A method and terminal for placing cluster drones

Abstract

The present invention provides a method and terminal for placing a cluster of unmanned aerial vehicles, comprising obtaining a dance step placement diagram, establishing a rectangular coordinate system according to the position information of the first unmanned aerial vehicle; determining the source coordinates of the second unmanned aerial vehicle according to the position information of the second unmanned aerial vehicle and the rectangular coordinate system; comparing the source coordinates of the second unmanned aerial vehicle with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates; obtaining the new coordinates of the second unmanned aerial vehicle, and completing the placement of the second unmanned aerial vehicle if the distance between the new coordinates and the target coordinates is less than a threshold value; determining the position coordinates of the unmanned aerial vehicle by establishing a rectangular coordinate system, comparing them with the dance step placement diagram, determining the most appropriate target position information of the unmanned aerial vehicle under the current position conditions, automatically calculating and providing the moving direction, simplifying the working steps of the unmanned aerial vehicle positioning coordinates, and improving the efficiency of the unmanned aerial vehicle placement work with high accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle cluster control, and in particular to a method and terminal for placing clustered unmanned aerial vehicles. Background Art

[0002] In a drone swarm performance, the staff needs to place the drones according to the preset layout before the performance begins, so that the drone swarm performance can be carried out smoothly. In the existing technology, the coordinates of the drone placement are usually determined by manually pulling a tape measure, but in a formation of hundreds or even thousands of drones, using this method to determine the coordinates of the drone placement is not only a huge workload, but also the steps of locating the coordinates are very cumbersome, the work efficiency is low and it is easy to make mistakes. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method and terminal for placing a cluster of drones, so as to improve the placement efficiency and accuracy of the drone clusters.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A method for placing a cluster of drones comprises the following steps:

[0006] S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone;

[0007] S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system;

[0008] S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates;

[0009] S4. Obtain the new coordinates of the second UAV, and determine whether the distance between the new coordinates and the target coordinates is less than a threshold. If so, the placement of the second UAV is completed.

[0010] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0011] A cluster drone placement terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0012] S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone;

[0013] S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system;

[0014] S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates;

[0015] S4. Obtain the new coordinates of the second UAV, and determine whether the distance between the new coordinates and the target coordinates is less than a threshold. If so, the placement of the second UAV is completed.

[0016] The beneficial effects of the present invention are as follows: through the positioning information of the drone itself, a rectangular coordinate system is established according to the first drone, so as to determine the relative position information between the drones, without the need to manually establish the coordinate system, and at the same time, the relative position information is compared with the dance step placement diagram to determine the most appropriate target position information of the second drone under the current position conditions, and give a prompt for the corresponding moving direction, automatically calculate and provide the moving direction, simplify the working steps of the drone positioning coordinates, and improve the efficiency of the drone placement work with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of a method for placing a swarm of drones provided in an embodiment of the present invention;

[0018] Figure 2 A rectangular coordinate system established by a method for placing a swarm of drones provided in an embodiment of the present invention;

[0019] Figure 3 A preset angle interval diagram of a method for placing a swarm of drones provided in an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of the structure of a terminal for placing swarm drones provided in an embodiment of the present invention;

[0021] Description of labels:

[0022] 1. A terminal for placing cluster drones; 2. Memory; 3. Processor. DETAILED DESCRIPTION

[0023] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0024] Please refer to Figure 1 , a method for placing a cluster of drones, comprising the steps of:

[0025] S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone;

[0026] S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system;

[0027] S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates;

[0028] S4. Obtain the new coordinates of the second UAV, and determine whether the distance between the new coordinates and the target coordinates is less than a threshold. If so, the placement of the second UAV is completed.

[0029] From the above description, it can be seen that the beneficial effects of the present invention are: through the positioning information of the drone itself, a rectangular coordinate system is established according to the first drone, so as to determine the relative position information between the drones, without the need to manually establish a coordinate system, and at the same time compare the relative position information with the dance step placement diagram to determine the most appropriate target position information of the second drone under the current position conditions, and give a prompt for the corresponding moving direction, automatically calculate and provide the moving direction, simplify the working steps of the drone positioning coordinates, and improve the efficiency of the drone placement work with high accuracy.

[0030] Furthermore, the S3 is specifically:

[0031] S31, performing distance calculations on the source coordinates of the second drone and the coordinates of the dance step layout diagram to determine target coordinates in the dance step layout diagram that meet preset conditions;

[0032] S32, determining the angle between the target coordinates and the source coordinates;

[0033] S33, obtaining a preset angle interval, determining whether the angle meets the preset angle interval, and if so, determining a moving direction corresponding to the preset angle interval, and turning on an indicator light in the moving direction.

[0034] From the above description, it can be seen that the distance calculation is performed between the source coordinates of the second UAV and all the coordinate points in the dance step placement diagram to obtain the placement position in the dance step placement diagram coordinates that is closest to the current position of the second UAV, determine this position as the target coordinate, and calculate the angle between the current position of the second UAV and the target coordinates. The corresponding moving direction is divided according to the size of the angle. The whole process has a small amount of calculation and a fast response speed. At the same time, the lighting equipment of the UAV is used to indicate the moving direction. The indication information is intuitive and easy to obtain, which effectively reduces the time spent in the process of moving the UAV and improves the overall placement efficiency.

[0035] Furthermore, the angle determined in S32 is specifically:

[0036]

[0037] Among them, H1 is the horizontal coordinate difference between the target coordinate and the source coordinate, and H2 is the vertical coordinate difference between the target coordinate and the source coordinate.

[0038] From the above description, it can be seen that the angle between the relative positions of the target coordinates and the source coordinates is calculated by the difference between the horizontal and vertical coordinates of the two. The calculation method is simple and fast, with a small amount of calculation, reducing the calculation time, improving the efficiency of the drone's moving direction indication, and has strong versatility. It is applicable to both static and dynamic placement of drones.

[0039] Furthermore, the S4 further includes:

[0040] If the placement of the second drone is completed, all indicator lights of the second drone for indicating directions are turned off.

[0041] From the above description, it can be seen that the indicator light of the drone is used to indicate whether the current state of the drone is to be moved or not to be moved. The method of obtaining the state information is more convenient and quick, and the overall placement efficiency of the drone is effectively improved.

[0042] Furthermore, the S1 is specifically:

[0043] Acquire GPS information and heading angle of the first UAV, and establish a rectangular coordinate system according to the GPS information and heading angle of the first UAV;

[0044] The S2 is specifically:

[0045] The GPS information and the heading angle of the second UAV are obtained, and the source coordinates of the second UAV in the rectangular coordinate system are determined according to the GPS information and the heading angle of the second UAV.

[0046] From the above description, it can be seen that the corresponding rectangular coordinate system is established through the positioning information of the drone itself, instead of manually establishing the rectangular coordinate system, and the first drone is selected as the reference machine to ensure the availability of the rectangular coordinate system in dynamic placement. At the same time, based on the rectangular coordinate system, the placement of the drone cluster can be transformed into the movement of points in the plane, which is convenient for calculating the movement direction of the drone, determining the relative position of the drone and the target coordinates, and simplifying the process of placing the drone cluster.

[0047] Please refer to Figure 4 A swarm drone placement terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0048] S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone;

[0049] S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system;

[0050] S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates;

[0051] S4. Obtain the new coordinates of the second UAV, and determine whether the distance between the new coordinates and the target coordinates is less than a threshold. If so, the placement of the second UAV is completed.

[0052] Furthermore, the S3 is specifically:

[0053] S31, performing distance calculations on the source coordinates of the second drone and the coordinates of the dance step layout diagram to determine target coordinates in the dance step layout diagram that meet preset conditions;

[0054] S32, determining the angle between the target coordinates and the source coordinates;

[0055] S33, obtaining a preset angle interval, determining whether the angle meets the preset angle interval, and if so, determining a moving direction corresponding to the preset angle interval, and turning on an indicator light in the moving direction.

[0056] From the above description, it can be seen that the distance calculation is performed between the source coordinates of the second UAV and all the coordinate points in the dance step placement diagram to obtain the placement position in the dance step placement diagram coordinates that is closest to the current position of the second UAV, determine this position as the target coordinate, and calculate the angle between the current position of the second UAV and the target coordinates. The corresponding moving direction is divided according to the size of the angle. The whole process has a small amount of calculation and a fast response speed. At the same time, the lighting equipment of the UAV is used to indicate the moving direction. The indication information is intuitive and easy to obtain, and there is no need to add additional indication devices, which effectively reduces the time spent in the process of moving the UAV and improves the overall placement efficiency.

[0057] Furthermore, the angle determined in S32 is specifically:

[0058]

[0059] Among them, H1 is the horizontal coordinate difference between the target coordinate and the source coordinate, and H2 is the vertical coordinate difference between the target coordinate and the source coordinate.

[0060] From the above description, it can be seen that the angle between the relative positions of the target coordinates and the source coordinates is calculated by the difference between the horizontal and vertical coordinates of the two. The calculation method is simple and fast, with a small amount of calculation, reducing the calculation time, improving the efficiency of the drone's moving direction indication, and has strong versatility. It is applicable to both static and dynamic placement of drones.

[0061] Furthermore, the S4 further includes:

[0062] If the placement of the second drone is completed, all indicator lights of the second drone for indicating directions are turned off.

[0063] From the above description, it can be seen that when the distance between the new coordinates of the second UAV after moving and the target coordinates is too large, it means that the second UAV has moved in the wrong position, resulting in a large deviation between the new coordinates and the target coordinates. Therefore, the coordinate information of the second UAV is re-acquired for position correction, so that it is moved again, the corresponding threshold is set, the accuracy of the UAV placement is ensured, and automatic correction is achieved.

[0064] Furthermore, the S1 is specifically:

[0065] Acquire GPS information and heading angle of the first UAV, and establish a rectangular coordinate system according to the GPS information and heading angle of the first UAV;

[0066] The S2 is specifically:

[0067] The GPS information and the heading angle of the second UAV are obtained, and the source coordinates of the second UAV in the rectangular coordinate system are determined according to the GPS information and the heading angle of the second UAV.

[0068] From the above description, it can be seen that the corresponding rectangular coordinate system is established through the positioning information of the drone itself, instead of manually establishing the rectangular coordinate system, and the first drone is selected as the reference machine to ensure the availability of the rectangular coordinate system in dynamic placement. At the same time, based on the rectangular coordinate system, the placement of the drone cluster can be transformed into the movement of points in the plane, which is convenient for calculating the movement direction of the drone, determining the relative position of the drone and the target coordinates, and simplifying the process of placing the drone cluster.

[0069] The present invention provides a method and terminal for placing a swarm of drones, which can be applied to equipment or objects with positioning devices for directional placement or movement, such as being applied to the placement of drone swarms before a performance to improve their work efficiency. The following is an explanation through specific embodiments:

[0070] Please refer to Figures 1 to 3 , Embodiment 1 of the present invention is:

[0071] S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone;

[0072] Please refer to Figure 2 , the S1 is specifically:

[0073] Acquire GPS information and heading angle of the first UAV, and establish a rectangular coordinate system according to the GPS information and heading angle of the first UAV;

[0074] In an optional implementation, the drone dance placement diagram is obtained and uploaded to the drone, the drone cluster is placed at a certain interval according to the dance placement diagram, and the first drone is selected as the origin to establish a rectangular coordinate system, wherein the first drone corresponds to the position of drone No. 0 in the diagram, and the second drone corresponds to the position of drone No. 1 in the diagram, and there is no need to adjust the position of the first drone subsequently;

[0075] S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system;

[0076] The S2 is specifically:

[0077] Acquire GPS information and heading angle of the second UAV, and determine source coordinates of the second UAV in the rectangular coordinate system according to the GPS information and heading angle of the second UAV;

[0078] In an optional implementation, any drone other than drone No. 0 is selected from the cluster of drones as the second drone;

[0079] In an optional implementation, the heading angle of the second UAV needs to be consistent with that of the first UAV, so as to obtain GPS information of the second UAV, and determine the source coordinates of the second UAV as (X1, Y1) through the GPS information of the second UAV relative to the first UAV;

[0080] Wherein, the method for determining the source coordinates of the second UAV is a prior art;

[0081] In an optional implementation, the GPS information can be obtained through RTK differential positioning, UWB positioning, 5G positioning, Bluetooth positioning, and visual positioning;

[0082] S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates;

[0083] The S3 is specifically:

[0084] S31, performing distance calculations on the source coordinates of the second drone and the coordinates of the dance step layout diagram to determine target coordinates in the dance step layout diagram that meet preset conditions;

[0085] In an optional implementation, the distance calculation is specifically:

[0086]

[0087] Among them, (X i , Y i ) is any coordinate point in the dance step arrangement diagram;

[0088] In an optional implementation, the source coordinates of the second UAV are respectively calculated from all the coordinates of the dance step layout diagram, and the coordinate of the dance step layout diagram that is closest to the source coordinates of the second UAV is taken as the target coordinate, that is, the minimum value of L is taken, and the coordinate of the dance step layout diagram that is closest to the source coordinate is determined as (X n , Y n );

[0089] S32, determining the angle between the target coordinates and the source coordinates;

[0090] The angle determined in S32 is specifically:

[0091]

[0092] Wherein, H1 is the difference between the target coordinates and the source coordinates in the horizontal direction, and H2 is the difference between the target coordinates and the source coordinates in the vertical direction;

[0093] In an optional embodiment, H1=X n -X1,H2=Y n -Y1;

[0094] Please refer to Figure 3 S33, obtaining a preset angle interval, determining whether the angle meets the preset angle interval, and if so, determining a moving direction corresponding to the preset angle interval, and turning on an indicator light in the moving direction;

[0095] In an optional implementation, the preset angle interval includes four angle intervals: interval 1 is

[0096] [-45, 45), 2 interval is [45, -135), 3 interval is [135, 225), 4 interval is [225, 270) ∪ [-90, -45);

[0097] In an optional implementation manner, the interval 1, interval 2, interval 3, and interval 4 represent four directions, namely, right, up, left, and down;

[0098] In an optional embodiment, the first drone and the second drone are provided with a plurality of direction indicator lights on their fuselages on the same horizontal plane;

[0099] In an optional embodiment, the drone is provided with four direction indicator lights, which are used to indicate the four directions of up, down, left and right respectively;

[0100] S4, obtaining the new coordinates of the second UAV, determining whether the distance between the new coordinates and the target coordinates is less than a threshold, and if so, completing the placement of the second UAV; if the placement of the second UAV is completed, turning off all indicator lights of the second UAV for indicating directions;

[0101] In an optional implementation, if the distance between the new coordinates and the target coordinates is greater than or equal to the threshold, return to execute S2; when the distance between the new coordinates of the second UAV after moving and the target coordinates is too large, it means that the second UAV has made a mistake in moving the position, resulting in a large deviation between the new coordinates and the target coordinates, therefore, the coordinate information of the second UAV is re-acquired for position correction, so that the UAV is moved again, the corresponding threshold is set, the accuracy of the UAV placement is ensured, and automatic correction is achieved;

[0102] In an optional implementation, the threshold is 0.1 m.

[0103] Please refer to Figure 4 , Embodiment 2 of the present invention is:

[0104] A terminal 1 for placing swarm drones includes a memory 2, a processor 3, and a computer program stored in the memory 2 and executable on the processor 3. When the processor 3 executes the computer program, any step in the first embodiment is implemented.

[0105] In summary, the present invention provides a method and terminal for placing cluster drones, which establish a rectangular coordinate system of cluster drones through the relative positions of the drones. There is no need to manually establish coordinates. Based on the rectangular coordinate system, the placement of the drone cluster is transformed into the movement of points in the plane; and the drone source coordinates are compared with the target coordinates in the dance step placement diagram to determine the nearest target position at the current position; the moving direction of the drone can be obtained by only calculating the angle between the current position of the second drone and the target coordinates. The whole process has a small amount of calculation and a fast response speed. At the same time, the lighting equipment of the drone is used to indicate the moving direction. The indication information is intuitive and easy to obtain, which effectively reduces the time spent in the process of moving the drone and improves the overall placement efficiency.

[0106] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for placing a cluster of drones, characterized in that: Includes steps: S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone; S2. Acquire location information of a second UAV, and determine source coordinates of the second UAV according to the location information of the second UAV and the rectangular coordinate system; S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates; S4, obtaining the new coordinates of the second UAV, and determining whether the distance between the new coordinates and the target coordinates is less than a threshold value, and if so, completing the placement of the second UAV; The S3 is specifically: S31, performing distance calculations on the source coordinates of the second drone and the coordinates of the dance step layout diagram to determine target coordinates in the dance step layout diagram that meet preset conditions; S32, determining the angle between the target coordinates and the source coordinates; S33, obtaining a preset angle interval, determining whether the angle meets the preset angle interval, and if so, determining a moving direction corresponding to the preset angle interval, and turning on an indicator light in the moving direction.

2. A method for placing a swarm of drones according to claim 1, characterized in that: The angle determined in S32 is specifically: Among them, H1 is the horizontal coordinate difference between the target coordinate and the source coordinate, and H2 is the vertical coordinate difference between the target coordinate and the source coordinate.

3. The method for placing a swarm of drones according to claim 1, characterized in that: The S4 further comprises: If the placement of the second drone is completed, all indicator lights of the second drone for indicating directions are turned off.

4. The method for placing a swarm of drones according to claim 1, characterized in that: The S1 is specifically: Acquire GPS information and heading angle of the first UAV, and establish a rectangular coordinate system according to the GPS information and heading angle of the first UAV; The S2 is specifically: The GPS information and the heading angle of the second UAV are obtained, and the source coordinates of the second UAV in the rectangular coordinate system are determined according to the GPS information and the heading angle of the second UAV.

5. A swarm drone placement terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the following steps are implemented: S1. Obtain a drone dance step placement diagram, select a first drone, obtain position information of the first drone, and establish a rectangular coordinate system according to the position information of the first drone; S2. Acquire the position information of the second UAV, and determine the source coordinates of the second UAV according to the position information of the second UAV and the rectangular coordinate system; S3, comparing the source coordinates of the second drone with the coordinates of the dance step placement diagram to determine the target coordinates, and sending prompt information of the moving direction according to the target coordinates; S4, obtaining the new coordinates of the second UAV, and determining whether the distance between the new coordinates and the target coordinates is less than a threshold value, and if so, completing the placement of the second UAV; The S3 is specifically: S31, performing distance calculations on the source coordinates of the second drone and the coordinates of the dance step layout diagram to determine target coordinates in the dance step layout diagram that meet preset conditions; S32, determining the angle between the target coordinates and the source coordinates; S33, obtaining a preset angle interval, determining whether the angle meets the preset angle interval, and if so, determining a moving direction corresponding to the preset angle interval, and turning on an indicator light in the moving direction.

6. A cluster drone placement terminal according to claim 5, characterized in that: The angle determined in S32 is specifically: Among them, H1 is the horizontal coordinate difference between the target coordinate and the source coordinate, and H2 is the vertical coordinate difference between the target coordinate and the source coordinate.

7. The placement terminal of a swarm drone according to claim 5, characterized in that: S4 also includes: If the placement of the second drone is completed, all indicator lights of the second drone for indicating directions are turned off.

8. The swarm drone placement terminal according to claim 5, characterized in that: The S1 is specifically: Acquire GPS information and heading angle of the first UAV, and establish a rectangular coordinate system according to the GPS information and heading angle of the first UAV; The S2 is specifically: The GPS information and the heading angle of the second UAV are obtained, and the source coordinates of the second UAV in the rectangular coordinate system are determined according to the GPS information and the heading angle of the second UAV.

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