display unit  151  can display a capture image  610  captured and transmitted in real time by the camera of the unmanned aerial vehicle  10  in the horizontal mode. The display direction of the capture image corresponds to a width direction thereof. For example, when a touch input (multi-touch) is applied to two different regions of the display unit  151  at the same time in the horizontal mode, the controller  180  forms a capture control command for changing a capture range captured by the camera. The unmanned aerial vehicle  10  that has received the capture control command can control the flight of the unmanned aerial vehicle  10  and the camera to include a user of the mobile terminal in the capture range of the camera. 
     Specifically, when the first capture image  610  in which the user is not included is displayed on the display unit  151 , a focus-me mode for capturing the user based on the multi-touch input is activated. In the focus-me mode, the unmanned aerial vehicle  10  is controlled to search the location of the user of the mobile terminal so as to capture the user by the camera. In other words, the camera is controlled to be located adjacent to the location of the mobile terminal to include the location of the mobile terminal in the capture range of the camera. 
     For example, when the focus-me mode is activated, the mobile terminal can transmit information on the location of the mobile terminal along with the capture control command. In order to capture an external device (mobile terminal) connected thereto in a wireless manner based on the capture control command in the focus-me mode, the unmanned aerial vehicle  10  rotates such that the camera faces the external device. Otherwise, when the focus-me mode is activated, the controller  180  can control the unmanned aerial vehicle  10  to rotate until sensing the user by the camera and adjust the capture range of the camera. 
     The location of the unmanned aerial vehicle  10  can be controlled to capture the user with only the rotation of the unmanned aerial vehicle  10  and angle adjustment of the camera without changing the location of the unmanned aerial vehicle  10  in the focus-me mode. When switched to the focus-me mode, the display unit  151  switches a first capture image  610  that has captured the user&#39;s surrounding environment to a second capture image  620  including the user as a subject. 
     In addition, the controller  180  controls the camera to continuously capture the user even when moved by a flight control command additionally received at the unmanned aerial vehicle  10  while the focus-me mode is performed. For example, when the unmanned aerial vehicle flies around another object based on an additional flight control command in the focus-me mode, the unmanned aerial vehicle is controlled to rotate with respect to an inner axis to capture the user. 
     In addition, the controller  180  releases the focus-me mode and activates a surrounding mode when a touch (multi-touch) input is applied again to two different regions at the same time while the focus-me mode is activated, and forms a control command for capturing the user&#39;s surrounding environment. The surrounding mode can be preset to capture a region at which the user looks. In the surrounding mode, the unmanned aerial vehicle  10  can rotate and move such that the camera is disposed away from the mobile terminal. Here, being disposed away denotes being disposed in an opposite direction to the mobile terminal contrary to being disposed toward the mobile terminal in the focus-me mode. 
     Further, the display unit  151  can display a first icon  611  for activating the focus-me mode on the first capture image  610 , and display a second icon  612  for activating the surrounding mode on the second capture image  620 . The controller  180  can activate the focus-me mode and the surrounding mode based on a touch applied to the first and the second icon  611 ,  612  to form the resultant capture control command and flight control command. 
     According to the present embodiment, the display unit  151  can be disposed in a horizontal or vertical direction through the rotation of the mobile terminal to activate a different control mode, and form a different control command transmitted to the unmanned aerial vehicle based on the different control mode. The controller  180  forms a control command for moving the unmanned aerial vehicle in a direction corresponding to the movement direction of the body. Hereinafter, a control method of controlling flight in response to the movement of the body will be described. 
       FIG. 3A  is a conceptual view illustrating the movement of a mobile terminal forming a flight control command, and  FIG. 3B  is a conceptual view illustrating the movement of a mobile terminal for controlling an unmanned aerial vehicle, and  FIG. 3C  is a conceptual view illustrating the flight of an unmanned aerial vehicle corresponding to the movement of a mobile terminal illustrated in  FIG. 3C . 
     Referring to  FIGS. 3A and 3B , when the movement of the body is sensed when a touch input is applied to the display unit  151  in the vertical mode, a flight control command based on the movement is formed. When a touch input applied to the display unit  151  is released, the controller  180  does not form the flight control command for controlling the moving direction of the unmanned aerial vehicle. However, when the movement is sensed when a touch input is not applied to the display unit  151 , the controller  180  can form a control command for moving the unmanned aerial vehicle in a height direction. 
     Referring to  FIGS. 3B and 3C , when the body is inclined to the left with respect to the Z-axis, the body portion of the unmanned aerial vehicle moves in a first direction (D 1 ) while being inclined to the left with respect to the Z-axis. The moving speed of the unmanned aerial vehicle increases as the inclined degree of the body increases. In other words, the controller  180  forms a flight control command including acceleration information corresponding to the inclined degree of the body. The controller  180  continuously transmits a control command including the acceleration information to the unmanned aerial vehicle while maintaining the inclination of the body. In other words, the control command may include information on the moving direction and the size of acceleration in which the unmanned aerial vehicle is to be moved. In other words, the speed of the unmanned aerial vehicle continuously increases while maintaining a state that the body of the mobile terminal is inclined. 
     For example, when the body maintains the same inclination, the moving speed of the unmanned aerial vehicle continuously increases with the same rate. When the inclination of the terminal body is not sensed, the controller  180  does not form a flight control command including the acceleration. In other words, the unmanned aerial vehicle maintains the previous movement since a flight control command including acceleration information is not received. The unmanned aerial vehicle flying at a specific speed continuously maintains flight at the same speed. On the contrary, when the body is inclined to the right with respect to the Z-axis, the body portion of the unmanned aerial vehicle is also inclined to the right with respect to the Z-axis to move in a second direction (D 2 ) opposite to the first direction (D 1 ). 
     When an upper end portion is inclined downward with respect to the X-axis, the unmanned aerial vehicle moves in a third direction (D 3 ) in the state of being inclined with respect to the X-axis. Furthermore, when the body is inclined in an opposite direction with respect to the X-axis, the unmanned aerial vehicle moves along a fourth direction (D 4 ) opposite to the third direction (D 3 ) in the state of being inclined in an opposite direction with respect to the X-axis. 
     In other words, the unmanned aerial vehicle is inclined in the same direction as the inclined direction of the mobile terminal body to move in the inclined direction. Furthermore, when the inclined state of the mobile terminal is restored, the speed of the unmanned aerial vehicle  10  gradually decreases due to a resistance of the air since acceleration is not produced by the propulsion of the unmanned aerial vehicle. 
     According to an embodiment of the present disclosure, the unmanned aerial vehicle may be more intuitively controlled since it is controlled to move similarly to the inclination of the mobile terminal body. Hereinafter, a control method of controlling an unmanned aerial vehicle using a mobile terminal will be described using various embodiments. 
       FIGS. 4A through 4C  are conceptual views illustrating a control method of a mobile terminal for controlling an unmanned aerial vehicle in a vertical mode according to an embodiment. Referring to  FIGS. 4A and 4B , the display unit  151  displays an icon corresponding to an application for controlling the unmanned aerial vehicle. The controller  180  executes an application based on a touch input applied to the icon and displays first screen information  500  which is an execution screen thereof. The first screen information  500  displays first image  510  captured by the camera of the unmanned aerial vehicle  10  in a first region of the display unit  151 . A second region of the display unit  151  receives a user&#39;s touch input. A second image  520  may be displayed in the second region. 
     A flight control command for controlling the altitude of the unmanned aerial vehicle  10  may be formed based on a control command applied to the user input unit  123   b  when the application is performed. For example, when the application is not performed, the user input unit  123   b  may be implemented with a control module for adjusting the volume of a sound output by the audio output unit or changing a notification mode. The controller  180  forms a flight control command for increasing the altitude of the unmanned aerial vehicle  10  based on a control command applied to the user input unit  123   b.    
     The flight control command may include flight direction and acceleration information for increasing altitude. When a control command applied to the user input unit is released, the unmanned aerial vehicle may gradually decreases an altitude increase speed. The camera of the unmanned aerial vehicle  10  transmits a capture image captured while being moved in real time to the mobile terminal. The controller  180  controls the display unit  151  to continuously display a third image  511  corresponding to the received capture image in the first region. 
     The user can sense the movement of the unmanned aerial vehicle  10  while applying a touch input for moving the unmanned aerial vehicle to the mobile terminal through a capture image displayed in the first region. When a touch is applied to the second region, the display unit  151  displays a guide image  521  for guiding the shape of a control command by the touch. The guide image  521  may include at least one axis to indicate an inclination of the mobile terminal and the movement of the unmanned aerial vehicle  10  corresponding thereto with respect to a specific center. 
     The guide image  521  may be controlled to disappear when a touch applied to the display unit  151  is released, but is not limited to this. The guide image  521  may be continuously displayed while an application for controlling the unmanned aerial vehicle  10  is performed or when the unmanned aerial vehicle  10  maintains an altitude above a specific reference value based on the user&#39;s setting. 
     As illustrated in the drawing, the guide image  521  may be comprised with an X-axis and a Y-axis crossing each other. Furthermore, the controller  180  can form a flight control command for controlling the altitude of the unmanned aerial vehicle  10  based on a touch input applied to the second region. For example, when an upper end of the body is inclined upward when a touch input is applied to the second region, the controller  180  forms a flight control command for increasing the altitude of the unmanned aerial vehicle  10 . In this instance, when the touch input is continuously applied, the controller  180  controls the wireless communication unit  110  to transmit a flight control command for continuously increasing the altitude of the unmanned aerial vehicle  10  to the unmanned aerial vehicle  10 . 
     Referring to  FIG. 4B , when a touch input is consecutively applied from a touch initially applied to the second region of the display unit  151 , a flight control command for controlling the altitude of the unmanned aerial vehicle  10  may be formed according to the direction of the touch input. Here, the touch input corresponds to a dragging type touch input, and an acceleration at which the unmanned aerial vehicle  10  moves may be controlled based on a touch range of the drag touch input. Furthermore, a flight control command for moving the unmanned aerial vehicle  10  may be formed to increase or decrease the altitude based on the drag moving direction. 
     For example, when a dragging touch input applied in a downward direction of the display unit  151  is applied when the altitude of the unmanned aerial vehicle  10  increases at a specific speed, an acceleration (force) in the direction of facing the ground is applied to the unmanned aerial vehicle  10  to gradually decrease the speed of the unmanned aerial vehicle  10  moving away from the ground. Otherwise, when the body moves along a y-axis direction while a touch is applied to the display unit  151 , the controller  180  forms a flight control command for increasing the altitude of the unmanned aerial vehicle  10 . 
     Further, when the inclination of the mobile terminal body  10  is sensed, the controller  180  forms a flight control command based on this. Referring to  FIG. 4A , when the mobile terminal is inclined to the left, the display unit  151  displays a guide image  522  indicating the inclined direction and inclined angle in the second region. Furthermore, the controller  180  controls the wireless communication unit  110  to form a flight control command based on this to transmit it to the unmanned aerial vehicle  10 . In this instance, the unmanned aerial vehicle  10  moves in the left direction at an acceleration corresponding to about 30 degrees. A third image  511  captured from the camera of the unmanned aerial vehicle  10  is displayed in the first region. 
     According to the present embodiment, the user can control an altitude change of the unmanned aerial vehicle, and change the moving speed based on a control command applied to the user input unit, and a touch input applied to the display unit  151 . Furthermore, a current speed may be displayed while the unmanned aerial vehicle flies, thereby allowing the user to know the flight status of the unmanned aerial vehicle. 
     Referring to  FIG. 4C , the display unit  151  displays first screen information  500  including a third image  511  displayed in the first region and a guide image  521  displayed in the second region. The controller  180  can change the first screen information  500  based on a preset type of touch input applied to the display unit  151 . 
     For example, the third image  511  is displayed as a whole on the display unit based on a dragging type (or flicking type) of touch input initially applied to a boundary between the first and the second region and released from the second region. The third image  511  displayed in the first region may be enlarged and displayed as a whole on the display unit  151 . Otherwise, the display unit  151  can include the third image  511 , and display an image captured at a larger viewing angle. 
     In more detail, when a touch applied in an opposite direction to the dragging type of touch input is applied to the display unit  151 , the controller  180  can control the display unit  151  to be divided into the first and the second region again and display the third image  511  in the first region. The display unit  151  can display the guide image  521  on the third image  511  in an overlapping manner. The guide image  521  may be deformed to indicate the inclination of the body of the mobile terminal  100  and the resultant the inclination and flight direction of the unmanned aerial vehicle  10 . 
     Furthermore, the display unit  151  can further display an origin icon  522  on the third image  511 . The controller  180  can form a flight control command for maintaining the horizontal position of the unmanned aerial vehicle  10  and stopping the movement thereof in one direction. Accordingly, the user can control the flight of the unmanned aerial vehicle  10  without inclining the body again in a horizontal position. 
     Furthermore, the controller  180  can set the inclination of the body when a touch input is applied to the origin icon  522  to a reference. The controller  180  can sense an inclination change subsequent to being applied to the origin icon  522  to form the flight control command. The unmanned aerial vehicle  10  moves in the state of being inclined to correspond to the inclination of the body based on the flight control command, and an image captured by the camera of the unmanned aerial vehicle  10  is also captured in the state of being inclined with respect to the ground according to the inclined degree of the unmanned aerial vehicle  10 . 
     However, the controller  180  can form a capture control command for allowing the capture range of the camera to be inclined in an opposite direction to the inclined direction of the unmanned aerial vehicle  10  along with the flight control command. In this instance, the display unit  151  can display an image captured in a substantially horizontal state to the ground. Otherwise, the controller  180  can rotate and process an image captured from the camera of the unmanned aerial vehicle  10  in an opposite direction to the inclined angle of the body using the flight control command, and control the display unit  151  to display it. 
       FIGS. 5A through 5D  are conceptual views illustrating a control method of controlling the flight of an unmanned aerial vehicle in a vertical mode. A control method of adjusting a flight speed of the unmanned aerial vehicle based on a touch input will be described with reference to  FIG. 5A . In order to control the flight of the unmanned aerial vehicle  10 , the controller  180  allows the display unit  151  to display first screen information  500  which is an execution screen of the application in the vertical mode, and the first screen information  500  may include a first image  510  captured by the camera of the unmanned aerial vehicle  10  and a second image  520  for receiving a touch input. 
     While a first touch is applied to the second image  520  of the first screen information  500 , the controller  180  forms a flight control command based on the movement of the body sensed by the sensing unit. The wireless communication unit transmits the formed flight control command in real time to the unmanned aerial vehicle  10 . When the unmanned aerial vehicle  10  is rotated and inclined with respect to the z-axis, the unmanned aerial vehicle  10  flies in an inclined state based on the inclined angle and direction. 
     When the flight control command is transmitted and then the body rotates in an opposite direction with respect to the z-axis to restore the inclination to an original state, the flight speed of the unmanned aerial vehicle  10  gradually decreases. When a second touch is applied to another region of the display unit  151  while applying the first touch, the controller  180  forms a flight control command for controlling the flight speed of the unmanned aerial vehicle  10  based on the second touch. 
     The second touch may be applied to one region of the display unit  151 , and may not be necessarily limited to the second region, and the second touch may correspond to a consecutive touch input having a touch range. For example, the second touch may correspond to a dragging type of touch input. When the second touch is applied, the display unit  151  displays a speed control image  530 . The speed control image  530  may be formed in the shape of being extended in one direction, and said one direction may correspond to a length direction of the display unit  151 , but is not limited to this. The speed control image  530  may be formed in a consecutive bar shape or formed in a plurality of images arranged in one direction. 
     The controller  180  allows a region to which the second touch is initially applied to correspond to a current speed, and forms a flight control command including speed change information corresponding to a touch range being away from the initially applied region. The speed change increases as being away from the initial touch position. Furthermore, the flight control command may include the direction information of the unmanned aerial vehicle  10  based on the moving direction of the second touch. When the second touch is applied in one direction on the speed control image  530 , the controller  180  forms a flight control command for increasing a speed while maintaining a current flight direction of the unmanned aerial vehicle  10 . On the contrary, when the second touch is applied in an opposite direction to the one direction, the controller  180  can form a flight control command for decreasing a current flight speed of the unmanned aerial vehicle  10 . In this instance, a flight control command for allowing the unmanned aerial vehicle  10  to fly in an opposite direction may be formed as increasing a touch range of the second touch. 
     Alternatively, when the second touch moves in an opposite direction of the one direction, a flight control command for allowing the unmanned aerial vehicle  10  to fly at a speed corresponding to the touch range of the second touch in an opposite direction to the current flight direction of the unmanned aerial vehicle  10 . In other words, a control command for controlling a forward speed when the second touch moves in an upward direction of the display unit  151  from an initial touch position of the second touch, and controlling a backward speed when the second touch moves in a downward direction of the display unit  151  from an initial touch position of the second touch is formed. 
     Accordingly, it is possible to switch the direction of the unmanned aerial vehicle without inclining the body. 
     The display unit  151  modifies the speed control image  530  based on a touch range from an initial touch position of the second touch. When the speed control image  530  is formed with a plurality of images, part of the plurality of images to which the second touch is applied may be modified. When the second touch is released, the controller  180  controls the display unit  151  to display speed information  531  indicating the flight speed of the unmanned aerial vehicle  10  by the formed flight control command. The speed information  531  may be displayed in a region adjacent to the speed control image  530 , and the controller  180  controls the display unit  151  to allow the speed control image  530  and the speed information  531  to disappear if the second touch is not applied for a preset period of time. 
     The controller  180  can adjust the speed of the unmanned aerial vehicle  10  based on the inclination degree of the body or determine the flight direction of the unmanned aerial vehicle  10  according to the inclination direction of the body and control the speed of the unmanned aerial vehicle based on a touch input applied to the display unit  151 . 
     A control method of controlling the altitude of the unmanned aerial vehicle using a user input unit will be described with reference to  FIG. 5B . The controller  180  can forms a flight control command for increasing or decreasing the altitude of the unmanned aerial vehicle  10  based on a control command applied to the user input unit  123   b  while executing the application. A control signal for adjusting the volume of a sound signal being output, changing a notification mode or the like may be formed based on a control command applied to the user input unit  123   b  when the application is not performed. For example, the user input unit may be configured with a pair of press switches formed to be pressed by an external force. 
     The controller  180  forms a flight control command for increasing or decreasing the altitude of the unmanned aerial vehicle  10  when an external force is applied to either one of the pair of press switches, and forms a flight control command for increasing the altitude when a press switch disposed at an upper portion with respect to the display unit  151  is pressed. 
     A variation of the altitude increases to correspond to a time for which the press switch is pressed. When one of the press switches is continuously pressed, the controller  180  can continuously transmit a flight control command for increasing the altitude to the unmanned aerial vehicle  10  or transmit a flight control command including an altitude change corresponding to the specific period of time to the unmanned aerial vehicle  10  when the press switch is pressed for a specific period of time and then the pressure is released. 
     However, a region formed with the user input unit  123   b  may not be necessarily limited to the drawing of  FIG. 5B . A user input unit for changing the altitude of the unmanned aerial vehicle  10  may be implemented by a rear key disposed on a rear surface of the body of the mobile terminal  100 . 
     The display unit  151  can display an altitude control image  533  corresponding to a period for which the user input unit  123   b  is pressed. The shape of the altitude control image  533  may be modified to correspond to a period of time for which the user input unit  123   b  is pressed. Furthermore, the display unit  151  can display the altitude information  534  of the unmanned aerial vehicle  10  controlled based on a flight control command by the user input unit  123   b . The controller  180  can control the display unit  151  to allow the altitude information  534  and the altitude control image  533  to disappear unless a control command is applied to the user input unit  123   b  for a preset period of time. 
     A control method of controlling the rotation of a drone will be described with reference to  FIGS. 5C and 5D . A flight control command for changing the altitude of the unmanned aerial vehicle  10  is formed when the body is rotated and inclined with respect to the x-axis, a flight control command for moving the unmanned aerial vehicle  10  in a specific direction is formed when the body is rotated and inclined with respect to the z-axis. The x-axis corresponds to a width direction of the display unit  151 , and the z-axis corresponds to a length direction of the display unit  151 . 
     According to the present embodiment, when the body is rotated and inclined with respect to the y-axis, a flight control command for controlling the rotation of the unmanned aerial vehicle  10  is formed. Even in this instance, the controller  180  can sense the rotation while a touch is applied to the display unit  151  to form the flight control command. 
     The controller  180  forms a flight control command for rotating the unmanned aerial vehicle  10  by a rotation angle with respect to the y-axis. The y-axis corresponds to a direction perpendicular to a front (or rear) surface of the display unit  151 . Further, when the body maintains the rotated state of the body at an angle which is greater than a preset reference angle (for example, about 60 degrees) but less than about 90 degrees in a state prior to the rotation of the body, a flight control command for continuously rotating the unmanned aerial vehicle  10  is transmitted while a touch is applied to the display unit  151 . The flight control command is continuously transmitted while the touch is maintained, and thus the unmanned aerial vehicle  10  is continuously rotated in the same direction until releasing the touch. 
     A capture range of the camera mounted in a region of the unmanned aerial vehicle  10  may be changed based on the flight control command. Further, when the mobile terminal rotates above about 90 degrees, a horizontal mode in which the display direction of screen information displayed on the display unit  151  is implemented in a width direction. Hereinafter, a specific control method for controlling the unmanned aerial vehicle in a horizontal mode will be described. 
       FIGS. 6A through 6D  are conceptual view illustrating a control method for controlling the unmanned aerial vehicle in a horizontal mode. The controller  180  controls the display unit  151  to display a fourth image  650  captured by the camera of the unmanned aerial vehicle  10  in the horizontal mode. The display unit  151  can receive a touch input for forming a control command for controlling the unmanned aerial vehicle on the entire region thereof. 
     Referring to  FIG. 6A , the controller  180  forms a capture control command for controlling the camera of the unmanned aerial vehicle  10  based on a touch input applied to the display unit  151  in the horizontal mode. For example, when a consecutive touch input moving in a specific direction is applied to the display unit  151 , the capture control command is formed to change a capture range in response to the specific direction. The camera pan is controlled to change a capture angle in response to the direction of the touch based on the capture control command. 
     For example, the controller  180  forms the capture control command to move the capture range of the camera to a left region by a dragging type of touch input applied in the left direction of the display unit  151 . Accordingly, the user can capture the left region of a subject displayed on a currently displayed image. On the contrary, the controller  180  forms a capture control command for controlling the camera to display a right region of the currently displayed fourth image  650  based on a dragging type of touch input applied to the left direction when the fourth image  650  is displayed. 
     Alternatively, the controller  180  can form a flight control command to move the unmanned aerial vehicle  10  in order to change the capture range based on a touch input applied to the fourth image  650 . According to the present embodiment, the user can change a capture range of the camera to acquire his or her desired image based on a touch input applied to the display unit  151  in a horizontal mode. 
     Referring to  FIG. 6B , an object contained in the fourth image  650  may be selected based on the touch input. Here, the touch input may distinguish a plurality of objects with respect to a plurality of subjects contained in a capture image captured by the camera, transmit subject-related information corresponding to an object  651  selected by a touch input applied to the display unit  151  or search prestored related information. 
     The related information may correspond to the location information of a subject, a size of the subject, a type of the subject, and the like. When the subject is a specific building, a location, a width, a height of the building, a type of the building, a use of the building or the like may be received from a specific server. The display unit  151  can display an object  651  selected based on the touch input. For example, it is possible to display a boundary region of the object may be displayed, change the color thereof, adjust the brightness thereof, and highlight the object using various methods. 
     The controller  180  forms a flight control command for flying around a subject of the selected object using information on the subject to transmit it to the unmanned aerial vehicle  10 . The camera of the unmanned aerial vehicle  10  may capture an image while flying around the subject. According to the present embodiment, the user can not need to individually instruct a control command for flight into a surrounding region of the subject when a specific subject is desired to be captured in various angles. 
     Referring to  FIG. 6C , when information on a subject corresponding to a specific object selected on the fourth image  650  is collected, the controller  180  forms path information for allowing the subject to fly a surrounding region of the subject. The display unit  151  displays a path image  652  corresponding to the path information. The path image  652  is formed to overlap with the selected object. 
     The controller  180  can change the path based on a touch applied to the path image  652 . For example, a larger path (i.e., a path flying in the state of being away from the subject) around the subject may be set based on a dragging type of touch input applied to the path image  652 . The controller  180  changes the path image  652  based on a touch input applied to the path image  652 , and forms a flight control command corresponding to the path image  652 . 
     The controller  180  can transmit the flight control command to the unmanned aerial vehicle  10  to control the unmanned aerial vehicle  10  to fly a surrounding region of the subject. Though a circular path flying around the subject is illustrated on the drawing, the flying path of the unmanned aerial vehicle is not limited to this. For example, the controller  180  can further set an additional path based on a touch input applied to the display unit  151  or form the flight control command to move on a linear flight path other than a circular path. 
     In more detail, a flight control command controlled to fly around the subject may include a control command for controlling the rotation of the unmanned aerial vehicle to allow the camera of the unmanned aerial vehicle  10  to always capture the selected subject as well as a flight path. According to the present embodiment, the user can receive an image or video in which the selected subject is captured in various regions. 
     Referring to  FIG. 6D , the controller  180  can set a flight path of the unmanned aerial vehicle  10  based on a specific movement of the body  10  of the mobile terminal. For example, when it is determined that the movement of the body  10  sensed by the sensing unit matches a preset control gesture, the controller  180  can form a flight control command corresponding to the control gesture, and the flight control command may correspond to a specific flight path. 
     For example, when the body of the mobile terminal moves on a circular flight path, the controller  180  forms a flight control command for rotating around a specific position. The display unit  151  can display an image for selecting an object to be centered on the display unit  151  subsequent to forming the flight control command. The image corresponds to a capture image currently captured by the camera of the unmanned aerial vehicle  10 . 
     Alternatively, when a specific object is selected and then the specific gesture is sensed on the image, the controller  180  can control the wireless communication unit to transmit the flight control command to the unmanned aerial vehicle. The flight control command may include various information flying around the subject. For example, various information may include a rotating speed, a rotation direction, a distance from the subject, and the like. 
     However, the controller  180  can sense the movement of the mobile terminal body in real time to transmit a flight control command corresponding thereto to the unmanned aerial vehicle in real time. Accordingly, the flight control command may be formed based on the rotation speed and direction of the body. According to the present embodiment, the user can check a flight path of the unmanned aerial vehicle in real time to fly on his or her desired region. 
       FIGS. 7A through 7E  are conceptual views illustrating a control method of forming a flight control command and a capture control command in a horizontal mode. Referring to  FIG. 7A , the display unit  151  displays a capture image  610  captured by the unmanned aerial vehicle  10  in a horizontal mode, and a display direction of the capture image  610  is substantially the same as a width direction thereof. 
     The display unit  151  displays the first icon  611  along with the capture image  610 . A focus-me mode is performed based on a touch input applied to the first icon  611 . Accordingly, the controller  180  forms a flight control command for rotating (moving) the unmanned aerial vehicle  10  in a direction in which the camera of the unmanned aerial vehicle  10  captures the user. When the unmanned aerial vehicle  10  rotates to capture the user of the mobile terminal  100 , the display unit  151  displays a second icon  612  along with the capture image. The second icon corresponds to a surrounding mode in which the surrounding region of the user of the mobile terminal is captured. The first icon  611  or the second icon  612  may be displayed at an upper left end of the display unit  151 . 
     The focus-me mode may be activated when the first icon  611  is displayed, and the surrounding mode may be activated while displaying the second icon  612  when a touch is applied to the first icon  611 . In other words, information on a mode status displayed on the icon may be identical to an active mode. The first and the second icon  611 ,  612  may be selectively displayed by a touch to form a toggle key for switching the focus-me mode and surrounding mode. The display unit  151  can display information (for example, text “sight” or “focus me”) associated with a currently active mode may be displayed on the toggle key. 
     The camera of the unmanned aerial vehicle  10  may capture a surrounding environment in a direction at which the user looks in the focus-me mode, and capture a surrounding environment around the user of the mobile terminal  100  when a touch is applied to the first icon  611  or the second icon  612 . Further, the display unit  151  displays a third icon  613  corresponding to a flight control command for controlling the rotation of the unmanned aerial vehicle  10  along with the capture image  610 . The third icon  613  may be displayed along with the first icon  611  or the second icon  612 , and disposed at an upper right end of the display unit  151 . 
     The third icon  613  relates to the rotation of the unmanned aerial vehicle  10 , and may include a first and a second graphic image  613   a ,  613   b . When a touch input is applied to the first graphic object  613   a , the controller  180  forms a flight control command for rotating the unmanned aerial vehicle  10  in a clockwise direction around an inner axis, and when a touch input is applied to the second graphic image  613   b , the controller  180  forms a flight control command for rotating the unmanned aerial vehicle  10  in a counter-clockwise direction around an inner axis. When a touch input is applied to either one of the first and the second graphic image  613   a ,  613   b , the display unit  151  can modify it. 
     The display unit  151  can divide a region configured to receive a touch input into a first and a second control region in order to control a flight control command and a capture control command in an independent manner. For example, the display unit  151  can be partitioned into three control regions, and may include a first control region (A 1 ) corresponding to the center thereof, a second control region (A 2 ) corresponding to the left side thereof, and a third control region (A 3 ) corresponding to the right side thereof. The display unit  151  forms a different control command based on a touch input applied to each control region. The first through the third control region (A 1 , A 2 , A 3 ) may not be displayed on the display unit  151 , and a user&#39;s touch input is applied to the capture image  610  displayed as a whole on the display unit  151 . 
     The controller  180  forms a capture control command for controlling the camera based on a touch applied to the first control region (A 1 ). Here, the touch may correspond to a dragging type of touch input. For example, the controller  180  controls a horizontal capture range (pan) of the camera based on a touch applied to the display unit  151  in a horizontal direction. Furthermore, the controller  180  controls a tilting degree and direction of the camera based on a touch applied to the display unit  151  in a vertical direction. In this instance, the flight and rotation of the unmanned aerial vehicle  10  may not be controlled, and the wireless communication unit  110  of the mobile terminal  100  may transmit image information captured in real time based on a variation of the changed capture range. 
     However, the limit of panning and tilting of the camera is set by a type of camera mounted on the unmanned aerial vehicle  10 , and even when a capture control command controlled above the control limit is transmitted, the same image is displayed without changing the capture range. In this instance, the unmanned aerial vehicle may transmit warning information corresponding to the capture control command to the mobile terminal, and the display unit  151  can display the warning information. 
     Further, a flight control command of the unmanned aerial vehicle  10  is formed based on a touch applied to the second and the third control region (A 2 , A 3 ). The controller  180  forms a control command for the moving direction of the unmanned aerial vehicle  10  based on a touch applied to the second region (A 2 ), and forms a control command for the moving speed of the unmanned aerial vehicle  10  based on a touch applied to the third control command (A 3 ). 
     The controller  180  sets the flight direction according to a touch direction moving with respect to a touch position initially applied to the second region (A 2 ). For example, a flight control command for moving the unmanned aerial vehicle  10  in a direction being away from the user is formed based on a touch input moving upward on the display unit  151  in a horizontal mode from an initial touch position. 
     The controller  180  sets the speed of the unmanned aerial vehicle  10  based on a range of touch applied to the third control command (A 3 ). Furthermore, the controller  180  can form a flight control command for changing the altitude of the unmanned aerial vehicle  10  based on a control command applied to the user input unit  123   b . However, when the horizontal mode is activated, the controller  180  sets a variation of the altitude due to the user input unit  123   b  to be less than that of the altitude due to the user input unit  123   b  in the vertical mode. For example, an altitude variation rate based on a control command applied to the user input unit  123   b  may be set to about 10 cm/s. 
     In other words, the user can adjust the altitude of the unmanned aerial vehicle  10  in a finer manner in the horizontal mode. According to the present embodiment, the controller  180  can control the flight of the unmanned aerial vehicle and the capturing of the camera based on a touch input applied to each region on the display unit  151 . The user can set a direction or control a speed through a touch input in the horizontal mode, and thus control a more accurate flight in the vertical mode. 
       FIG. 7B  is a conceptual view illustrating a control method according to another embodiment. The control method of forming a control command is substantially the same as the control method of  FIG. 7A  excluding an image displayed in the first through the third control region (A 1 , A 2 , A 3 ), and thus the redundant description thereof will be omitted. 
     The display unit  151  display the capture image  610  on only the first region (A 1 ). An image is not displayed or only a preset image is displayed in the second and the third control region (A 2 , A 3 ). The first icon  611  is displayed on the second region (A 2 ), and the third icon  613  is displayed on the third control region (A 3 ). The controller  180  can control the display unit  151  to display only part of the captured capture image on the first region (A 1 ). According to the present embodiment, control regions forming different control commands may be divided based on a capture image  610  displayed only in the first region (A 1 ). 
     A control command according to another embodiment will be described with reference to  FIG. 7C . The remaining constituent elements excluding a control method based on a touch applied to the third control region (A 3 ) are substantially the same as, and thus the redundant description thereof will be omitted. The controller  180  can form a different flight control command based on a pattern of touch applied to the third control region (A 3 ). The controller  180  can form a flight control command for controlling the flight speed of the unmanned aerial vehicle  10  based on a touch applied in one direction. 
     Further, when a circular touch pattern applied to the third control region (A 3 ) is sensed, the controller  180  forms a flight control command for rotating the unmanned aerial vehicle  10 . The controller  180  forms a flight control command including rotation direction information to rotate the unmanned aerial vehicle  10  in a clockwise direction or counter-clockwise direction based on the direction of the circular touch pattern. The unmanned aerial vehicle  10  rotates to correspond to the direction of a circular touch pattern based on the flight control command. The display unit  151  can modify the first graphic image  613   a  or the second graphic image  613   b  of the third icon  613  based on the direction of the touch pattern. Otherwise, the display unit  151  according to the present embodiment may omit the display of the third icon  613 . 
     A control method of forming a flight control command based on adaptation timing information and the movement of the body will be described with reference to  FIGS. 7D and 7E . While an application for controlling the unmanned aerial vehicle  10  is performed, the controller  180  can form the flight control command based on a touch input applied to a specific region on the display unit  151  and the movement of the body sensed by the sensing unit. 
     The controller  180  forms a flight control command for moving the unmanned aerial vehicle  10  toward the user based on a touch input applied to the first region (A 1 ) to move in a downward direction of the display unit  151  in the horizontal mode. When the unmanned aerial vehicle  10  moves in a specific direction, the body of the unmanned aerial vehicle  10  is inclined in a moving direction. Furthermore, the speed of the unmanned aerial vehicle  10  may be controlled based on the direction of a touch input applied to the second region (A 2 ). 
     Further, the controller  180  controls the sensing unit to sense the movement of the body when a touch is applied to the second and the third control region (A 2 , A 3 ) at the same time. When the movement of the body is sensed by the sensing unit, the controller  180  forms a flight control command of the mobile terminal  100  based thereon. For example, when an upper end portion of the body being inclined to be close to the user in the horizontal mode is sensed by the sensing unit, the controller  180  can set a flight direction to allow the unmanned aerial vehicle  10  to be closer to the user. Furthermore, the controller  180  can set the flight speed based on the inclined degree, and change the flight speed based on a touch applied to the third control region (A 3 ). 
     When a touch applied to either one of the second and the third control region (A 2 , A 3 ) is released, the controller  180  does not form a control command due to the movement. In this instance, the unmanned aerial vehicle  10  no more receives a flight control command, and gradually decreases the flight speed and comes to a stop. According to the present embodiment, the user can form a flight control command suing a touch input or using the movement of the body in the horizontal mode. 
       FIGS. 8A and 8B  are conceptual views illustrating a control method for controlling a camera of an unmanned aerial vehicle. Referring to  FIG. 8A , the display unit  151  is partitioned into the first through the third control region (A 1 , A 2 , A 3 ). The function of the first through the third control region (A 1 , A 2 , A 3 ) is substantially the same as that of  FIG. 7A , and thus the redundant description thereof will be omitted. 
     The controller  180  can control the function of the camera based on a touch applied to the first region (A 1 ). A capture range of the camera may be controlled by a consecutive touch applied to the first region (A 1 ), and the zoom-in, zoom-out of the camera may be controlled based on a pinch-in, pinch-out type of touch input. Furthermore, the controller  180  forms a capture control command for imaging a capture image based on a specific type of touch input applied to the first region (A 1 ). In other words, the user can capture an external environment and store in the memory unit  170  based on a specific type of touch input applied to the first region (A 1 ). 
     However, a method of imaging the capture image is not limited to this. For example, when a knock applied to the display unit  151  is sensed or a control command is applied to a rear key formed on a rear surface of the body, the capture control command may be formed. 
     Referring to  FIG. 8B , the controller  180  forms a capture control command for changing a capture range based on a dragging type of touch applied in one direction when the capture image  610  is displayed in the first region (A 1 ). However, when a capture range set according to the touch range of the touch cannot be captured based on the operating condition of the camera, the controller  180  can form a flight control command for controlling the rotation or movement of the unmanned aerial vehicle based on the touch range. In other words, at least one of the capture control command and flight control command for capturing a desired region may be formed based on a touch applied to the first region (A 1 ). 
     The display unit  151  displays a first capture image  610   a  due to the changed capture range. The display unit  151  displays a second capture image  610   b  including the first capture image  610   a  in the entire region of the display unit  151  based on a touch applied to the fourth icon  614 . When the second capture image  610   b  is displayed as a whole on the display unit  151 , the display unit  151  can display a divider for dividing the first through the third control region (A 1 , A 2 , A 3 ). 
     The controller  180  controls the display unit  151  to display one region of the second capture image  610   b  in the first region (A 1 ) based on a touch applied to the fourth icon  614 . Otherwise, a reduced image of the second capture image  610   b  may be displayed in the first region (A 1 ). According to the present embodiment, the user can divide a control region or receive the captured capture image as a whole according to his or her convenience. 
       FIGS. 9A through 9E  are conceptual views illustrating a control method of controlling an unmanned aerial vehicle based on a touch applied to the display unit  151  partitioned according to another embodiment. Referring to  FIG. 9A , the display unit  151  is partitioned into a first and a second control region (B 1 , B 2 ). The display unit  151  can display a capture image  620  captured by the camera of the unmanned aerial vehicle  10  as a whole, and display a divider for dividing the first and the second control region (B 1 , B 2 ), but is not limited to this. 
     The controller  180  forms the flight control command based on a touch applied to the first control region (B 1 ), and the capture control command based on a touch applied to the second control region (B 2 ) as an independent manner. 
     For example, the controller  180  forms a flight control command for controlling the flight direction and flight speed of the unmanned aerial vehicle based on the direction and touch range of a dragging type of touch applied to the first control region (B 1 ) to move in one direction. In addition, a flight control command for rotating the unmanned aerial vehicle  10  may be formed based on a circular touch pattern. 
     Further, the controller  180  forms a capture control command for controlling the panning, tilting of the camera based on a dragging type of touch applied to the second control region (B 2 ) to move in one direction. Furthermore, a capture control command for controlling the zoom-in/zoom-out of the camera or controlling the capture thereof based on a different type or pattern of touch input. The display unit  151  displays a capture image  621  captured based on the capture control command and the flight control command. In addition, even when a touch is applied to the first and the second control region (B 1 , B 2 ) at the same time, the controller  180  forms an individual control command based on a touch applied to each control region. 
     Referring to  FIG. 9B , the display unit  151  is partitioned into the first and the second control region (B 1 , B 2 ) when the capture image  620  is displayed thereon, and the resultant functions are the same as the constituent elements of  FIG. 9A , and thus the redundant description thereof will be omitted. According to the present embodiment, the controller  180  extends the first control region (B 1 ) or the second control region (B 2 ) based on a specific type of touch applied to the first control region (B 1 ) or the second control region (B 2 ). 
     The controller  180  extends the first control region (B 1 ) to the entire region of the display unit  151  based on a specific type of touch applied to the first control region (B 1 ). The display unit  151  displays a first indicator  801  indicating the extended first control region (B 1 ), and the first indicator  801  is displayed in an edge region of the display unit  151 . In other words, the entire region of the display unit  151  is set to the first control region (B 1 ), and the flight control command is formed by a touch applied to the display unit  151 . 
     Here, the specific type of touch may correspond to a long touch applied for a preset period of time (several seconds). The controller  180  forms the flight control command based on a second touch applied to the remaining region while continuously applying a first touch corresponding to the long touch. There is no limit in one region of the display unit  151  to which the second touch is applied. For example, the controller  180  can form a flight control command for changing the speed of the flight vehicle based on a second touch while applying the first touch. In this instance, the capture image  620  is continuously displayed. 
     Referring to  FIG. 9C , when the specific type of touch is applied to the first control region (B 1 ), the controller  180  displays a reserve indicator  801   a  corresponding to the flight control mode on the display unit  151 . The reserve indicator  801   a  may be displayed at an edge of the display unit  151  with a specific color, and light having a specific color may be displayed on the display unit  151 . 
     The controller  180  sets an extended control region based on a second touch sensed when a first touch which is the specific type of touch input is applied. The second touch is applied to the second control region (B 2 ) and sets the extended control region based on a touch range of the second touch. The second touch may correspond to a dragging type of touch having a touch range, but is not limited to this. 
     When the second touch is released, the extended control region is set to display the first indicator  801  indicating the extended control region on the display unit  151 . Then, the flight control command is formed based on a touch applied to the extended control region. In addition, when a specific type of touch is applied to the extended control region, the display unit  151  can be set again to have the first and the second control region (B 1 , B 2 ). According to the present embodiment, when fine control for the flight of the unmanned aerial vehicle or the capturing of the camera is required, the control region of the display unit  151  can be extended. 
     Referring to  FIG. 9D , the extended control region is set based on a specific type of touch applied to the first control region (B 1 ) in the state of being partitioned into the first and the second control region (B 1 , B 2 ). The display unit  151  displays the first indicator  801  corresponding to the extended control region. 
     When the entire region of the display unit  151  is set to an extended control region of the first control region (B 1 ), the controller  180  displays a first control image  802  in one region of an edge of the display unit  151 . The first control image  802  may be displayed while a specific type of first touch for setting the extended control region is applied, but is not limited to this, and disappear based on the setting of the extended control region being released. 
     The first control image  802  receives a touch input formed along the one edge to form a flight control command. For example, the first control image  802  is formed in a bar shape extended along an edge thereof. The controller  180  forms a flight control command for rotating the unmanned aerial vehicle  10  based on a specific direction of touch applied to the first control image  802 . 
     Referring to  FIG. 9E , when the specific type of first touch is applied to form the extended control region, the controller  180  displays the first indicator  801  and the first control image  802 . The controller  180  controls the display unit  151  to display the guide image  521  adjacent to a touch position to which the first touch is applied. The guide image  521  may include axes crossing each other and graphic image indicating the current inclined degree of the unmanned aerial vehicle, and the origin of the crossing axes may be formed at a touching point of the first touch. 
     The controller  180  forms a flight control command based on the second touch applied to the remaining region and the first control image  802  on the display unit  151 . Further, the controller  180  can form a flight control command including information on a flight direction and a flight speed based on an inclination change of the body moving while the first and the second touch are applied at the same time. Accordingly, the guide image  521  may display the modified inclination information of the unmanned aerial vehicle based on the flight control command. According to the present embodiment, when an extended control region is formed, a flight control command may be additionally formed based on the first and the second touch and the movement of the body. 
       FIGS. 10A and 10B  are conceptual views illustrating a control method when a second control region for controlling a camera is extended. When the display unit  151  is partitioned into the first and the second control region (B 1 , B 2 ), the controller  180  sets an extended control region in which the second control region is extended based on a specific type of first touch applied to the second control region (B 2 ). The display unit  151  displays a capture image  630  while applying the first touch. 
     A second indicator  803  indicating an extended control region in which the second control region is extended is displayed on the display unit  151 , and a guide image  631  indicating a capture range in a region adjacent to the first touch. The guide image  631  is formed with two crossing axes and a coordinate point indicating a capture range. The controller  180  can form a flight control command for changing the capture angle based on a touch input applied to the second touch. Furthermore, the display unit  151  can move and display the coordinate point to correspond to the capture angle. 
     Furthermore, while the first and the second touch are applied, the display unit  151  displays a capture image, and displays the first and the second capture image  631 ,  632 , respectively, which are captured by a capture range changed based on the second touch. 
     A control method of forming a capture control command based on the movement of the body will be described with reference to  FIG. 10B . The controller  180  forms a control command for sensing the movement of the body and controlling the panning and tilting of the camera according to the movement of the body while a touch is applied to the second control region (B 2 ). The first and the second touch are applied to a capture image  640  displayed on the display unit  151 . 
     For example, the controller  180  forms a capture control command for changing a capture range in a y-axis direction passing through the display unit  151  of the camera. When the display unit  151  is rotated in the right direction with respect to the x-axis, the capture control command is formed to move a capture range of the camera to the right region. The display unit  151  displays a first capture image  641  according to a capture range changed based on the movement of the body. According to the present embodiment, a user can control a capture range using a gesture like capturing an external environment through a rear camera, thereby allowing intuitive control. 
       FIGS. 11A through 11C  are conceptual views illustrating a control method according to another embodiment in a horizontal mode. Referring to  FIG. 11A , when the display unit  151  is divided into the first and the second control region (B 1 , B 2 ), the controller  180  forms an independent control command based on a touch applied to each control region. 
     The controller  180  forms a flight control command based on a first touch applied to the first control region (B 1 ), and forms a capture control command based on a second touch applied to the second control region (B 2 ). The first and the second touch may be sensed at the same time, the flight control command and the capture control command are independently formed. 
     Referring to  FIG. 11B , the controller  180  can control the display unit  151  to display the first through the third control image  810   a ,  810   b ,  810   c  when the first and the second control region (B 1 , B 2 ) are set. The first through the third control image  810   a ,  810   b ,  810   c  may be displayed in different edge regions of the display unit  151 , and receive a touch input to form a different control command. The first through the third control image  810   a ,  810   b ,  810   c  are displayed regardless of the first and the second control region (B 1 , B 2 ). 
     When the display unit includes an edge region formed with a curved surface, part of the first through the third control image  810   a ,  810   b ,  810   c  may be displayed on the curved surface region. For example, the first control image  810   a , the second control image  810   b  and the third control image  810   c  may correspond to a control command for controlling a zoom-in/zoom-out function of the camera, a control command for switching a moving direction of the unmanned aerial vehicle  10 , and a control command for controlling the rotation of the unmanned aerial vehicle  10 . Accordingly, the user can apply a touch input to a control image to form a control command including more fine control information. 
     Referring to  FIG. 11C , the controller  180  forms a flight control command of the unmanned aerial vehicle  10  based on the movement of the body sensed in a state the capture image  610  is displayed. When a touch is applied to the display unit  151 , the controller  180  displays a speed control image  615 . The speed control image  615  may be formed in a shape extended in one direction, and said one direction may correspond to a length direction of the display unit  151 , but is not limited to this. The speed control image  615  may be formed in a consecutive bar shape or formed in a plurality of images arranged in one direction. 
     The controller  180  allows a region to which the touch input is initially applied to correspond to a current speed, and forms a flight control command including speed change information corresponding to a touch range being away from the initially applied region. The speed change increases as being away from the initial touch position. Furthermore, the flight control command may include the direction information of the unmanned aerial vehicle  10  based on the moving direction of the touch input. When the second touch is applied in one direction on the speed control image  615 , the controller  180  forms a flight control command for increasing a speed while maintaining a current flight direction of the unmanned aerial vehicle  10 . On the contrary, when the second touch is applied in an opposite direction to the one direction, the controller  180  can form a flight control command for decreasing a current flight speed of the unmanned aerial vehicle  10 . In this instance, a flight control command for allowing the unmanned aerial vehicle  10  to fly in an opposite direction may be formed as increasing a touch range of the second touch. The display unit  151  displays speed information  541  indicating a current speed and a moving distance along with the speed control image  615 . 
     Furthermore, when the second touch is released and a preset period of time (several seconds) has passed, the controller controls the display unit to allow the speed information  541  and the speed control image  615  to disappear. According to the present embodiment, the controller  180  can adjust the location of an unmanned aerial vehicle in a finer manner using a touch applied to the display unit  151 . 
       FIG. 12A  is a flow chart illustrating a control method of a mobile terminal according to an embodiment of the present disclosure, and  FIGS. 12B and 12C  are conceptual views illustrating the control method of  FIG. 12A . A control method of a mobile terminal for controlling the flight of an unmanned aerial vehicle and a camera mounted on the unmanned aerial vehicle will be described with reference to  FIGS. 12A and 12B . An application for controlling the flight and capture of an unmanned aerial vehicle is installed on a mobile terminal according to the present embodiment. When the application is performed, the controller  180  controls the wireless communication unit  110  to perform wireless communication with the unmanned aerial vehicle. The wireless communication unit  110  receives a video image captured by the camera of the unmanned aerial vehicle. The 
     The display unit  151  displays an execution screen of the application. The execution screen may include a video image  540  received from the unmanned aerial vehicle. The video image  540  may vary based on the flight of the unmanned aerial vehicle or a capture range of the camera. The execution screen may include a plurality of menu images corresponding to different functions and receiving a touch input. For example, the execution screen may include a first menu image  501   a  for activating a manual mode to manually control the flight of the unmanned aerial vehicle, a second image  501   b  for activating a capture mode to capture a surrounding environment from the sky, a third menu image  501   c  for activating/deactivating a flash mounted on the unmanned aerial vehicle, a fourth menu image  501   d  corresponding to an automatic control mode for controlling the unmanned aerial vehicle by a preset flight path and a capture target object and a fifth menu image  501   e  for executing a quick return command to return the unmanned aerial vehicle to the location of the user of the mobile terminal  100 . 
     The third menu image  501   c  is formed with a toggle key. In other words, the illumination of the flash may be turn on or off based on a touch consecutively applied to the third menu image  501   c . Otherwise, an automatic mode in which the flash is automatically turned on and a night mode in which the flash is automatically turned on at night may be activated based on touches repeatedly applied thereto. 
     The execution screen may include a capture icon  504  for executing a capture function (recording function) of the camera mounted on the unmanned aerial vehicle, a gallery icon  505  for displaying an image captured by the camera of the unmanned aerial vehicle, and a backward icon  506  for forming a control command for a backward flight of the unmanned aerial vehicle. When a touch is applied to the fourth menu image  501   d , the controller  180  activates an automatic control mode. The controller  180  forms a flight control command of the unmanned aerial vehicle and a capture control command of the unmanned aerial vehicle camera without a user&#39;s additional control command in the automatic control mode. The flight control command and the capture control command may be transmitted at once or transmitted with a plurality of control commands in real time to the unmanned aerial vehicle. 
     The controller  180  sets a flight path including the information of a capture target in an automatic control mode (S 310 ). The capture target may correspond to a specific one object or set to a plurality of objects according to the flight of the unmanned aerial vehicle. According to the present embodiment, the controller  180  can activate an object track mode (Target Track) to set a flight path including the information of the capture target. 
     An embodiment of setting a flight path by an object track mode (Target Track) for tracking a set target object will be described with reference to  FIG. 12B . The controller  180  can select a target object as a capture object to set a flight path in the object track mode. When the automatic control mode is activated, the display unit  151  displays a graphic image corresponding to a plurality of lower modes to collect the target object information. When a first graphic image  502   a  corresponding to the target object is selected from the plurality of graphic images, the display unit  151  redisplays the video image  540 , and displays a first through a third candidate object  541 ,  542 ,  543  to set a target object. For example, candidate objects included in the video image  540  and determined as trackable objects may be highlighted and displayed. The use may apply a touch to any one of the first through the third candidate object  541 ,  542 ,  543  to set it as a target object. On the drawing, the first candidate object  541 , second candidate object  542  and third candidate object  543  correspond to an automobile, a person and a road, respectively. 
     When the target object information is collected, a plurality of capture mode icons  503  corresponding to a plurality of capture mode for the capture object are displayed (S 320 ). The plurality of capture mode icons  503  are provided based on the information of the selected target object. The information of the plurality of capture modes may be prestored in the memory  170  or received from a specific server. The controller  180  provides a capture mode suitable to the movement characteristics of a target object. Nine capture mode icons are illustrated on the drawing, but the number of provided capture modes is not limited to this. 
     The capture mode may include different schemes for allowing the camera of the unmanned aerial vehicle to capture the capture target. The description of the capture modes will be described with reference to  FIGS. 16A through 17H . A capture mode is selected when a touch is applied to the capture mode icon, and the controller  180  forms a flight control command and a capture control command based on the selected capture mode and flight path when a control command is received at the capture icon  504  (S 330 ). The wireless communication unit transmits the flight control command and capture control command to the unmanned aerial vehicle. 
     The flight control command and the capture control command may include a flight end command based on the flight path, but is not limited to this. In other words, the flight control command and capture control command may be continuously formed while the target object moves or control due to the flight control command and capture control command may be ended when an end control command additionally applied by the user is transmitted. 
       FIGS. 12D and 12E  are conceptual views illustrating a control method of forming a flight control command and a capture control command based on a touch input and the movement of the body in a manual control mode. Further, when a touch input on the display unit  151  and/or an inclination of the body of the mobile terminal  100  is sensed in the automatic control mode, the flight path and/or capture mode is changed (S 340 ). A control method of changing the flight path and capture mode by the user while the amplifier circuit unit is activated will be described with reference to  FIG. 12C . 
     According to the present embodiment, the unmanned aerial vehicle moves along a flight path formed based on the movement of the target object, and the camera of the unmanned aerial vehicle captures the surrounding of the target object based on the flight control command and the capture control command. The wireless communication unit  110  receives an image captured by the camera in real time, and the display unit  151  displays a capture image. In the automatic control mode, the unmanned aerial vehicle flies on a preset path to capture a target object without any additional control command. 
     The controller  180  can change the flight path and the capture mode based on an additional control command when the automatic control mode is activated. When a touch input applied to the display unit  151  or the movement of the body is sensed, the controller  180  switches it to a manual control mode. Switching to the manual control mode may be temporary or the manual control mode may be maintained until applying a control command for switching it to an automatic control mode. 
     The controller  180  can form a flight control command according to the movement of the body when a touch input is maintained on the display unit  151 . When the touch input is released, a flight control command may not be formed, and the unmanned aerial vehicle switched to an automatic control mode again. 
     When the movement of the body  100  is sensed over a preset range, the controller  180  may activate the manual control mode. When the manual control mode is performed, the display unit  151  displays a control icon  565  on a capture image  561 . The control icon  565  may include a plurality of graphic images indicating different directions. For example, the control icon  565  may include a direction image having a first and a second size indicating a horizontal direction and a vertical direction, respectively. 
     The first size is less than the second size. The controller  180  can form a flight control command including direction information and speed information based on a touch applied to the control icon  565 . When a flight control command additionally generated by the control icon  565  is received at the unmanned aerial vehicle flying based on a flight control command formed in the automatic control mode, the flight path is changed. Furthermore, the capture range of the camera is also changed based on a change of the flight path. However, even when a touch input is applied to one region of the display unit  151  on which the control icon  565  is not displayed, the controller  180  forms a flight control command including direction information using a relative location with respect to the control icon  565  indicating the direction. 
     When a touch applied to a direction image having a first size is released on the control icon  565 , the controller  180  can form a flight control command for stopping the unmanned aerial vehicle, and form a flight control command for flying while maintaining a current speed even when a touch applied to a direction image having the second size is released. In this instance, when a touch is applied again to a direction image having the second size, the controller  180  can form a flight control command for stopping the unmanned aerial vehicle. 
     Further, in a vertical mode in which the display direction of the display unit  151  has a length direction of the display unit  151 , the display unit  151  displays a map view icon  563   a  on the capture image  561 . The map view icon  563   a  may include map information on a location at which the unmanned aerial vehicle flies. When a touch is applied to the map view icon  563   a , the controller  180  controls the display unit  151  to switch the capture image  561  to a map screen  562  including the map information. In this instance, the map view icon  563   a  is switched to a capture icon  563   b  including the capture image  561 . In other words, the user can apply a touch to the map view icon  563   a  and the capture icon  563   b  to receive his or her desired information. 
     The display unit  151  displays a capture guide  564  indicating a capture range captured by the camera on the map screen  532 . When a touch is applied to the capture guide  564  to move the location of the capture guide  564  on the map screen  532 , the controller  180  forms a capture control command for controlling the camera to capture a region included in the capture guide  564 . 
     Referring to  FIG. 12D , the controller  180  forms speed information included in the flight control command based on a control command applied to a rear key. The rear key may be divided into a first region  123   c  and a second region  123   d , and may be formed with a press key in which a control command is formed by an external force. The controller  180  forms a flight control command for enhancing the speed when the first region  123   c  is pressed, and reducing the speed when the second region  123   d  is pressed. Furthermore, the controller  180  can determine the information of increasing or decreasing the speed based on a number of pressing the first and the second region  123   c ,  123   d . Otherwise, the unmanned aerial vehicle  10  may form a control command for allowing the unmanned aerial vehicle to fly while maintaining a specific speed based on the consecutively applied control commands. 
     Referring to  FIG. 12E , when the manual control mode is activated, the controller  180  senses the movement of the body of the mobile terminal  100 . For example, when the rotation of the body is sensed around the z-axis, the controller  180  forms a capture control command for changing a capture range of the camera. The controller  180  forms a capture control command for tilting or panning the camera based on the rotation degree of the body. 
     When a change range of the capture range of the camera of the unmanned aerial vehicle exceeds in response to the rotation degree, the controller  180  can form a flight control command for controlling the rotation of the unmanned aerial vehicle. Furthermore, the controller  180  can switch a control mode to form a capture control command for controlling a capture range of the camera by the control icon  565  based on a touch additionally applied to the menu icon  501   a . In this instance, the controller  180  can form the flight control command based on the movement of the body. The menu icon  501   a  is formed with a toggle key, and alternately switched between a camera control mode and a flight control mode by a repetitive touch. 
     In more detail, a flight control command for controlling the flight direction and altitude of the unmanned aerial vehicle may be formed by the movement and rotation with respect to the x-axis and y-axis. Upon receiving a control command formed when the manual control mode is activated, the unmanned aerial vehicle temporarily ignore a control command formed when the automatic control mode is activated. However, the controller  180  can activate a function of limiting the manual control mode based on the flight status of the unmanned aerial vehicle. Hereinafter, a control method of limiting the manual control mode will be described in detail. 
       FIG. 13  is a conceptual view illustrating a control method of limiting a manual control mode. The controller  180  can receive a capture image captured from the camera of the unmanned aerial vehicle and geographic information on the flight path of the unmanned aerial vehicle from a specific server in real time. When a danger is sensed by the capture image and the geographic information during the flight of the unmanned aerial vehicle, the controller  180  can limit the manual control mode. 
     In order to prevent a manual control mode, the controller  180  controls the display unit  151  to allow the control icon  565  displayed on the capture image  561  to disappear and display a selectable capture mode icon  503 . The capture mode icon  503  may include information on a flight path for allowing the unmanned aerial vehicle to stably fly based on the geographic information. Accordingly, the user cannot control the flight of the unmanned aerial vehicle with the control icon  565 . Accordingly, it is possible to prevent a danger of the unmanned aerial vehicle when the user controls the unmanned aerial vehicle without knowing the flight status of the unmanned aerial vehicle. 
     The controller  180  forms and transmits the flight control command based on a touch applied to the capture mode icon  503 . When a dangerous factor disappears based on the capture image and the geographic information, the controller  180  can activate the manual control mode again. Alternatively, when the dangerous factor is sensed, the controller  180  can immediately switch the manual control mode to the automatic control mode. The controller  180  controls the unmanned aerial vehicle using a previously formed flight control command in the automatic control mode. 
     The display unit  151  displays a guide message  507  indicating that the automatic control mode is activated on the capture image  561 . Furthermore, the activation of the automatic control mode may be displayed on the fourth menu image  501   d . According to the present embodiment, when a dangerous factor occurs during the flight of the unmanned aerial vehicle by the user&#39;s manual control, it may be switched to the automatic control mode to promote a stable flight. 
       FIG. 14  is a conceptual view illustrating an execution screen in case of a horizontal mode. When the application is performed in the horizontal mode, the controller  180  controls the display unit  151  to display a map screen  571 . The map screen  571  may include the map information of a region in which the unmanned aerial vehicle flies. A capture guide  574  indicating a capture range captured by the camera of the unmanned aerial vehicle is displayed on the map screen  571 . The controller  180  can apply a touch to the capture guide  574  to form a capture control command for changing the capture range. 
     Furthermore, when the capture icon  573   a  is displayed on the map screen  571 , and a touch is applied to the capture icon  573   a , the controller  180  switches the map screen  571  to a capture image  572 . When the capture image  572  is displayed on the display unit  151 , the controller  180  controls the display unit  151  to switch the capture icon  573   a  to a map view icon  573   b . The controller  180  controls the display unit  151  to display the control icon  575  on the capture image  572 , and activate the manual control mode based on a touch applied to the control icon  575 . 
     The display unit  151  can enlarge the size of the map view icon  573   b  based on a touch applied to the map view icon  573   b . When the map view icon  573   b  is enlarged above a specific size, the controller  180  can partition the display unit  151  into two regions, and display the map screen  571  and the capture image  572  at the same time. Furthermore, the control icon  575  may be displayed in one region on the display unit  151 . 
     The controller  180  can form a flight path based on a touch applied to the display unit  151  while displaying the map screen  571 . In other words, the flight path may be formed based on a location selected by the user on the map screen, and an embodiment of setting a flight path by a location setting mode (Path Track) will be described below. 
       FIGS. 15A and 15B  are conceptual views illustrating a control method of setting a flight path according to another embodiment. The display unit  151  displays a graphic object corresponding to a plurality of lower modes when the automatic control mode is activated. When a second geographic information  502   b  corresponding to the location setting mode is selected from the plurality of geographic information, the controller  180  controls the display unit  151  to display a map screen  550 . 
     The controller  180  selects at least one index location based on a touch applied to the map screen  550 . For example, the controller  180  can set a flight path based on the index locations and sequence according to the sequence of touches applied to the map screen  550  to display a geographic information on the index locations. The geographic information may include information (number) on the selected sequence, and change the sequence when an additional touch is applied thereto. The controller  180  forms a path based on the index locations and sequence. 
     As illustrated in  FIG. 15A , the display unit  151  displays a first through a third index location  551   a ,  551   b ,  551   c  on the map screen  550 . Furthermore, the display unit  151  displays a first and a second path image  552   a ,  552   b  to indicate the flight path. The controller  180  can receive information associated with the selected index locations from a specific server. The associated information may include a topography of the index locations, buildings existing at the index locations, information associated with the buildings, legal regulations associated with the flight of unmanned aerial vehicles, and the like. The controller  180  sets the flight path using information associated with the index locations. 
     The controller  180  controls the display unit  151  to display a plurality of capture mode icons  503  for determining a capture mode of the selected flight path by applying a touch to the first and the second path image  552   a ,  552   b . For example, when the first path image  552   a  is selected, a method of capturing the relevant path while the unmanned aerial vehicle flies from the first index location  551   a  to the second index location  551   b  may be determined. 
     Further, referring to  FIG. 15B , the controller  180  can set a flight path including the index location, and determine a capture mode of the index location based on a specific type of touch applied to the index location. For example, when a long touch is applied to the second index location  551   b , the display unit  151  displays the plurality of capture mode icons  503 . When the unmanned aerial vehicle arrives at the second index location, the controller  180  forms a flight control command and a capture control command based on the selected capture mode. 
     The display unit  151  can display a graphic image corresponding to the selected capture mode at the second index location  551   b . In this instance, the graphic image may not include information on the selected capture mode. According to the present embodiment, a flight path of the unmanned aerial vehicle is determined by the selected index location, and thus the user can not need to control the flight in real time. Furthermore, the user can set a capture mode of the flight path including the index location in advance, and thus the unmanned aerial vehicle may more effectively form a capture image of the surrounding environment during the flight. 
       FIGS. 16A through 16H  are conceptual views illustrating a capture mode when a capture target object is set. The capture target object may correspond to a target moving according to the passage of time or correspond to a building fixed at a specific location or a specific topography. Information on the capture mode may be stored in the memory  170  or received from a specific server. For example, the controller  180  connects an application to the specific server in a wireless manner when the application is activated, and, and analyzes the information of a capture target object to selectively provide at least one capture mode when the capture target object is set. Furthermore, the user can form a capture mode based on a control command applied when the manual control mode is activated. The capture mode may be stored along with a type of capture target object, information on a surrounding region, and the like. 
       FIG. 16A  is a conceptual view illustrating a hovering mode. In the hovering mode, the unmanned aerial vehicle captures toward a target object while flying in the sky in proximity to the capture target object. In the hovering mode, the camera is continuously located toward a capture target object. In particular, when the capture target object is a person, it may be switched to a selfie mode, and in this instance, the camera may be controlled to sense a user&#39;s face and continuously capture the user&#39;s face during the flight. 
       FIG. 16B  is a conceptual view illustrating a panorama mode. In the panorama mode, the camera captures a capture target object while rotating around the capture target object 360 degrees. The panorama mode captures a capture target object while maintaining a specific altitude and rotating around the capture target object even during the movement of the capture target object. An unmanned aerial vehicle according to the present embodiment may include three cameras. The unmanned aerial vehicle may capture a 360 degrees panoramic image using the three cameras, and the controller  180  can edit a capture image captured by the three cameras around the capture target object. 
       FIG. 16C  is a conceptual view illustrating a zoom-in/zoom-out mode. In the zoom-in/zoom-out mode, the unmanned aerial vehicle flies to decrease or increase a distance between the unmanned aerial vehicle and the capture target object at specific time intervals. The controller  180  can form a flight control command to allow the unmanned aerial vehicle to fly at specific time intervals. Otherwise, a capture control command for executing a zoom-in/zoom-out function of the camera while maintaining substantially the same distance between the unmanned aerial vehicle and the capture target object may be formed. 
       FIG. 16D  is a conceptual view illustrating a circular mode. In the circular mode, the unmanned aerial vehicle flies while drawing a circle around the capture target object. A CF capture mode may be performed when the circular mode is activated. In the CF capture mode, the unmanned aerial vehicle moves around the capture target object at high speed to capture a plurality of images. The camera may randomly capture an image while rotating around the capture target object. Since the unmanned aerial vehicle rotates around a capture target object in a circular mode, the user can not need to carry the camera in real time, thereby preventing a danger of the unmanned aerial vehicle for capturing a moving capture target object from being collided with the capture target object. 
       FIG. 16E  is a conceptual view illustrating a spiral mode. In the spiral mode, the unmanned aerial vehicle flies to gradually increase the altitude while drawing a larger and larger circle around the capture target object. Accordingly, the user can capture a high object without any additional control command. 
       FIGS. 16F and 16G  are conceptual views illustrating a tracking mode for capturing a moving capture target object. In the tracking mode, the unmanned aerial vehicle is controlled to move to an advanced position in the moving direction of a capture target object, and allow the camera of the unmanned aerial vehicle to continuously capture the capture target object. The unmanned aerial vehicle may be controlled to capture the capture target object at a higher altitude than that of the capture target object or capture the capture target object at substantially the same location as that of the capture target object. 
     Upon capturing the user as a capture target object in the tracking mode, the unmanned aerial vehicle may further include a microphone to store the user&#39;s voice at the same time. In this instance, the controller  180  of the mobile terminal may transmit a voice signal in real time to the unmanned aerial vehicle while the unmanned aerial vehicle captures the user. The unmanned aerial vehicle may further include a speaker to output the received voice signal. 
       FIG. 16H  is a conceptual view illustrating an embodiment in which a plurality of capture modes are activated at the same time. For example, the unmanned aerial vehicle may fly to alternately activate a hovering mode, a zoom-in/zoom-out mode and a circular mode according to the flow of time and capture the capture target object. 
     Alternatively, the unmanned aerial vehicle may selectively activate one of a plurality of capture modes selected based on a surrounding environment varying according to the movement of the capture target object. According to the present embodiments, the unmanned aerial vehicle may stably capture a moving capture target object, and selectively capture a desired region of the capture target object, and thus it is not required to form a control command for controlling a flight path and changing a capture region. 
       FIGS. 17A through 17H  are conceptual views illustrating a capture mode for capturing a flight path according to various embodiments.  FIG. 17A  is a conceptual view illustrating a tour mode. In the tour mode, the viewing angle control pixel flies along a preset flight path. In the touch mode, the mobile terminal receives a capture image captured by the camera of the unmanned aerial vehicle in real time. Furthermore, in the tour mode, the display unit  151  displays the received capture image, and the controller  180  forms a flight control command and a capture control command based on a touch applied to the capture image. 
       FIG. 17B  is a conceptual view illustrating a beyond mode. The beyond mode may be formed based on a topography included in a flight path. When a building above a preset height is included in the flight path, the beyond mode is activated, and the unmanned aerial vehicle is controlled to fly in the sky of the building. Otherwise, the unmanned aerial vehicle moves around the side of the building. 
       FIG. 17C  is a conceptual view illustrating a detour mode. When a topography above a preset scale is included in the flight path, the controller  180  can activate the detour mode to fly around a specific topography. Here, the scale may correspond to a height, a width or the like. For example, when a mountain is included in the flight path, the controller  180  can activate the detour mode on a path passing through the mountain. 
       FIG. 17D  is a conceptual view illustrating a region capture mode. IN the region capture mode, the unmanned aerial vehicle is controlled to capture a specific region among preset regions. For example, the unmanned aerial vehicle may selectively capture a mountain, a house, and the like within a specific region during the flight. Furthermore, the unmanned aerial vehicle may be controlled to fly along a preset capture target object in the region capture mode. In other words, while the unmanned aerial vehicle flies within a preset region, the controller  180  can control the unmanned aerial vehicle to activate the region capture mode, and fly along a specific object within a preset region. 
       FIG. 17E  is a conceptual view illustrating a seashore mode. When a seashore topography is included in the flight path, the controller  180  activates the seashore mode. In the seashore mode, the unmanned aerial vehicle is controlled to fly along a seashore topography. 
       FIG. 17F  is a conceptual view illustrating a bridge mode. When a bridge is included in the flight path, the controller  180  activates the bridge mode. In the bridge mode, the unmanned aerial vehicle flies while rotating with respect to the bridge. In the bridge mode, the unmanned aerial vehicle may capture a bridge while passing above or below the bridge. 
       FIG. 17G  is a conceptual view illustrating a road going mode. When a road is included in the flight path, the controller  180  activates the road going mode, and the unmanned aerial vehicle flies to move along the road. In the road going mode, the controller  180  collects information on a topography of the road, and forms a flight control command to fly along the road. 
       FIG. 17H  is a conceptual view illustrating an up/down mode. When a specific type of topography is included in the flight path, the controller  180  can activate the up/down mode. The unmanned aerial vehicle flies while changing the altitude in the up/down mode. Here, the specific type of topography may correspond to a topography in which a mountain with a high change rate of the altitude or a plurality of buildings are formed. The controller  180  receives information on a type of topography to set a flight path of the unmanned aerial vehicle. According to the present embodiment, a flight mode based on the feature of a topography may be activated while the unmanned aerial vehicle flies in an automatic controlled manner, thereby allowing more stable flight. 
       FIGS. 18A through 18C  are conceptual views illustrating a control method for setting a flight path of an unmanned aerial vehicle according to another embodiment. Referring to  FIG. 18A , the display unit  151  displays the video image  540  and the control icon  565  when the manual control mode is activated in the vertical mode. The controller  180  ends the flight and capture of the unmanned aerial vehicle based on a touch applied to the capture icon  504 . When the manual control of the unmanned aerial vehicle ends, the controller  180  controls the display unit  151  to display a guide window  508  for storing information on the flight and capture of the unmanned aerial vehicle. 
     However, the controller  180  can display the guide window  508  based on a touch input to the capture icon  504  for forming a flight control command and a capture control command for starting the flight of the unmanned aerial vehicle in the manual mode. The controller  180  can control the memory  170  to store a flight path controlled in the manual control mode based on a touch applied to the guide window  508 . For example, the controller  180  can display a plurality of graphic images based on a control command desired to store information on the flight path. When a touch is applied to the third graphic image  502   c , information on the flight path previously collected or formed based on a manual control command may be stored. 
     Referring to  FIG. 18B , when information on the flight path is stored in the memory  170 , the controller  180  can display a representative icon  508   a  representing the flight path. The controller  180  can share information on the flight path with a specific server or another terminal based on a touch applied to the representative icon  508   a . When the representative icon  508   a  is selected, the display unit  151  displays a share window  508   b  including an object to be shared. The controller  180  can select a server to be shared based on a touch applied to the share window  508   b . When a flight path is uploaded, the display unit  151  can display a capture image. 
     A control method of forming shared information will be described with reference to  FIG. 18C . The controller  180  can receive information on a flight path based on a control command applied thereto while video information is played on the display unit  151 . When video information stored along with information on a flight path is displayed, the display unit  151  can display a graphic image  509  for receiving a touch at the same time to store information on the flight path. 
     The controller  180  executes an application for controlling the unmanned aerial vehicle based on a touch applied to the graphic image  509 . When the application is performed, the controller  180  activates the camera of the unmanned aerial vehicle. The display unit  151  displays a guide window  509   a  for storing the information of the flight path. The controller  180  stores information on a flight path linked with the video information in the memory  170  based on a touch applied to the third graphic image  502   c . When information on the flight path is stored, the controller  180  controls the representative icon  508   a  corresponding to information on the flight path to be displayed on the flight path on the display unit  151 . 
     According to the present embodiment, flight path information due to a control command controlled by the user can be stored in a manual control mode and used in an automatic control mode, and information on this may be shared by a server or the like. Furthermore, a unmanned aerial vehicle may be automatically controlled using information on a flight path shared by a server. 
       FIG. 19A  is a flow chart illustrating a control method of setting a capture mode on a flight path, and  FIGS. 19B and 19C  are conceptual views illustrating the control method of  FIG. 19A . Referring to  FIGS. 19A and 19B , the display unit  151  displays a map screen  710  (S 321 ). The controller  180  selects an index location and a capture target object based on a touch input applied to the map screen (S 322 ). 
     The controller  180  sets an index location  701  for forming the flight path based on a touch applied to the map screen  710 . The controller  180  can form a flight path based on the location of touches applied to the display unit  151  and a sequence in which the touches are applied thereto. The display unit  151  can display a path image corresponding to the flight path. The controller  180  can select a capture target object to be captured by the camera of the unmanned aerial vehicle. For example, it may include when the capture target object is included in the map screen  710  and when the capture target object is a moving object. 
     The controller  180  sets at least one capture mode based on a specific type of control command applied thereto subsequent to forming the flight path. Here, the specific type of control command may correspond to a specific type of touch input applied to the display unit  151 , a knock-on type of control command, and the display unit  151  can display an icon for receiving a touch to form the control command. 
     The controller  180  analyzes the index locations and capture target object (S 323 ), and forms a flight control command and a capture control command including a flight path between the index locations  701  and a capture mode (S 341 ). The controller  180  can set a plurality of capture modes to one flight path. The controller  180  analyzes the information of a flight path including the index locations, and forms a capture mode based on the information. The capture mode may be formed to correspond to each index location and a flight path moving between each index location, and a different capture mode may be formed based on the analyzed information. 
     The display unit  151  displays a first mode icon  702  corresponding to the capture mode of the index location  701  and a second mode icon  703  corresponding to the capture mode of a flight path between the index locations on the map screen  710  including the index location  701 . The first and the second mode icon  702 ,  703  are displayed at an index location and a flight path corresponding thereto. The first and the second mode icon  702 ,  703  may include an image or text indicating each capture mode. According to the present embodiment, the user can set a capture mode suitably set to an index location and a flight path without any additional control command for changing the capture mode. 
     A control method of changing a capture mode will be described with reference to  FIG. 19C . When a touch input is applied to the second mode icon  703 , the controller  180  changes the shape of the selected second mode icon  703 , and the display unit  151  displays a candidate icon  720 . The candidate icon  720  may include a plurality of mode icons corresponding to the second mode icon  703  and another capture mode. The controller  180  can analyze information on an index location corresponding to the selected second mode icon  703 , and recommend at least one candidate capture mode based on the analyzed information. The candidate icon  720  may be displayed in the form of a mode icon corresponding to the candidate capture mode. 
     When a touch is applied to the candidate icon  720 , the controller  180  can change the selected second mode icon  703  to an icon corresponding to the selected candidate capture mode. In the above, a control method of changing a capture mode for an index location has been described as an example, but the present disclosure is not limited to this. A control method of changing a capture mode for a flight path and a capture target object may be also substantially the same. 
     In more detail, the user can add a capture mode at a specific location based on a touch applied to the map screen. When the touch is applied, the controller  180  can control the display unit  151  to display a candidate icon corresponding to the candidate capture mode. 
       FIG. 20A  is a conceptual view illustrating a control method of a mobile terminal for controlling a plurality of cameras mounted on an unmanned aerial vehicle. When a plurality of cameras are provided in the unmanned aerial vehicle, the controller  180  controls the display unit  151  to display a graphic image corresponding to the plurality of cameras when a touch is applied to the second menu image  502   b , and display a first and a second select icon  505  (F, B) for setting a capture range of the camera when the unmanned aerial vehicle moves. 
     For example, when three camera modules are mounted on the unmanned aerial vehicle connected to the mobile terminal in a wireless manner, the display unit  151  displays a first through a third graphic image  704  ( 1 ,  2 ,  3 ). When a touch is applied to the first through the third graphic image  704 , the controller  180  forms a capture control command for activating a camera corresponding to this. Furthermore, the controller  180  can form a capture control command for setting a capture range of the camera associated with the flight direction of the unmanned aerial vehicle based on a touch applied to the first and the second select icon  705 . When the first select icon (F) is selected, the controller  180  forms a control command for capturing the front of the flight direction. 
     A control method of a capture image captured by a plurality of cameras will be described with reference to  FIG. 20B . The controller  180  activates a plurality of cameras to receive a capture image captured by each camera. The display unit  151  displays a first capture image  720  captured by a first camera among a plurality of images captured by the plurality of cameras. The controller  180  displays a second capture image  721  captured by another camera based on a touch applied to the first capture image  720 . The touch may correspond to a dragging type of touch applied in one direction. Images captured along the direction of the dragging touch input may be consecutively displayed. The plurality of cameras may capture one region in an overlapping manner due to the capture range. The controller  180  edits overlapping capture images based on the capture range and caption region. 
     When the plurality of cameras are able to capture a surrounding region surrounded 360 degrees around the unmanned aerial vehicle, the controller  180  can continuously display images captured based on a consecutive dragging touch. Accordingly, the user can check a surrounding region around the unmanned aerial vehicle. The display unit  151  can display an entire image  722  captured by the plurality of cameras based on a preset type of touch input. The display unit  151  can display a region captured in an overlapping manner by a plurality of cameras. The preset type of touch input may correspond to a pinch-in type of touch. 
       FIG. 20C  is a conceptual view illustrating an embodiment in which a plurality of mobile terminals are connected to an unmanned aerial vehicle in a wireless manner. The unmanned aerial vehicle may be controlled by the plurality of mobile terminals or controlled by one of the plurality of mobile terminals. The unmanned aerial vehicle may transmit the captured images to the plurality of mobile terminals, respectively. 
     When a touch is applied to the third menu image  501   c , the controller  180  transmits a control command for executing a flash mode to the unmanned aerial vehicle. When a flash module is mounted on the unmanned aerial vehicle, the flash module may be activated based on the control command. When a flash module is not mounted on the unmanned aerial vehicle, the unmanned aerial vehicle transmits the control command again to a plurality of mobile terminals connected thereto in a wireless manner. Flashes mounted on the plurality of mobile terminal  100  may be concurrently activated based on the control command. 
     When a plurality of mobile terminals are connected to the unmanned aerial vehicle in a wireless manner, a control command formed by one mobile terminal may be transmitted to another mobile terminal to execute substantially the same function at the same time. The audio output unit, microphone, and the like as well as the flash module may be activated at the same time. 
       FIGS. 21A through 21G  are conceptual views illustrating a control method of setting a capture mode based on a specific manual. The memory  170  stores a capture mode corresponding to a specific manual. Here, the capture mode according to a manual corresponds to a flight path and a capture mode that have been previously set to capture a region required for the user&#39;s circumstance in a suitable manner. When a specific manual is selected by the user, the controller  180  can select the resultant capture mode from the memory  170  or receive it from a specific server, and collect information on the user&#39;s current location as well as the selected manual to select the capture mode. Hereinafter, a capture mode corresponding to a detailed manual will be described. 
     Here, the capture mode may include at least one of capture modes described in  FIGS. 6A through 7H .  FIG. 21A  is a conceptual view illustrating a control method of an unmanned aerial vehicle according to a security manual. When an application for the control of the unmanned aerial vehicle is performed, the display unit  151  displays a map screen  910  in the horizontal mode. Furthermore, the display unit  151  displays flight information  911  including the current altitude and flight speed of the unmanned aerial vehicle on the map screen  910 . In the manual control mode, the display unit  151  can include a first control image  913  for controlling the flight direction of the unmanned aerial vehicle, a second control image  914  for controlling the flight speed of the unmanned aerial vehicle, a third control image  915  for controlling the camera of the unmanned aerial vehicle, and a capture control image  916  for executing the capture and flight thereof. 
     The controller controls the display unit  151  to display a manual window  920  based on a touch applied to a mode switching mode displayed on the display unit  151 . The manual window  920  may include an icon indicating a plurality of manuals. The controller  180  can provide a recommended manual selected based on location information at which the unmanned aerial vehicle is currently flying. 
     The display unit  151  displays a preview image  921  describing a capture mode according to the selected manual, and forms a flight control command and a capture control command by the flight path and capture mode corresponding to the manual to transmit them to the unmanned aerial vehicle when a touch is applied to an execution icon. The controller  180  can perform the process of collecting additional information based on each manual. For example, the additional information may correspond to information on an additional capture target object, information on a flight time, information on a specific location, and the like. 
     The unmanned aerial vehicle is controlled based on the security manual to capture a surrounding region of the capture target object while flying around a specified capture target object. A period of rotating around the capture target object (for example, a specific house or user&#39;s house) may be set or a capture range around the capture target object may be set by the user. The unmanned aerial vehicle may be controlled to fly around a plurality of capture target objects. 
       FIG. 21B  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to a traffic manual. When the traffic manual is selected, the unmanned aerial vehicle is controlled to capture the traffic condition of a specific location. The specific location may be additionally selected by the user or determined by the user&#39;s current location. The controller  180  can receive information captured by the unmanned aerial vehicle to form route guide information in connection with a navigation application for traffic guidance. 
       FIG. 21C  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to a lighting manual. The lighting manual controls the unmanned aerial vehicle to provide lighting to a preset capture target object such that the unmanned aerial vehicle flies along the movement of the selected capture target object to emit lighting while maintaining a specified distance from the capture target object. 
     Further, when the lighting manual is selected, the display unit  151  displays a guide window (Focus Me?) for checking whether or not to select the user of the mobile terminal  100  as a capture target object. When the user of the mobile terminal  100  is selected as a capture target object, the controller  180  can transmit information on a location change of the mobile terminal  100  to the unmanned aerial vehicle in real time. 
       FIG. 21D  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to a play manual. When the play manual is performed, a play function of the unmanned aerial vehicle may be performed. For example, a bubble function mounted on the unmanned aerial vehicle may be performed. When the play manual is selected, the display unit  151  receives a touch input on the map screen to set the flight path. The unmanned aerial vehicle may form the bubble while flying along the flight path. 
       FIG. 21E  is a conceptual view illustrating a control method of controlling the unmanned aerial vehicle according to a text manual. When the text manual is selected, the controller  180  can form a control command for forming a text according to a touch path applied to the map screen in the sky during the flight. An unmanned aerial vehicle according to the present embodiment may include a colorant emission unit for emitting a colorant in the sky to form an image. 
       FIG. 21F  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to a guide manual. When the guide manual is performed, the controller  180  collects the location information of the mobile terminal to collect information while flying over a region at which the mobile terminal is located. The controller  180  can provide a recommended route on the map screen using information collected from the unmanned aerial vehicle. For example, the controller  180  can obtain a number of people gathering at rides in an amusement park to provide a suitable moving path to the user. 
       FIG. 21G  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to an emergency manual. When the emergency manual is performed, the controller  180  controls the unmanned aerial vehicle to capture an external environment while flying a specific region to detect a preset capture target object. Furthermore, the unmanned aerial vehicle may collect a route of the capture target object while flying along the movement of the capture target object. The display unit  151  can display a map screen indicating the collected route of the capture target object. 
     According to the present embodiment, a user can select a flight mode or may not select a path according to a specific circumstance, and enter information suitable to the specific circumstance to receive his or her desired capture image. 
       FIG. 22  is a conceptual view illustrating a control method of controlling an unmanned aerial vehicle according to another embodiment. A mobile terminal according to the present embodiment receives notification information from the unmanned aerial vehicle while the unmanned aerial vehicle flies in an automatic control mode. The controller  180  can receive the notification information at preset time intervals or receive the notification information when the unmanned aerial vehicle arrives at the preset index location. The notification information may include a capture image captured by the camera of the unmanned aerial vehicle. 
     In more detail, when the execution screen of another application is displayed on the display unit  151  or the display unit  151  is in an inactive state, the controller  180  can control the display unit  151  to display a pop-up window including the notification information. The controller  180  can execute an application for controlling the unmanned aerial vehicle based on a touch applied to the notification information. The display unit  151  displays the map screen  910  in the horizontal mode. The map screen  910  may include the map information of a region in which the unmanned aerial vehicle is currently flying. The display unit  151  displays a first through a third control image  912 ,  913 ,  914  and a capture icon  916  for controlling the flight and camera of the unmanned aerial vehicle, and displays the flight information  911  of the unmanned aerial vehicle. Furthermore, mode information  912  indicating that the automatic control mode has been activated may be displayed. 
     When a touch is applied to the control images, the controller  180  can form a control command based on the touch to temporarily switch the automatic control mode to a manual control mode. According to the present embodiment, a user can not need to continuously check the flight information of an unmanned aerial vehicle while the unmanned aerial vehicle flies using an automatic control mode, and may periodically check the flight of the unmanned aerial vehicle due to the notification information indicating that the unmanned aerial vehicle has arrived at a specific location. Furthermore, an application may be conveniently activated using notification information. 
       FIGS. 23A through 23D  are conceptual views illustrating a control method of editing a flight path. Referring to  FIG. 23A , when an edit mode for editing the flight path of the unmanned aerial vehicle is activated, the controller  180  controls the display unit  151  to display a map screen  910  including a route. In the edit mode, the display unit  151  displays a first through a fourth edit menu  910   a ,  910   b ,  910   c ,  910   d . The first edit menu  910   a , second edit menu  910   b , third edit menu  910   c  and fourth edit menu  910   d  correspond to functions of editing a flight path, editing a speed, editing an altitude and editing a capture range of the camera, respectively. 
     The controller  180  can control the display unit  151  to display an image indicating a flight path on the map screen  910  when a flight path has been previously set, but to display only the map screen  910  when the flight path has not been previously set. When a touch is applied to the first edit menu  910   a , the display unit  151  receives a touch input on the map screen  910 . The controller  180  can form or correct a flight path based on the touch path of a consecutive touch input applied to the map screen. The display unit  151  displays a path image  911  corresponding to a flight path formed based on the touch path. Here, the touch input corresponds to a dragging type of touch input, but is not limited to this. An index location may be added or corrected based on a touch (single touch or long touch) applied to the map screen. 
     Further, when a touch is applied to the second edit menu  910   b , the controller  180  edits a flight speed of the unmanned aerial vehicle. The controller  180  sets a flight speed of the unmanned aerial vehicle moving along a flight path corresponding to the path image  911  based on a touch input applied along the path image  911 . A changed speed may be applicable to only a flight path to which a touch is applied on the path image  911 . 
     For example, the controller  180  can change the speed based on the touch time of a long touch input initially applied to the path image  911 . In addition, information on the corrected speed may be displayed on the display unit  151 . The controller  180  controls the display unit  151  to display a modified guide  911 ′ for indicating a speed changed based on the touch input. 
     Referring to  FIG. 23B , when the third edit menu  910   c  is selected, the controller  180  controls the display unit  151  to select a flight path for modifying an altitude based on a touch applied to the path image  911  on the map screen, and display an altitude select window  902  for selecting the altitude. When the flight altitude of the unmanned aerial vehicle is changed by the altitude select window  902 , the controller  180  controls the display unit  151  to display the modified guide  911 ″ indicating the changed altitude. 
     Referring to  FIG. 23C , when the fourth edit menu  901   d  is selected, the display unit  151  displays an edit guide  903 . The edit guide  903  may be formed in an arrow shape, and a location indicated by the arrow corresponds to a capture range. In other words, the shape (a length, a thickness, a pointing direction, etc.) of the arrow is changed by a user&#39;s touch input. Accordingly, the user can control the tilting and panning of a camera based on a touch input. 
     Furthermore, the location of the edit guide  903  may be changed on the map screen based on a touch input. The region and flight path to be captured by the camera may be determined by the location change, and the rotation degree of the unmanned aerial vehicle may be determined to dispose the camera by the direction of the arrow. The display unit  151  can display a plurality of edit icons  903  based on a touch applied to the fourth edit menu  910   d . According to the present embodiment, the user can control the capture range and camera in a finer manner using an edit icon. 
     Referring to  FIG. 23D , the controller  180  can change a flight path based on a touch applied to the path image  911  when the flight path is displayed. A path guide  911  is modified by a touch applied the path guide  911 , and the controller  180  modifies a flight path based on the modified path guide  911 . According to the present embodiment, a user can edit the flight and capture of the unmanned aerial vehicle in a finer manner using images displayed on the map screen, thereby forming the flight control command and capture control command in a more convenient manner. 
       FIG. 24A  is a flow chart illustrating a control method of controlling a flight path for charging an unmanned aerial vehicle, and  FIG. 24B  is a conceptual view illustrating the control method of  FIG. 24A . Referring to  FIGS. 24A and 24B , the controller  180  can receive information on the remaining capacity of a battery from the unmanned aerial vehicle at specific time intervals. When the remaining capacity of the battery is less than a reference remaining capacity (S 351 ), the controller  180  analyzes a charging time based on a speed of the capture target object ( 0 ), a charging spot (CA) and a flight path (S 352 ). When an application for controlling the unmanned aerial vehicle is in an inactive state, the controller  180  can control the display unit  151  to display a pop-up window or the like indicating information on the remaining capacity. 
     The charging spot (CA) denotes a place at which the battery of the unmanned aerial vehicle can be charged. The charging spot (CA) may be located on the flight path or located at a position from which the unmanned aerial vehicle starts flight. The controller  180  can perform the process of searching the nearest charging spot (CA) based on a flight path of the unmanned aerial vehicle. For example, when the unmanned aerial vehicle should arrive at the second index location before the unmanned aerial vehicle arrives at the second index location from the first index location, a charging time may be calculated using a round-trip moving time from a current position to the charging spot (CA) and a time required for the capture target object to arrive the second index location. 
     Further, when a capture for a route up to the second index location is required based on the capture mode, the controller  180  can form a flight control command and a capture control command for controlling the unmanned aerial vehicle to perform a capture up to the route in advance (S 353 ). In this instance, the charging time may be calculated by additionally taking a time for capturing the flight path into consideration. However, when the unmanned aerial vehicle is controlled to capture an image at a specific index location, this process will be omitted. 
     When the charging time is calculated, the controller  180  forms a flight control command for allowing the unmanned aerial vehicle to move to the charging spot (CA) so as to perform charging during the charging time (S 354 ). In more detail, when the charging time is not calculated, namely, when the charging spot is far away from a current location or a continuous capture of the capture target object is required, a flight control command for the charging spot is not formed. In this instance, the controller  180  can activate an edit mode for modifying the flight path and the capture mode. 
     Alternatively, the controller  180  can switch the unmanned aerial vehicle to a power save mode (for example, reduce the speed or change the resolution of a capture image). According to the present embodiment, it is possible to prevent an accident or the like occurring due to the low power of the unmanned aerial vehicle while flying in the automatic control mode without user&#39;s control. 
     The foregoing present invention may be implemented as codes readable by a computer on a medium written by the program. The computer-readable media may include all kinds of recording devices in which data readable by a computer system is stored. Examples of the computer-readable media may include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device, and the like, and also include a device implemented in the form of a carrier wave (for example, transmission via the Internet). In addition, the computer may include the controller  180  of the mobile terminal. Accordingly, the detailed description thereof should not be construed as restrictive in all aspects but considered as illustrative. The scope of the invention should be determined by reasonable interpretation of the appended claims and all changes that come within the equivalent scope of the invention are included in the scope of the invention.