An unmanned aerial vehicle formation animation processing method, processing system and storage medium

Abstract

The application belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle formation animation processing method, a processing system and a storage medium. The processing method comprises the following steps: performing multiple rotation and translation operations on a certain frame of input unmanned aerial vehicle formation animation, and obtaining the frame picture position and orientation; automatically calculating the rotation and translation results of the frame picture before and after the operation; according to the calculation results, rotating the entire animation at all times; saving the calculated results and covering the animation before rotation. The application can automatically match the operation of the user, realize that after the user rotates and translates a certain frame, the whole animation is aligned with the operation of the user on the frame by one key, generates a dance animation after rotation and translation, and is very convenient for batch processing of the animation. The application can automatically calculate the rotation and translation of a series of operations of the user on a certain frame of animation.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and particularly relates to a method, system and storage medium for processing UAV formation animation. Background Technology

[0002] In the actual production of drone formation dance steps, the orientation and position of the formation animation or path need to be constantly adjusted according to actual needs. To rotate the drone path, the start and end views need to be rotated separately, and the path recalculated and generated, which is inefficient. Therefore, it is crucial to implement automated methods for rotating and translating drone animations.

[0003] Based on the above analysis, the problems and shortcomings of the existing technology are as follows: In the existing technology, when operating the software interface, multiple rotation and translation operations are usually performed on a single frame of the animation. If the entire frame is to match the operations performed on that frame, the rotation and translation changes of that frame need to be calculated. However, the existing technology cannot align the entire animation with the user's operations on that frame with a single click, making it impossible to batch process the generated dance animation and resulting in low application efficiency. Summary of the Invention

[0004] To overcome the problems existing in related technologies, the present invention discloses a method, system, and storage medium for processing drone formation animation. Specifically, it relates to a method for automatically matching rotation and translation in drone formation animation processing.

[0005] The technical solution is as follows: A method for automatically matching rotation and translation in UAV formation animation processing includes the following steps:

[0006] S1: Perform multiple rotation and translation operations on a single frame of the input drone formation animation to obtain the position and orientation of that frame.

[0007] S2 automatically calculates the rotation and translation results of the frame before and after the operation;

[0008] S3, Based on the calculation results of step S2, rotate the entire animation throughout all time periods;

[0009] S4 saves the calculated results and overwrites the animation before rotation.

[0010] In one embodiment, in step S1, the input drone formation animation includes: the x, y, z values ​​of each drone in the formation and the number of flight time frames t.

[0011] In one embodiment, step S1, performing multiple rotation and translation operations on a single frame of the input drone formation animation, includes:

[0012] Before the user interacts with the screen, record the initial data of all drones in the user's operation frame. start ,y start ,z start Calculate the center point x of the image based on the drone's position in a single frame. center_s ,y center_s ,z center_s Based on the center point of the image and the positions of the other two drones, determine the auxiliary plane and calculate the normal vector n of the auxiliary plane. s ;

[0013] The user interacts with the screen, and upon completion, issues a command to end the interaction. The system then records the data x of all drones in that frame. end ,y end ,z end Calculate the center point x of the image. center_e ,y center_e ,z center_e And the normal vector n of the auxiliary plane after rotation e .

[0014] In one embodiment, a normal vector is determined based on three non-collinear points, and n is obtained. s n e ;

[0015] The coordinates of the two drones are (x1, y1, z1) and (x2, y2, z2) respectively, and the center point of the image is (x1, y1, z1) and (x2, y2, z2). start ,y start ,z start Based on these three non-collinear points, we can obtain two non-collinear vectors:

[0016] n1=(n 1x ,n 1y ,n 1z )=(x start -x1,y start -y1,z start -z1);

[0017] n2=(n 2x n 2y n 2z )=(x start -x2,y start -y2,z start -z2);

[0018] n is obtained by cross product of n1 and n2. s :n s =(n 1y n 2z -n 2y n 1z ,n 1z n 2x-n 2z n 1x ,n 1x n 2y -n 2x n 1y );n e The method of obtaining n s Similarly.

[0019] In one embodiment, in step S2, the translation t is calculated based on the change in the center point of the screen before and after the user interacts with the screen. x ,t y ,t z According to n s and n e Calculate the rotation; if the front and rear normal vectors are in the same direction, then the axis of rotation is n. s The rotation angle θ can be calculated by changing any vector on the plane before and after the change; if the normal vectors are not in the same direction, first calculate the angle between the two normal vectors. Align the normal vectors and then calculate the rotation angle θ.

[0020] In one embodiment, when n s and n e When they are in the same direction, with n s Let n be the axis of rotation, and calculate the rotation angle θ; select vectors n1 and n2 formed by the same drone and the center of the image before and after the operation, and calculate the rotation angle θ:

[0021] When n s and n e When they are not in the same direction, calculate n. s and n e The included angle

[0022] Calculate the translation t based on the change in the position of the center point of the screen before and after the user interacts with the screen. x ,t y ,t z :

[0023] t x =x center_e -x center_s

[0024] t y =y center_e -y center_s .

[0025] t z =z center_e -z center_s

[0026] In one embodiment, in step S3, according to the rotation axis n = (n) in step S2 x ,n y ,n z The rotation matrix R is obtained by calculating the rotation angle θ and the rotation center. The rotation center is taken as the center of the starting screen of the user operation frame. The animation at all times is rotated first. After the rotation is completed, the translation is automatically performed according to the change of the rotation center.

[0027] The rotation matrix R is:

[0028]

[0029] The drone's initial position is P. The drone's position P is obtained by translating the center back to the origin. o The position of the rotated drone is P. rot Then: P rot =RP o .

[0030] In one embodiment, the rotation matrix is ​​calculated separately for rotations using different rotation axes and rotation angles, and the rotations are performed sequentially, first aligning the normal vectors, including: with n s and n e The cross product vector is used as the rotation axis, and the included angle is used as the rotation angle for alignment;

[0031] After aligning the normal vectors, with n s or n e Using the rotation axis, the rotation angle is determined by the change in the forward and backward angles of the vector formed by the same drone and the center point of the screen on the plane. The resulting animation matches the user's operation.

[0032] Another object of the present invention is to provide an automatic matching and translational drone formation animation processing system, comprising:

[0033] The drone formation animation input module is used to input drone formation animations;

[0034] The animation rotation and translation operation module is used by users to perform multiple rotation and translation operations on a single frame of a drone animation to obtain the position and orientation of that frame.

[0035] The rotation and translation calculation module for screen operations is used to automatically calculate the rotation and translation results of the frame before and after the operation.

[0036] The overall animation rotation module is used to rotate the entire animation throughout all time periods based on the calculation results of the rotation and translation calculation module 3 of the screen operation.

[0037] The pre-rotation animation overwrite module is used to save the calculated results and overwrite the pre-rotation animation.

[0038] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the automatic matching rotation and translation drone formation animation processing method.

[0039] Combining all the above technical solutions, the advantages and positive effects of this invention are as follows:

[0040] First, addressing the technical problems and difficulties in solving the aforementioned existing technologies, and closely combining the technical solution to be protected by this invention with the results and data from the research and development process, this invention provides a detailed and in-depth analysis of how the technical solution of this invention solves the technical problems and the creative technical effects it brings after solving the problems. Specifically, the invention can achieve overall rotation and translation of drone animations, facilitating post-processing of calculated paths or animations. This invention can automatically calculate the rotation and translation of a series of operations performed by the user on a particular frame of animation. This invention can automatically match user operations, enabling the entire animation to be aligned with the user's operation on a particular frame with a single click after the user performs rotation and translation on that frame, generating a rotated and translated dance animation, which is very convenient for batch processing of animations.

[0041] Secondly, considering 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 this invention are specifically described as follows: This invention can record the changes in the screen before and after a user operates on a certain frame of an animation, and automatically calculate the rotation and translation of the drone formation in that frame, and automatically rotate the entire animation dance steps in that frame to align with that frame. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0043] Figure 1 This is a flowchart of the automatic matching rotation and translation drone formation animation processing method provided in the embodiments of the present invention;

[0044] Figure 2 This is a schematic diagram of the automatic matching rotation and translation drone formation animation processing method provided in this embodiment of the invention;

[0045] Figure 3 This is a schematic diagram of the automatic matching rotation and translation drone formation animation processing system provided in an embodiment of the present invention;

[0046] In the diagram: 1. Drone formation animation input module; 2. Animation rotation and translation operation module; 3. Screen operation rotation and translation calculation module; 4. Overall animation rotation module; 5. Animation overlay module before rotation. Detailed Implementation

[0047] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0048] I. Explanation of the Implementation Example:

[0049] The automatic matching, rotation, and translation drone formation animation processing method provided in this invention can be applied to drone formation light shows. The background uses several drones in formation to create specific formations and patterns in the air, and utilizes their onboard lighting equipment to display specific lighting effects, thereby achieving a certain aesthetic and artistic effect.

[0050] Example 1

[0051] like Figure 1 As shown, the automatic matching rotation and translation drone formation animation processing method provided in this embodiment of the invention includes the following steps:

[0052] S101, Input the drone formation animation (path) into the system, specifically the x, y, z of each drone in the formation and the number of flight time frames t;

[0053] S102, the user can perform multiple rotation and translation operations on a certain frame of the drone animation to achieve the desired image position and orientation;

[0054] S103, automatically calculates the rotation and translation of the frame before and after the operation;

[0055] S104, Based on the calculation results of step S103, rotate the entire animation throughout all time periods;

[0056] S105: Save the calculated results and overwrite the animation before rotation.

[0057] Example 2

[0058] like Figure 2 As shown, the present invention provides an automatic matching and translational drone formation animation processing method, which includes the following specific steps:

[0059] Step 1: Input the drone formation animation (path) into the system, specifically the x, y, z coordinates of each drone in the formation and the number of flight time frames t. Record the initial data x of all drones in the user's operation frame. start ,ystart ,z start Calculate the center point x of the image. center_s ,y center_s ,z center_s Based on the center point and the positions of the other two drones (the three points are not collinear), determine an auxiliary plane and calculate its normal vector n. s ;

[0060] Step 2: The user interacts with the screen and gives a command to end the operation after completing the interaction. The system records the data x of all drones in that frame. end ,y end ,z end Calculate the center point x of the image. center_e ,y center_e ,z center_e And the normal vector n of the auxiliary plane after rotation e ;

[0061] Step 3: Calculate the translation t based on the change in the center point before and after. x ,t y ,t z According to n s and n e Calculate the rotation. If the front and rear normal vectors are in the same direction, then the rotation axis is considered to be n. s The rotation angle θ can be calculated by changing any vector on the plane before and after the change; if the normal vectors are not in the same direction, first calculate the angle between the two normal vectors. After aligning the normal vectors, the rotation angle θ is then calculated.

[0062] Step 4: Based on the calculation results in Step 3, obtain the rotation matrix. Using the center of the starting frame of the user operation frame as the rotation center, rotate the animation at all times first. After the rotation is completed, automatically translate according to the change of the rotation center.

[0063] Step 5: Save the calculated results and overwrite the original image.

[0064] Example 3

[0065] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 1, the center of the screen can be calculated based on the position of the drone in a single frame.

[0066] Example 4

[0067] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 3, a normal vector can be determined based on three non-collinear points, and n can be obtained based on this. s n e .

[0068] With n s For example: Let the coordinates of the two drones be (x1, y1, z1) and (x2, y2, z2) respectively, and the center point of the image be (x1, y1, z1) and (x2, y2, z2) respectively. start ,y start ,z start Based on these three non-collinear points, we can obtain two non-collinear vectors:

[0069] n1=(n 1x ,n 1y ,n 1z )=(x start -x1,y start -y1,z start -z1)

[0070] n2=(n 2x n 2y n 2z )=(x start -x2,y start -y2,z start -z2)

[0071] Then, n is obtained by cross product of n1 and n2. s :n s =(n 1y n 2z -n 2y n 1z ,n 1z n 2x -n 2z n 1x ,n 1x n 2y -n 2x n 1y ), n e The method of obtaining n s Similarly, I will not elaborate further.

[0072] Example 5

[0073] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 3, when n s and n e When they are in the same direction, with n s Let n be the axis of rotation, and calculate the rotation angle θ. Select vectors n1 and n2 formed by the same drone and the center of the image before and after the operation, and calculate the rotation angle θ:

[0074]

[0075] When n s and n e When they are not in the same direction, calculate n. s and ne The included angle

[0076]

[0077] Example 6

[0078] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 3, the translation t is calculated according to the position change of the center point. x ,t y ,t z :

[0079] t x =x center_e -x center_s

[0080] t y =y center_e -y center_s .

[0081] t z =z center_e -z center_s

[0082] Example 6

[0083] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 4, according to the rotation axis n = (n x ,n y ,n z Given the rotation angle θ, we obtain the rotation matrix R:

[0084]

[0085] Let the position of the drone before rotation be P. The drone's position P is obtained by translating the center to the origin. o The position of the rotated drone is P. rot Then: P rot =RP o .

[0086] Example 7

[0087] Based on the automatic matching rotation and translation drone formation animation processing method provided in Embodiment 2, more preferably, in step 4, the rotation matrix is ​​calculated separately for rotations using different rotation axes and rotation angles, and the rotations are performed sequentially. First, the normal vectors are aligned, using n... s and n e Alignment is performed using the cross product vector as the rotation axis and the included angle as the rotation angle. After alignment, the normal vectors are used with n... s or ne Using the rotation axis, the rotation angle is determined by the change in the forward and backward angles of the vector formed by the same drone and the center point of the screen on the plane. The resulting animation matches the user's operation.

[0088] Example 8

[0089] like Figure 3 As shown, the automatic matching rotation and translation drone formation animation processing system provided in this embodiment of the invention includes: a drone formation animation input module 1, used to input drone formation animation (path), specifically the x, y, z coordinates and flight time frame t of each drone in the formation; an animation rotation and translation operation module 2, used by the user to perform multiple rotation and translation operations on a certain frame of the drone animation to achieve the required screen position and orientation; a screen operation rotation and translation calculation module 3, used to automatically calculate the rotation and translation of the frame before and after the operation; an overall animation rotation module 4, used to rotate the entire animation by traversing all time periods based on the calculation results of the screen operation rotation and translation calculation module 3; and a pre-rotation animation overlay module 5, used to save the calculated results and overlay the pre-rotation animation.

[0090] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be found in the relevant descriptions of other embodiments. The information interaction and execution processes between the above-described devices / units are based on the same concept as the method embodiments of the present invention, and their specific functions and technical effects can be found in the method embodiments section, and will not be repeated here.

[0091] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the functions described above can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this invention. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0092] II. Application Examples:

[0093] Application Example 1

[0094] This invention provides a computer device comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above-described method embodiments.

[0095] Application Example 2

[0096] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps described in the various method embodiments above.

[0097] Application Example 3

[0098] This invention also provides an information data processing terminal, which, when executed on an electronic device, provides a user input interface to implement the steps described in the above method embodiments. The information data processing terminal is not limited to mobile phones, computers, or switches.

[0099] Application Example 4

[0100] This invention also provides a server that, when executed on an electronic device, provides a user input interface to implement the steps described in the above method embodiments.

[0101] Application Example 5

[0102] This invention provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0103] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0104] III. Evidence of the relevant effects of the embodiments:

[0105] Experiments show that the automatic matching rotation and translation drone formation animation processing method provided in this embodiment is suitable for translating and rotating the position and orientation of the drone formation as a whole after the drone formation path or animation has been generated. It is easy to implement, generates animation frames with one click, and can automatically align with user-operated animation frames, effectively improving the efficiency of drone performance dance step production and processing.

[0106] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A method for automatically matching rotation and translation in UAV formation animation processing, characterized in that, The automatic matching and rotation / translation drone formation animation processing method includes the following steps: S1: Perform multiple rotation and translation operations on a single frame of the input drone formation animation to obtain the position and orientation of that frame. S2 automatically calculates the rotation and translation results of the frame before and after the operation; S3, Based on the calculation results of step S2, rotate the entire animation throughout all time periods; S4. Save the calculated results and overwrite the animation before rotation; In step S1, performing multiple rotation and translation operations on a single frame of the input drone formation animation includes: Before the user interacts with the screen, record the initial data of all drones in the user's operation frame. start ,y start ,z start Calculate the center point x of the image based on the drone's position in a single frame. center_s ,y center_s ,z center_s Based on the center point of the image and the positions of the other two drones, determine the auxiliary plane and calculate the normal vector n of the auxiliary plane. s ; The user interacts with the screen, and upon completion, issues a command to end the interaction. The system then records the data x of all drones in that frame. end ,y end ,z end Calculate the center point x of the image. center_e ,y center_e ,z center_e And the normal vector n of the auxiliary plane after rotation e ; In step S2, the translation t is calculated based on the change in the center point of the screen before and after the user interacts with the screen. x ,t y ,t z According to n s and n e Calculate the rotation angle; if the front and rear normal vectors are in the same direction, then the rotation axis is n. s The rotation angle θ can be calculated by changing any vector on the plane before and after the change; if the normal vectors are not in the same direction, first calculate the angle between the two normal vectors. Align the normal vectors and then calculate the rotation angle θ.

2. The method for automatically matching rotation and translation in UAV formation animation processing according to claim 1, characterized in that, In step S1, the input drone formation animation includes: x, y, z of each drone in the formation and the number of flight time frames t.

3. The method for automatically matching rotation and translation in UAV formation animation processing according to claim 1, characterized in that, Determine a normal vector based on three non-collinear points, and obtain n. s n e ; The coordinates of the two drones are (x1, y1, z1) and (x2, y2, z2) respectively, and the center point of the image is (x1, y1, z1) and (x2, y2, z2). center_s ,y center_s ,z center_s Based on these three non-collinear points, we can obtain two non-collinear vectors: n1=(n 1x ,n 1y ,n 1z )=(x center_s −x1,y center_s -y1,z center_s −z1) n2=(n 2x ,n 2y ,n 2z )=(x center_s −x2,y center_s -y2,z center_s −z2) n is obtained by cross product of n1 and n2. s : n s =(n 1y n 2z -n 2y n 1z ,n 1z n 2x -n 2z n 1x ,n 1x n 2y -n 2x n 1y ); n e The method of obtaining n s Similarly.

4. The method for automatically matching rotation and translation in UAV formation animation processing according to claim 1, characterized in that, When n s and n e When they are in the same direction, with n s Let n be the axis of rotation, and calculate the rotation angle θ; select vectors n1 and n2 formed by the same drone and the center of the image before and after the operation, and calculate the rotation angle θ: When n s and n e When they are not in the same direction, calculate n. s and n e The included angle Calculate the translation t based on the change in the position of the center point of the screen before and after the user interacts with the screen. x ,t y ,t z : t x =x center_e -x center_s t y / and center_e -and center_s t z =z center_e -z center_s 。 5. The method for automatically matching rotation and translation in UAV formation animation processing according to claim 1, characterized in that, In step S3, according to the rotation axis n = (n) in step S2 x ,n y ,n z The rotation matrix R is obtained by calculating the rotation angle θ and the rotation center. The rotation center is taken as the center of the starting screen of the user operation frame. The animation at all times is rotated first. After the rotation is completed, the translation is automatically performed according to the change of the rotation center. The rotation matrix R is: The drone's initial position is P. The drone's position P is obtained by translating the center back to the origin. o The position of the rotated drone is P. rot Then: P rot =RP o .

6. The method for automatically matching rotation and translation in UAV formation animation processing according to claim 5, characterized in that, Calculate the rotation matrix separately when rotating with different rotation axes and rotation angles, and rotate sequentially, first aligning the normal vectors, including: with n s and n e The cross product vector is used as the rotation axis, and the included angle is used as the rotation angle for alignment; After aligning the normal vectors, with n s or n e Using the rotation axis, the rotation angle is determined by the change in the forward and backward angles of the vector formed by the same drone and the center point of the screen on the plane. The resulting animation matches the user's operation.

7. A drone formation animation processing system that implements the automatic matching rotation and translation method for drone formation animation processing according to any one of claims 1 to 6, characterized in that, The automatic matching rotation and translation drone formation animation processing system includes: The drone formation animation input module (1) is used to input drone formation animations; The animation rotation and translation operation module (2) is used by the user to perform multiple rotation and translation operations on a certain frame of the drone animation to obtain the position and orientation of the frame. The rotation and translation calculation module (3) for screen operation is used to automatically calculate the rotation and translation results of the frame before and after the operation; The overall animation rotation module (4) is used to rotate the entire animation by traversing all time periods based on the calculation results of the rotation and translation calculation module 3 of the screen operation. The pre-rotation animation overlay module (5) is used to save the calculated results and overlay the pre-rotation animation.

8. A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the automatic matching rotation and translation drone formation animation processing method according to any one of claims 1 to 6.

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