A formation flight control method, device and computer-readable storage medium

Abstract

The present invention discloses a formation flight control method, device and computer-readable storage medium. The method includes: obtaining formation parameters, where the formation parameters include viewing direction, array inclination and color list; calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, viewing direction and array inclination of each aircraft; determining the target aircraft according to the row number and column number, and traversing the color list to determine the target light color of the target aircraft. A humanized formation flight control solution is realized, and the real-time adjustment of the formation lighting scheme is realized in a flexible and convenient manner, effectively enhancing the customer's on-site participation and experience.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a formation flight control method, device and computer-readable storage medium. Background Art

[0002] In the prior art, with the continuous development of unmanned aerial vehicle (UAV) and other unmanned aerial vehicle equipment, the product functions of UAV formation flight are becoming more and more abundant.

[0003] However, for current UAV formation flight products, when operators provide formation flight services, they mostly need to communicate and design formation plans with customers in advance. Based on this, before the UAV executes formation flight, the formation lighting plan of the flight has been fixed, and during the process of the UAV executing formation flight, customers cannot adjust the formation lighting plan of the flight timely or in real time.

[0004] Therefore, during the formation flight process, how to flexibly achieve real-time adjustment of the formation lighting plan and enhance the on-site participation and experience of customers has become a technical problem to be solved urgently at present. Summary of the Invention

[0005] In order to solve the above technical defects in the prior art, the present invention proposes a formation flight control method, which includes:

[0006] Obtain formation parameters, where the formation parameters include viewing direction, array tilt, and color list;

[0007] Calculate the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array tilt of each aircraft;

[0008] Determine the target aircraft according to the row number and the column number, and traverse the color list to determine the target color of the target aircraft.

[0009] Optionally, the step of calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array tilt of each aircraft includes:

[0010] During the formation flight process, select one of the aircraft as a reference point;

[0011] Obtain the distance x1 of each other aircraft from the reference point in the east direction, the distance y1 of each other aircraft from the reference point in the north direction, and the height difference z1 of each other aircraft from the reference point.

[0012] Optionally, the step of calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array tilt of each aircraft further includes:

[0013] Determine the first coordinates (x1, y1) formed by the x1 and the y1 of each of the other aircraft in the initial first coordinate system;

[0014] Determine the second coordinate system of each of the other aircraft with the viewing direction as the Y direction.

[0015] Optionally, the calculating the row number and column number of each aircraft according to the longitude and latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0016] Perform a rotation transformation on the first coordinates (x1, y1) according to the second coordinate system;

[0017] Obtain the second coordinates (x2, y2) of the first coordinates (x1, y1) of each of the other aircraft in the second coordinate system.

[0018] Optionally, the calculating the row number and column number of each aircraft according to the longitude and latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0019] Rotate the second coordinate system around the X axis according to the array inclination to obtain a third coordinate system;

[0020] Through the rotation, perform a rotation transformation on the coordinates (y2, z1) of each of the other aircraft to obtain the third coordinates (y3, z3) of each of the other aircraft in the third coordinate system.

[0021] Optionally, the calculating the row number and column number of each aircraft according to the longitude and latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0022] Perform coordinate conversion of the first coordinate system, the second coordinate system, and the third coordinate system on each of the other aircraft;

[0023] Determine the converted completed coordinates (x2, y3, z3) of each of the other aircraft, and record the converted completed coordinates (x2, y3, z3) as the formation coordinates (x, y, z).

[0024] Optionally, the calculating the row number and column number of each aircraft according to the longitude and latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0025] Sort all the aircraft in reverse order according to the z value, and assign the column number 0 to the first aircraft in the reverse order;

[0026] Traverse the subsequent aircraft in the reverse order sorting. Wherein, whenever the absolute value of the difference between the z value of the current aircraft and the z value of the previous aircraft is greater than a preset threshold t, increase the column number by 1 as the column number of the current aircraft.

[0027] Optionally, the calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction and the array inclination of each aircraft further includes:

[0028] Sort all the aircraft in ascending order according to the x value, and assign the row number 0 to the first aircraft in the ascending order sorting;

[0029] Traverse the subsequent aircraft in the ascending order sorting. Wherein, whenever the absolute value of the difference between the x value of the current aircraft and the x value of the previous aircraft is greater than the threshold t, increase the row number by 1 as the row number of the current aircraft.

[0030] The present invention also provides a formation flight control device, which includes a memory, a processor and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the steps of the formation flight control method described in any one of the above are implemented.

[0031] The present invention also provides a computer-readable storage medium, on which a formation flight control program is stored. When the formation flight control program is executed by a processor, the steps of the formation flight control method described in any one of the above are implemented.

[0032] Implementing the formation flight control method, device and computer-readable storage medium of the present invention, by obtaining formation parameters, wherein the formation parameters include a viewing direction, an array inclination and a color list; calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction and the array inclination of each aircraft; determining a target aircraft according to the row number and the column number, and traversing the color list to determine the target light color of the target aircraft. A user-friendly formation flight control scheme is realized, and the real-time adjustment of the formation lighting scheme is achieved in a flexible and convenient manner, effectively enhancing the customer's on-site participation and experience. Description of the Drawings

[0033] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0034] Figure 1 is the first flowchart of the formation flight control method of the present invention;

[0035] Figure 2 is the second flowchart of the formation flight control method of the present invention;

[0036] Figure 3 is the third flowchart of the formation flight control method of the present invention;

[0037] Figure 4 is the fourth flowchart of the formation flight control method of the present invention;

[0038] Figure 5 is the fifth flowchart of the formation flight control method of the present invention;

[0039] Figure 6 is the sixth flowchart of the formation flight control method of the present invention;

[0040] Figure 7 is the seventh flowchart of the formation flight control method of the present invention;

[0041] Figure 8 is the eighth flowchart of the formation flight control method of the present invention;

[0042] Figure 9 is the schematic diagram of the viewing direction of the formation flight control method of the present invention. Detailed implementation manners

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] In the subsequent descriptions, the suffixes such as "module", "component" or "unit" used to represent elements are only for the convenience of explaining the present invention, and they have no specific meanings themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0045] Figure 1 is the first flowchart of the formation flight control method of the present invention. This embodiment provides a formation flight control method, which includes:

[0046] S1. Obtain formation parameters, where the formation parameters include the viewing direction, the array inclination, and the color list;

[0047] S2. Calculate the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft;

[0048] S3. Determine the target aircraft according to the row number and the column number, and traverse the color list to determine the target light color of the target aircraft.

[0049] In this embodiment, the formation flight of drones is taken as an example for illustration. During the formation flight of multiple drones, the formation parameters of the client are obtained through the server that controls the formation flight. Among them, the formation parameters include the viewing direction, array tilt, and color list from the perspective of the client.

[0050] Optionally, in this embodiment, one or more of the viewing direction, array tilt, and color list input by the user or adjusted in the client are obtained, and one or more of the viewing direction, array tilt, and color list are sent to the server in the form of parameters.

[0051] Optionally, in this embodiment, when the server obtains the above formation parameters, it is carried out in another way different from the above solution. First, the client that maintains a real-time communication connection with the server is determined, and the editable area of the formation flight is displayed through the display screen of the client, and the graph drawn by the user is obtained within this editable area; then, after the drawing is completed or at a stage during the drawing process, the color list included in the graph is read, and the color list and the viewing direction and array tilt collected by the client sensor are transmitted to the server as the formation parameters.

[0052] Optionally, in this embodiment, please refer to Figure 9 , which shows the viewing direction of the drone formation based on the client. Optionally, in this embodiment, when implementing the formation flight control of this solution through one client, the corresponding viewing direction can be determined based on another client or another target point, so as to facilitate meeting the diverse and dynamic formation flight control requirements.

[0053] Optionally, in this embodiment, when the server obtains the above formation parameters, it is carried out in another way different from the above solution. First, the drawing client that maintains a real-time communication connection with the server is determined, and the editable area of the formation flight is displayed through the display screen of the drawing client, and the graph drawn by the user is obtained within this editable area; then, after the drawing is completed or at a stage during the drawing process, the color list included in the graph is read, and the color list is transmitted to the server; at the same time, another viewing client that maintains a communication connection with the drawing client is determined, and the viewing direction and array tilt collected by the sensor of the viewing client are forwarded to the server through the drawing client; or, another viewing client that maintains a communication connection with the server is determined, and the viewing direction and array tilt collected by the sensor of the viewing client are sent to the server through this viewing client.

[0054] Please refer to Figure 2, in this embodiment, calculating the row number and column number of each aircraft according to the latitude and longitude, altitude, viewing direction, and array inclination of each aircraft includes:

[0055] S201. During the formation flight, select one of the aircraft as a reference point;

[0056] S202. Obtain the distance x1 of each other aircraft from the reference point in the east direction, the distance y1 from the reference point in the north direction, and the altitude difference z1 from the reference point.

[0057] Please refer to Figure 3 , in this embodiment, calculating the row number and column number of each aircraft according to the latitude and longitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0058] S203. Determine the first coordinate (x1, y1) formed by the x1 and the y1 of each other aircraft in the initial first coordinate system;

[0059] S204. Determine the second coordinate system of each other aircraft with the viewing direction as the Y direction.

[0060] Please refer to Figure 4 , in this embodiment, calculating the row number and column number of each aircraft according to the latitude and longitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0061] S205. Perform a rotation transformation on the first coordinate (x1, y1) according to the second coordinate system;

[0062] S206. Obtain the second coordinate (x2, y2) of the first coordinate (x1, y1) of each other aircraft in the second coordinate system.

[0063] Please refer to Figure 5 , in this embodiment, calculating the row number and column number of each aircraft according to the latitude and longitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0064] S207. Rotate the second coordinate system around the X axis according to the array inclination to obtain a third coordinate system;

[0065] S208. Through the rotation, perform a rotation transformation on the coordinates (y2, z1) of each other aircraft to obtain the third coordinate (y3, z3) of each other aircraft in the third coordinate system.

[0066] Please refer to Figure 6, in this embodiment, calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0067] S209. Perform coordinate conversion of the first coordinate system, the second coordinate system, and the third coordinate system on each of the other aircraft;

[0068] S210. Determine the converted completed coordinates (x2, y3, z3) of each of the other aircraft, and record the converted completed coordinates (x2, y3, z3) as the formation coordinates (x, y, z).

[0069] Please refer to Figure 7 , in this embodiment, calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0070] S211. Sort all the aircraft in reverse order according to the z value, and assign the column number 0 to the first aircraft in the reverse order;

[0071] S212. Traverse the subsequent aircraft in the reverse order. Among them, whenever the absolute value of the difference between the z value of the current aircraft and the z value of the previous aircraft is greater than the preset threshold t, increase the column number by 1 as the column number of the current aircraft.

[0072] Optionally, in this embodiment, the threshold t is a pre-set determination parameter for skipping rows / columns, and this determination parameter is determined by one or more of the array density, array inclination, control accuracy, and the drawing in the client of the formation flight.

[0073] Please refer to Figure 8 , in this embodiment, calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, viewing direction, and array inclination of each aircraft further includes:

[0074] S213. Sort all the aircraft in ascending order according to the x value, and assign the row number 0 to the first aircraft in the ascending order;

[0075] S214. Traverse the subsequent aircraft in the ascending order. Among them, whenever the absolute value of the difference between the x value of the current aircraft and the x value of the previous aircraft is greater than the threshold t, increase the row number by 1 as the row number of the current aircraft.

[0076] The beneficial effects of this embodiment are as follows: by obtaining formation parameters, where the formation parameters include viewing direction, array inclination, and color list; calculating the row number and column number of each aircraft according to the latitude, longitude, altitude, viewing direction, and array inclination of each aircraft; determining the target aircraft according to the row number and column number, and traversing the color list to determine the target light color of the target aircraft. A user-friendly formation flight control scheme is realized, and the real-time adjustment of the formation lighting scheme is achieved in a flexible and convenient manner, effectively enhancing the on-site participation and experience of customers.

[0077] Based on the above embodiment, the present invention also proposes a formation flight control device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the formation flight control method described in any one of the above.

[0078] It should be noted that the above device embodiment and method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are all correspondingly applicable in the device embodiment, so they will not be repeated here.

[0079] Based on the above embodiment, the present invention also proposes a computer-readable storage medium, on which a formation flight control program is stored. When the formation flight control program is executed by a processor, it implements the steps of the formation flight control method described in any one of the above.

[0080] It should be noted that the above medium embodiment and method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are all correspondingly applicable in the medium embodiment, so they will not be repeated here.

[0081] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0082] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0083] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0084] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All of these are within the protection scope of the present invention.

Claims

1. A formation flight control method, characterized in that The method includes: Obtaining formation parameters, where the formation parameters include viewing direction, array inclination, and color list; Calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft; Determining the target aircraft according to the row number and the column number, and traversing the color list to determine the target light color of the target aircraft; The calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft includes: During the formation flight, selecting one of the aircraft as a reference point; Obtaining the distance x1 of each other aircraft from the reference point in the east direction, the distance y1 from the reference point in the north direction, and the height difference z1 from the reference point; Determining the first coordinate (x1, y1) composed of the x1 and the y1 of each other aircraft in the initial first coordinate system; Determining a second coordinate system with the viewing direction as the Y direction for each other aircraft; Performing a rotation transformation process on the first coordinate (x1, y1) according to the second coordinate system; Obtaining the second coordinate (x2, y2) of the first coordinate (x1, y1) of each other aircraft in the second coordinate system.

2. The formation flight control method according to claim 1, wherein The calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft further includes: Rotating the second coordinate system around the X axis according to the array inclination to obtain a third coordinate system; Through the rotation, performing a rotation transformation on the coordinates (y2, z1) of each other aircraft to obtain the third coordinate (y3, z3) of each other aircraft in the third coordinate system.

3. The formation flight control method according to claim 2, wherein The calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft further includes: Performing coordinate conversion of the first coordinate system, the second coordinate system, and the third coordinate system on each other aircraft; Determining the converted complete coordinates (x2, y3, z3) of each other aircraft, and recording the converted complete coordinates (x2, y3, z3) as formation coordinates (x, y, z).

4. The formation flight control method according to claim 3, characterized in that The calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft further includes: Sorting all the aircraft in descending order according to the z value, and assigning the column number 0 to the first aircraft in the reverse order sorting; Traversing the subsequent aircraft according to the reverse order sorting, where whenever the absolute value of the difference between the z value of the current aircraft and the z value of the previous aircraft is greater than a preset threshold t, increasing the column number by 1 as the column number of the current aircraft.

5. The formation flight control method according to claim 4, wherein The calculating the row number and column number of each aircraft according to the longitude, latitude, altitude, the viewing direction, and the array inclination of each aircraft further includes: Sorting all the aircraft in ascending order according to the x value, and assigning the row number 0 to the first aircraft in the ascending order sorting; Traverse the subsequent aircraft in the forward sorting order. Among them, whenever the absolute value of the difference between the x value of the current aircraft and the x value of the previous aircraft is greater than the threshold t, increment the line number by 1 as the line number of the current aircraft.

6. An aircraft formation flight control device, characterized in that, The device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the formation flight control method according to any one of claims 1 to 5.

7. A computer-readable storage medium, characterized in that, A formation flight control program is stored on the computer-readable storage medium. When the formation flight control program is executed by a processor, it implements the steps of the formation flight control method according to any one of claims 1 to 5.

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