Method, system, device, storage medium and application for flight suspension and resumption

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles, and discloses a method, a system, a device, a storage medium and an application for flight suspension and recovery. The method includes: the fleet of aircraft receives a take-off instruction; the fleet of aircraft starts to fly and flies to the designated position in real time according to the dance step waypoints, with each aircraft; receives a one-key pause instruction sent by the ground station; the fleet of aircraft starts to hover after a period of time, and each aircraft uses the current dance step waypoint to save the hovering state; the fleet of aircraft receives a one-key recovery instruction, and after a period of time, the aircraft starts to execute the subsequent waypoints of the dance step and continues the full-process dance performance; after the full-process dance performance ends, the fleet of aircraft lands. The present invention utilizes the real-time execution of the pause instruction and hovers the fleet of aircraft according to the waypoints, achieving the effect of pausing the aerial picture, solving the problem of operational inconvenience caused by the fact that the full-process dance step can only select full-process flight or aircraft landing, and improving the demand support experience during the performance of the formation aircraft.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a method, system, device, storage medium and application for flight suspension and resumption. Background Art

[0002] During the formation flight performance of aircraft, there are specific scenes and special requirements in some specific occasions, where the entire formation of aircraft needs to temporarily stop performing. In normal formation performances, a complete set of dance steps usually runs without a pause and resumption function, which brings some difficulties to some performance requirements and makes the overall operation not flexible enough. Designing a solution that can support one-key pause and resume of the formation aircraft dance step performance has become a problem that needs to be solved currently.

[0003] Through the above analysis, the problems and defects of the prior art are as follows: When the prior art formation aircraft performs dance steps, it only supports selecting to fly through the entire process of dance steps or making a full-aircraft landing when problems occur during the flight; in some stages that require pauses or delays, it is very troublesome or even inoperable to re-arrange the entire process of dance steps after landing, directly resulting in a very poor experience in commercial applications and actual operations. Summary of the Invention

[0004] To overcome the problems existing in the related art, the disclosed embodiments of the present invention provide a method, system, device, storage medium and application for flight suspension and resumption. Specifically, it relates to a method for flight suspension and resumption of formation aircraft dance step performance.

[0005] The technical solution is as follows: A method for flight suspension and resumption of formation aircraft dance step performance includes the following steps:

[0006] S1, The formation aircraft receives a take-off instruction;

[0007] S2, The formation aircraft starts flying and each aircraft flies to the designated position in real time according to the dance step waypoints;

[0008] S3, Receive a one-key pause instruction sent by the ground station;

[0009] S4, The formation aircraft starts to hover after a period of time, and each aircraft uses the current dance step waypoint to save the hovering state;

[0010] S5, The formation aircraft receives a one-key resume instruction, and after a period of time, the aircraft starts to execute the subsequent waypoints of the dance steps and continues the full-process dance step performance;

[0011] S6, After the full-process dance step performance ends, the formation aircraft lands.

[0012] In one embodiment, in step S4, the cluster of aircraft begins to hover after a period of time. The aircraft uses the current dance step waypoint. Saving the hover state includes:

[0013] After the aircraft receives the pause instruction, the aircraft calculates the time sent by the ground station to pause. During the pause, the waypoints flown by each aircraft are fixed at points of their respective longitude, latitude, and altitude, and the cluster of aircraft pauses.

[0014] During the aircraft's calculation of the time sent by the ground station to pause, the UTC time of the current aircraft is taken and compared with the UTC time sent by the ground station. When the UTC time of the aircraft grows larger than the UTC time of the ground station, the instruction is executed.

[0015] Before reaching the specific UTC time configured by the ground station, the cluster of aircraft still flies according to the original predetermined trajectory.

[0016] After the pause, if the cluster of aircraft receives a landing instruction, the cluster of aircraft starts to descend and land from the waypoint at the pause position; or the cluster of aircraft is landed in batches.

[0017] In one embodiment, in step S5, after the pause, if the cluster of aircraft receives a resume instruction, the cluster of aircraft continues to execute the flight of the subsequent waypoints starting from the pause waypoint.

[0018] In one embodiment, the period of time mentioned in steps S4 and S5 is a set value of 10 s after compensating for the communication time.

[0019] In one embodiment, the method for the formation cluster of aircraft to pause and resume during dance performance flight further includes the following steps:

[0020] Step 1, the cluster of aircraft takes off and performs the formation aircraft dance performance.

[0021] Step 2, the individual aircrafts mark the current waypoint in real time.

[0022] Step 3, the ground station sends a one-key pause instruction, and the cluster of aircraft obtains the pause instruction.

[0023] Step 4, the cluster of aircraft executes the waypoint at the current position until it receives the next control instruction.

[0024] Step 5, if a one-key landing instruction from the ground station is received, jump to step 6; execute step 7;

[0025] Step 6, if a one-key resume instruction from the ground station is received, execute the following steps: obtain the resume time, the individual aircrafts continue to execute the waypoints in the dance file at the specified time, the performance state of the cluster of aircraft is restored. If the dance has not been completed, jump to step 2; if the dance has been completed, execute step 7;

[0026] Step 7, the formation aircraft lands and the whole process performance ends.

[0027] Another object of the present invention is to provide a formation aircraft dance performance flight pause and resume system, including:

[0028] A takeoff instruction acquisition module, configured to receive an aircraft takeoff instruction;

[0029] A flight designated position execution module, configured to, when each aircraft starts to fly, fly to the designated position in real time according to the dance route points;

[0030] A ground station one-key pause instruction receiving module, configured to receive a one-key pause instruction sent by the ground station;

[0031] A hovering state control module, configured to make the aircraft start to hover after a period of time, and the aircraft uses the current dance route points to save the hovering state;

[0032] A subsequent dance route point execution module, configured to, when the aircraft receives a one-key resume instruction sent by the ground station, start to execute the subsequent dance route points after a period of time and continue the whole process dance performance;

[0033] An aircraft landing control module, configured to control the aircraft to land after the whole process dance performance ends.

[0034] Another object of the present invention is to provide a formation aircraft, and the formation aircraft implements the method for flight pause and resume of the formation aircraft dance performance.

[0035] Another object of the present invention is to provide a computer device, the computer device includes a memory and a processor, the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the method for flight pause and resume of the formation aircraft dance performance.

[0036] Another object of the present invention is to provide a computer-readable storage medium, storing a computer program, and when the computer program is executed by a processor, the processor executes the method for flight pause and resume of the formation aircraft dance performance.

[0037] Another object of the present invention is to provide an application of the method for flight pause and resume of the formation aircraft dance performance in large-scale public welfare activity scene performances.

[0038] Combined with all the above technical solutions, the advantages and positive effects of the present invention are:

[0039] First, in view of the technical problems existing in the above-mentioned prior art and the difficulty of solving such problems, closely combining with the technical solution to be protected by the present invention and the results and data during the R & D process, etc., analyze in detail and profoundly how the technical solution of the present invention solves the technical problems and the creative technical effects brought about after solving the problems. The specific description is as follows: By designing a method for suspending and resuming the flight of formation aircraft, the present invention realizes real-time suspension and resumption of the formation aircraft group, and completely meets the stop and resumption requirements in some specific formation performance occasions, ensuring that the aircraft screen demonstration can be stopped and resumed at any time after takeoff, and can cooperate with backgrounds such as music to further enhance the viewing experience.

[0040] Second, regarding the technical solution as a whole or from the perspective of the product, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows: The present invention provides a method for suspending and resuming the flight of formation aircraft group dance steps performance, which uses real-time execution of suspension instructions to hover the aircraft in the group according to waypoints, achieving the effect of pausing the aerial picture, solving the operational inconvenience problem caused by only being able to choose full-process flight or aircraft landing for the full-process dance steps, and improving the demand support experience during the formation aircraft performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure and, together with the specification, are used to explain the principles of the present disclosure.

[0042] Figure 1 is a flowchart of the method for suspending and resuming the flight of formation aircraft group dance steps performance provided by an embodiment of the present invention;

[0043] Figure 2 is a flowchart of the method for suspending and resuming the flight of formation aircraft group dance steps performance provided by an embodiment of the present invention;

[0044] Figure 3 is a schematic diagram of the system for suspending and resuming the flight of formation aircraft group dance steps performance provided by an embodiment of the present invention;

[0045] Figure 4 is a display diagram of the program interface when the aircraft executes suspension during flight and then executes the resumption procedure about 9 seconds later provided by an embodiment of the present invention;

[0046] In the figure: 1. Takeoff instruction acquisition module; 2. Flight designated position execution module; 3. Receive one-key suspension instruction module from the ground station; 4. Hover state control module; 5. Subsequent waypoint execution module for dance steps; 6. Aircraft landing control module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0048] 1. Explanation of the embodiment:

[0049] The embodiment of the present invention provides a design scheme for pausing and resuming pictures during a flight dance performance of a formation aircraft group, which realizes some specific commercial needs and improves the operational experience and the audience's viewing experience.

[0050] Example 1

[0051] like Figure 1 As shown, the method for pausing and resuming flight of a dance performance of a formation aircraft group provided by an embodiment of the present invention comprises the following steps:

[0052] S101, the aircraft receives the take-off instruction;

[0053] S102, the fleet of aircraft begins to fly, and each aircraft flies to the designated location in real time according to the dance waypoints;

[0054] S103, the ground station sends a one-key pause command;

[0055] S104, the aircraft in the fleet starts to hover after a period of time, and the aircraft uses the current dance waypoint and saves the hovering state;

[0056] S105: The aircraft receives a one-key recovery command. After a period of time, the aircraft starts to execute the subsequent waypoints of the dance and continues the full-process dance performance.

[0057] S106, the full dance performance ends and the plane lands.

[0058] Example 2

[0059] Based on the method for pausing and resuming the dance performance flight of a formation aircraft group provided in Example 1, further, in step S104, the aircraft in the formation aircraft group start to hover after a period of time, and the aircraft use the current dance waypoint to save the hovering state, including executing the following instructions:

[0060] You can choose to switch to landing mode or land the aircraft in batches;

[0061] The dance performance can be resumed, and the aircraft will continue to complete the flight according to the subsequent dance steps.

[0062] In an embodiment of the present invention, in step S104, the actual principle of the aircraft dance flight is as follows:

[0063] The entire aircraft group flies according to the designed trajectory waypoints. At the beginning of the flight, the overall flight path is preset.

[0064] After the aircraft receives the pause instruction, the aircraft calculates the time sent by the ground station and pauses. At the pause moment, it is equivalent to the waypoint of the aircraft flight being fixed at a point with a fixed longitude, latitude and altitude, that is, the aircraft realizes the pause, and the aircraft group realizes the pause.

[0065] Before reaching the specific UTC (Universal Time Coordinated) time configured by the ground station, the aircraft in the group still fly according to the original trajectory.

[0066] After the pause, if the aircraft receives the landing instruction, the aircraft starts to descend and land from the waypoint at the pause position.

[0067] In an embodiment of the present invention, in step S105, after the pause, if the aircraft receives the resume instruction, the aircraft continues to execute the subsequent waypoints from the paused waypoint.

[0068] In an embodiment of the present invention, when realizing the overall stop and operation of the aircraft group, because there is a delay in communication itself, it may be 2 seconds later when a certain aircraft receives the instruction. At this time, it is necessary to compensate for the communication time. The compensation is set to 10 seconds according to experience. Therefore, when the ground station sends the pause and resume instructions, in fact, the entire aircraft group executes the corresponding instructions 10 seconds later.

[0069] Embodiment 3

[0070] As Figure 2 shown, an embodiment of the present invention provides a method for the flight pause and resume of the formation aircraft group's aircraft dance performance, including the following steps:

[0071] Step 1, the aircraft in the group take off and perform the formation aircraft dance performance;

[0072] Step 2, the individual aircraft mark the current waypoint in real time;

[0073] Step 3, the ground station sends a one-key pause instruction, and the aircraft in the group obtain the pause instruction;

[0074] Step 4, the aircraft in the group execute the waypoint at the current position until they receive the next control instruction;

[0075] Step 5, if receiving the one-key landing instruction from the ground station, jump to step 6; execute step 7;

[0076] Step 6, if a one-key recovery instruction from the ground station is received, perform the following steps: Obtain the recovery time, and the aircraft will continue to execute the waypoints of the dance file at the specified time for the individual aircraft. The performance state of the aircraft fleet is restored. If the dance has not been completed, jump to Step 2; if the dance has been completed, perform Step 7;

[0077] Step 7, the aircraft fleet lands and the entire performance process ends.

[0078] Embodiment 4

[0079] As Figure 3 shown, the formation aircraft fleet dance performance flight pause and recovery system provided by the embodiment of the present invention includes:

[0080] Takeoff instruction acquisition module 1, which is used to receive the aircraft takeoff instruction;

[0081] Flight to designated position execution module 2, which is used for each aircraft to start flying and fly to the designated position in real time according to the dance waypoints;

[0082] Receive one-key pause instruction module 3 from the ground station, which is used to receive the one-key pause instruction sent by the ground station;

[0083] Hover state control module 4, which is used for the aircraft to start hovering after a period of time, and the aircraft uses the current dance waypoints to save the hovering state;

[0084] Subsequent dance waypoint execution module 5, which is used for the aircraft to receive the one-key recovery instruction sent by the ground station, and after a period of time, start to execute the subsequent dance waypoints and continue the entire dance performance;

[0085] Aircraft landing control module 6, which is used to control the aircraft to land after the entire dance performance ends.

[0086] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0087] For the information interaction, execution process, etc. between the above devices / units, since they are based on the same concept as the method embodiment of the present invention, their specific functions and the technical effects brought can be specifically referred to the method embodiment part, and will not be elaborated here.

[0088] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present invention. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0089] II. Application Embodiment:

[0090] An embodiment of the present invention further provides a computer device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the steps in any of the foregoing method embodiments are implemented.

[0091] An embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

[0092] An embodiment of the present invention further provides an information data processing terminal, which is used to provide a user input interface to implement the steps in each of the foregoing method embodiments when executed on an electronic device. The information data processing terminal is not limited to mobile phones, computers, and switches.

[0093] An embodiment of the present invention further provides a server, which is used to provide a user input interface to implement the steps in each of the foregoing method embodiments when executed on an electronic device.

[0094] An embodiment of the present invention provides a computer program product. When the computer program product runs on an electronic device, the electronic device can be made to execute the steps in each of the foregoing method embodiments.

[0095] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc.

[0096] III. Evidence of related effects of the embodiments:

[0097] As Figure 4 shown, during the flight of the aircraft, a pause was executed, and then about 9 seconds later, the program interface display diagram for resumption was executed.

[0098] Experiments show that the present invention avoids the operational inconvenience problems caused by the need to only select full-process flight or aircraft landing for the full-process dance steps, and at the same time improves the demand support experience during the formation aircraft performance.

[0099] The above is only a relatively preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A method for pausing and resuming the flight performance of a formation aircraft group's aircraft dance steps, characterized in that, The method comprises the following steps: S1, the fleet aircraft receives the take-off order; S2, the fleet of aircraft begins to fly, and each aircraft flies to the designated location in real time according to the dance waypoints; S3, receiving a one-key pause command from the ground station; S4, the aircraft in the fleet begin to hover after a period of time, and each aircraft uses the current dance waypoint and saves the hovering status; S5: The aircraft in the fleet receive a one-key recovery command. After a period of time, the aircraft begin to execute the subsequent waypoints of the dance and continue the full-process dance performance. S6, the whole dance performance ends and the fleet of aircraft lands; In step S4, the fleet aircraft begins to hover after a period of time, and the aircraft uses the current dance waypoint. Saving the hovering state includes: After receiving the pause command, the aircraft calculates the time sent by the ground station to pause. During the pause, the waypoints of each aircraft are fixed at their respective latitude and longitude points, and the fleet of aircraft is paused. Before the specific UTC time configured by the ground station is reached, the fleet aircraft will continue to fly according to the original scheduled trajectory; After the pause, if the fleet aircraft receives a landing command, the fleet aircraft will start to descend and land from the waypoint of the pause position; or the fleet aircraft will land in batches; In step S5, if the fleet aircraft receives a resume instruction after the pause, the fleet aircraft continues to execute the subsequent waypoint flight from the pause waypoint; In step S4 and step S5, the period of time is a set value of 10 s after compensating for the communication time.

2. The method for suspending and resuming the formation aircraft group's aircraft dance performance flight according to claim 1, characterized in that, The method for pausing and resuming the flight of the formation aircraft dance performance further comprises the following steps: Step 1: The aircraft in the group take off and perform a dance performance; Step 2, the aircraft individually marks the current waypoint in real time; Step 3: The ground station sends a one-key pause command, and the fleet aircraft obtains the pause command; Step 4, the fleet aircraft executes the waypoint of the current position until receiving the next control instruction; Step 5: If a one-key landing command is received from the ground station, jump to step 6; execute step 7; Step 6: If a one-key recovery command is received from the ground station, the following steps are executed: the recovery time is obtained, and the individual aircraft continues to execute the waypoints in the dance file at the specified time, and the performance status of the aircraft in the fleet is restored. If the dance is not completed, jump to step 2; if the dance is completed, execute step 7; Step 7: The fleet of aircraft lands and the entire performance ends.

3. A formation aircraft group aircraft dance performance flight pause and recovery system for implementing the method of claim 1 or 2 for flight pause and recovery of formation aircraft group aircraft dance performance, characterized in that, The flight suspension and resumption system for the dance performance of a formation aircraft group includes: A take-off instruction acquisition module (1), used to receive an aircraft take-off instruction; The flight designated position execution module (2) is used for each aircraft to start flying and fly to the designated position in real time according to the dance step waypoint; A one-key pause command receiving module (3) from a ground station is used to receive a one-key pause command sent by the ground station; The hovering state control module (4) is used for the aircraft to start hovering after a period of time, and the aircraft uses the current dance waypoint to save the hovering state; The dance step subsequent waypoint execution module (5) is used for the aircraft to receive a one-key recovery command sent by the ground station, and after a period of time, start to execute the subsequent waypoints of the dance step and continue the full process of the dance step performance; The aircraft landing control module (6) is used to control the aircraft landing after the full dance performance ends.

4. An aircraft fleet, characterized in that, The fleet of aircraft implements the method for pausing and resuming the formation fleet aircraft dance performance flight according to any one of claims 1 to 2.

5. A computer device, characterized in that, The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the method for pausing and resuming the formation fleet aircraft dance performance flight according to any one of claims 1 to 2.

6. A computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the method for pausing and resuming the formation fleet aircraft dance performance flight according to any one of claims 1 to 2.

7. Application of the method for pausing and resuming the formation fleet aircraft dance performance flight according to any one of claims 1 to 2 in the performance of large-scale public welfare activity scenarios.

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