A UAV formation takeoff method, device and related components

Abstract

The present invention discloses a method, device and related components for taking off a drone formation, the method comprising: obtaining a take-off animation and a first pattern; converting the drone formation corresponding to the take-off animation into particles and numbering them, respectively obtaining the take-off motion path and pattern motion path of the numbered particles according to the take-off animation and the first pattern; merging the take-off motion path and the pattern motion path, and performing dynamic simulation and collision test on the connection process of the take-off motion path and the pattern motion path, respectively obtaining simulation data and test data; determining and modifying the data in the take-off motion path and the pattern motion path according to the simulation data and the test data, obtaining the final take-off motion stroke and pattern motion stroke; controlling all particles to perform corresponding movements according to the final take-off motion stroke and pattern motion stroke. The present invention realizes the transformation into the next pattern during the take-off animation through the method, thereby extending the performance time.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle formations, and in particular to a method and device for taking off a unmanned aerial vehicle formation and related components. Background Art

[0002] With the rapid development of drone technology, drone formation flying has become a common performance form, widely used in various occasions, such as celebrations, advertising and sports events. However, the current drone formation takeoff system still has some technical limitations and shortcomings in practical applications.

[0003] First, the existing drone formation takeoff systems generally lack the ability to change patterns during takeoff, which results in the drone formation being unable to bring visual surprises and changes to the audience during the takeoff phase, limiting the overall effect of the performance.

[0004] Secondly, the existing drone formation takeoff system has a problem of not being smooth in the connection between the takeoff process and the pattern change. After taking off, the drone needs to transition from a fixed takeoff state to a pattern change state. This transition process often appears stiff and abrupt, and cannot bring a smooth visual experience to the audience.

[0005] In addition, existing drone formation takeoff systems often only meet functional requirements, but are still lacking in terms of viewing quality. Due to technical limitations and design concepts, many systems focus too much on the takeoff and flight control functions of drones, while ignoring the importance of creating a visual feast during the performance. As a result, when watching drone formation performances, the audience can only feel the movement and changes of drones in the air, but cannot get a richer and more fascinating visual experience.

[0006] Finally, the existing drone formation takeoff system usually needs to wait until the takeoff is complete before the first pattern change can begin. This means that after the drone completes takeoff and stabilizes in the air, the audience needs to wait for a while before they can see the pattern change. This delay shortens the performance time to a certain extent, making the entire performance process seem less compact and efficient, thus affecting the overall effect of the performance. Summary of the invention

[0007] The purpose of the present invention is to provide a UAV formation take-off method, device and related components, aiming to solve the problem that the existing UAV formation take-off system cannot change the pattern during the take-off process.

[0008] In a first aspect, an embodiment of the present invention provides a method for taking off a drone formation, comprising:

[0009] Get the takeoff animation and the first pattern;

[0010] Convert the corresponding drone formation in the take-off animation into particles;

[0011] Renumbering all particles, and obtaining takeoff motion paths of the numbered particles according to the takeoff animation;

[0012] Acquire a pattern motion path of the numbered particles according to the first pattern;

[0013] The take-off motion path and the pattern motion path are combined, and dynamic simulation and collision test are performed on the connection process of the take-off motion path and the pattern motion path to obtain simulation data and test data respectively;

[0014] Determine the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, modify the takeoff motion path and the pattern motion path according to the test data, and obtain a final takeoff motion stroke and pattern motion stroke;

[0015] All particles are controlled to move accordingly according to the final take-off motion stroke and pattern motion stroke.

[0016] In a second aspect, an embodiment of the present invention provides a UAV formation take-off device, comprising:

[0017] An acquisition unit, used for acquiring a takeoff animation and a first pattern;

[0018] A conversion unit, used to convert the corresponding drone formation in the take-off animation into particles;

[0019] A first path acquisition unit, used for renumbering all particles and acquiring a takeoff motion path of the numbered particles according to the takeoff animation;

[0020] A second path acquisition unit, used for acquiring a pattern motion path of the numbered particles according to the first pattern;

[0021] a merging unit, used to merge the takeoff motion path and the pattern motion path, and perform dynamic simulation and collision test on the connection process of the takeoff motion path and the pattern motion path, to obtain simulation data and test data respectively;

[0022] a determination unit, configured to determine the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, and to modify the takeoff motion path and the pattern motion path according to the test data to obtain a final takeoff motion stroke and pattern motion stroke;

[0023] The control unit is used to control all particles to perform corresponding movements according to the final take-off movement stroke and pattern movement stroke.

[0024] In a third aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for taking off a formation of unmanned aerial vehicles described in the first aspect is implemented.

[0025] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for taking off a drone formation described in the first aspect above is implemented.

[0026] The present invention discloses a method, device and related components for drone formation takeoff, the method comprising: obtaining a takeoff animation and a first pattern; converting the drone formation corresponding to the takeoff animation into particles and numbering them, respectively obtaining the takeoff motion path and pattern motion path of the numbered particles according to the takeoff animation and the first pattern; merging the takeoff motion path and the pattern motion path, and performing dynamic simulation and collision test on the connection process of the takeoff motion path and the pattern motion path, respectively obtaining simulation data and test data; determining and modifying the data in the takeoff motion path and the pattern motion path according to the simulation data and the test data, obtaining the final takeoff motion stroke and pattern motion stroke; controlling all particles to perform corresponding movements according to the final takeoff motion stroke and pattern motion stroke. The present invention realizes the transformation and smooth connection of entering the next pattern during the takeoff animation by merging the takeoff animation and the first pattern, and performing dynamic simulation and collision test on the connection process of the takeoff animation and the first pattern, which significantly improves the appreciation and overall effect of the performance, and also prolongs the performance time and improves the viewing experience of the user. The embodiment of the present invention also provides a drone formation takeoff device, a computer-readable storage medium and a computer device, which have the above-mentioned beneficial effects, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0028] Figure 1 is a flow chart of the UAV formation takeoff method of this embodiment;

[0029] Figure 2This is a first sub-flowchart of the drone formation takeoff method of this embodiment;

[0030] Figure 3 This is a second sub-flowchart of the UAV formation takeoff method of this embodiment;

[0031] Figure 4 This is the third sub-flowchart of the UAV formation takeoff method of this embodiment;

[0032] Figure 5 This is a schematic block diagram of the UAV formation take-off device of this embodiment. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0035] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0036] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0037] See also Figure 1-3 The present invention provides a method for taking off a UAV formation, comprising:

[0038] S101: Acquire the takeoff animation and the first pattern;

[0039] In this embodiment, the take-off animation refers to the flight process of the drone formation taking off from the ground to a position more than 10 meters in the air, and the first pattern refers to the first pattern after take-off, which can be an image or an animation. The take-off animation and the first pattern can be colored or colorless.

[0040] S102: converting the corresponding drone formation in the take-off animation into particles;

[0041] Specifically, converting the corresponding drone formation in the takeoff animation into particles includes:

[0042] Axis and scale adjustments for drones during takeoff animation;

[0043] Determine whether the takeoff animation has an associated stereo model;

[0044] If yes, the three-dimensional model is converted into the corresponding particle lattice; if no, particles corresponding to the number of drones are generated.

[0045] In this embodiment, because the drone formation is always in the positive direction of the Z axis during takeoff and flight, the particles must also consider the actual flight conditions when simulating the drones, so it is necessary to make axial adjustments first, and then appropriately scale the spacing of the particles. Among them, this embodiment adopts the method of first making axial and scaling adjustments to the drones in the takeoff animation, and then generating corresponding particles according to the drones in the takeoff animation to achieve axial adjustment of the particles and scaling of the spacing. It can also be achieved by generating corresponding particles from the drones in the takeoff animation, and then adjusting the particles axially and scaling the spacing.

[0046] In some embodiments, the axial adjustment of the drones in the takeoff animation can be achieved through a rotation matrix to ensure that the drone formation is always in the positive direction of the Z axis during takeoff and flight. For example, assuming that the drones are generated along the positive direction of the X axis by default, the rotation matrix can be used to rotate the direction of the drones from the X axis to the Z axis. The rotation matrix can be a simple 90-degree rotation around the Y axis, or it can be achieved by modifying the initial position and velocity. Specifically, the initial position and velocity vector of the drone are directly set to be along the positive direction of the Z axis.

[0047] Among them, judging whether the take-off animation has a related three-dimensional model can ensure that when the take-off animation includes a three-dimensional model, this embodiment does not need to create an additional three-dimensional model. This helps save time and resources, while ensuring the coherence and consistency of the animation.

[0048] In this embodiment, converting the three-dimensional model into a corresponding particle lattice includes: using the Add node to delete the surface primitives of each object in the three-dimensional model and leave only the center point of the object (command: Delete Geometry But Keep the Points), thereby obtaining the lattice of the imported model. This lattice exists in the form of points rather than a spherical model, which can prepare for the subsequent creation of a particle dynamics system.

[0049] S103: renumbering all particles, and acquiring takeoff motion paths of the numbered particles according to the takeoff animation;

[0050] S104: Acquire a pattern movement path of numbered particles according to the first pattern;

[0051] Specifically, the pattern motion path of the numbered particles obtained according to the first pattern includes:

[0052] Adjust the position, angle, size, overall time, local time period and movement speed of each frame of each particle according to the first pattern, and set the radius of each particle;

[0053] According to the position, angle, size, overall time, local time period, moving speed and radius of each particle, collision avoidance processing is performed on each particle to obtain the pattern motion path.

[0054] For further information, see Figure 4 , adjust the position, angle, size, overall time, local time period and movement speed of each particle according to the first pattern, and set the radius of each particle including:

[0055] S201: using a transform node to change the matrix parameters of the first pattern to obtain the position, angle and size of each particle in the first pattern in a three-dimensional coordinate system;

[0056] In this embodiment, after the first pattern is made in the 3D software in advance, the position of the first pattern needs to be fine-tuned during the actual production process to ensure the best connection position. Specifically, the transform node is used to change the matrix parameters of the first pattern, thereby changing the position, angle and size of each particle in the first pattern in the three-dimensional coordinate system.

[0057] S202: scaling the overall time of the first pattern or remapping the length of the local time period through a Time Warp node to obtain the overall time and local time period of each particle;

[0058] In this embodiment, since the first pattern itself may be too fast and no extra speed-up space is reserved for the particles, the local duration or the overall duration of the first pattern should be adjusted according to the actual situation. Specifically, the Time Warp node is used to scale the overall time of the first pattern or remap the length of the local time period of the first pattern to achieve local rhythm adjustment.

[0059] The overall time of each particle refers to the time of the particle in the entire display process of the first pattern, and the local time period refers to a period of time of the particle in the display process of the first pattern.

[0060] S203: using the calculation speed mode of the Trail node to calculate the moving speed of each particle in each frame according to the moving distance and time of the first pattern in the three-dimensional space;

[0061] After calculating the moving speed of each particle in each frame, the moving speed of each particle in each frame needs to be saved for subsequent processing.

[0062] S204: Create the radius of each particle through the VEXpression script module.

[0063] Specifically, the radius attribute pscale of each particle is created through programming through the VEXpression script module. This attribute is used to store volume radius data for particles and control the collision radius of particles below 10 meters to 0, thereby avoiding unnecessary collisions.

[0064] Furthermore, collision avoidance processing is performed on each particle according to the position, angle, size, overall time, local time period, movement speed and radius of each particle in each frame, including:

[0065] The position, angle, size, overall time, local time period, movement speed and radius of each particle are calculated through the VEX script module to obtain the position information of each particle in each frame.

[0066] Calculating the distance between adjacent particles according to the position information of each particle in each frame, and determining whether the distance between adjacent particles exceeds a first predetermined distance;

[0067] If not exceeded, the positions between adjacent particles are changed; if exceeded, no action is required.

[0068] Among them, the method of changing the position between adjacent particles is to push the two particles in opposite directions to a safe distance.

[0069] S105: merging the takeoff motion path and the pattern motion path, and performing dynamic simulation and collision test on the connection process of the takeoff motion path and the pattern motion path to obtain simulation data and test data respectively;

[0070] Before merging the takeoff motion path and the pattern motion path, it is necessary to set the takeoff order of each drone, that is, to set the motion order of each particle.

[0071] After setting the corresponding take-off sequence, the initial velocity of each particle is set and the corresponding position is adjusted to ensure that each drone is in a suitable position when taking off. After the adjustment, step S106 is then executed.

[0072] S106: determining the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, and modifying the takeoff motion path and the pattern motion path according to the test data to obtain a final takeoff motion stroke and pattern motion stroke;

[0073] Specifically, determining the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data includes:

[0074] Get the velocity of each particle based on simulation data;

[0075] According to the speed of each particle, the maximum speed of each particle in each direction is limited through the VEX script module;

[0076] The distance between the current position of each particle and the target position is determined. If the distance is within the second predetermined distance, the speed of each particle is linearly accelerated using the gradient curve until the maximum speed is reached; if the distance is above the second predetermined distance, the speed of each particle is linearly decelerated using the gradient curve until the target position is reached.

[0077] In this embodiment, limiting the upper speed limit can prevent particles from "escaping" or producing unrealistic behaviors due to excessively high speeds. Using a gradient curve for linear acceleration can ensure that the speed of particles increases smoothly when approaching the target, avoiding sudden speed changes, and making the simulation more natural and realistic. By adjusting the parameters of the gradient curve, the speed and duration of acceleration can be precisely controlled to meet different simulation requirements.

[0078] The speed of each particle can also be obtained from the speed of each particle saved in step S203. The particle will recognize its own speed attribute, so that it can simulate the moving speed and direction of the dot animation itself, and achieve collision avoidance in dynamics through its own radius attribute and POP Grains node.

[0079] In some specific application scenarios, the second predetermined distance can be set to 10 meters, that is, the distance between the current position of each particle and the target position is determined. If the distance is within 10 meters, the speed of each particle is linearly accelerated using a gradient curve until the maximum speed is reached; if the distance is more than 10 meters, the speed of each particle is linearly decelerated using a gradient curve until the target position is reached.

[0080] In this embodiment, since the accuracy of dynamic simulation may sometimes be poor, it is necessary to further detect the collision and adjust the position of each particle in each frame accordingly based on the collision detection result.

[0081] Modifications to the takeoff motion path and pattern motion path based on test data include:

[0082] The For-Each system and VEX script module are used to check the distance between each particle and other particles in each frame to obtain test data;

[0083] Determine whether the distance between each particle and other particles in each frame exceeds a third predetermined distance according to the test data;

[0084] If not exceeded, the positions between adjacent particles are changed; if exceeded, no action is required.

[0085] The For-Each system allows for iterative processing of each particle in a particle system without having to manually write complex loop structures. This processing method can significantly improve computational efficiency, especially when dealing with a large number of particles. The VEX scripting module provides powerful programming capabilities, allowing users to customize complex computational logic. Combined with the For-Each system, the distance between each particle and other particles can be efficiently calculated.

[0086] In this embodiment, if the distance between two particles is detected to be greater than the third predetermined distance, the two particles are dyed blue, and if the distance between two particles is detected to be greater than the third predetermined distance and less than the safety radius, the two particles are dyed red. By dyeing the particles in different colors, the distance relationship between the particles can be intuitively displayed. This visualization method allows users to quickly identify which particles are too far apart or too far apart, making it easier to understand the state and results of the simulation.

[0087] After obtaining the final take-off motion itinerary and pattern motion itinerary, it is necessary to clear the redundant data, which will take up a large amount of storage space. By clearing these data, storage space can be released, so that storage resources can be used more effectively.

[0088] S107: controlling all particles to perform corresponding movements according to the final take-off movement stroke and pattern movement stroke.

[0089] The take-off motion itinerary and the pattern motion itinerary include: the position, speed, direction, acceleration, etc. of each particle in each frame.

[0090] It should be noted that the first predetermined distance, the second predetermined distance and the third predetermined distance can be set accordingly according to actual circumstances.

[0091] This embodiment uses the 3D particle system in the animation design software to design the take-off system of the drone formation, which realizes the change of patterns during the take-off process, which is more flexible; it also realizes the smooth connection between the take-off process and the first pattern, which is more intelligent; and this embodiment ensures the take-off function while being both ornamental and having more functions; in addition, this embodiment starts the change of the first pattern after the take-off animation ends, which lengthens the performance time to a certain extent and is more in line with the existing performance system.

[0092] See also Figure 5 The present invention provides a UAV formation take-off device 500, comprising:

[0093] An acquisition unit 501 is used to acquire a takeoff animation and a first pattern;

[0094] A conversion unit 502, used to convert the corresponding drone formation in the take-off animation into particles;

[0095] A first path acquisition unit 503, used to renumber all particles and acquire the takeoff motion path of the numbered particles according to the takeoff animation;

[0096] A second path acquisition unit 504, configured to acquire a pattern motion path of the numbered particles according to the first pattern;

[0097] A merging unit 505 is used to merge the takeoff motion path and the pattern motion path, and perform dynamic simulation and collision test on the connection process of the takeoff motion path and the pattern motion path to obtain simulation data and test data respectively;

[0098] A determination unit 506, configured to determine the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, and modify the takeoff motion path and the pattern motion path according to the test data to obtain a final takeoff motion stroke and pattern motion stroke;

[0099] The control unit 507 is used to control all particles to perform corresponding movements according to the final take-off movement stroke and pattern movement stroke.

[0100] Furthermore, the conversion unit 502 includes:

[0101] an adjustment subunit, for performing axial and scaling adjustments on the drone within the takeoff animation;

[0102] A model determination subunit, used to determine whether the take-off animation has a related three-dimensional model;

[0103] The particle conversion subunit is used to convert the three-dimensional model into a corresponding particle lattice if it exists; if not, to generate particles corresponding to the number of drones.

[0104] Furthermore, the second path acquisition unit 504 includes:

[0105] A setting subunit is used to adjust one or more of the position, angle, size, overall time, local time period and moving speed of each frame of each particle according to the first pattern, and set the radius of each particle;

[0106] The avoidance subunit is used to perform collision avoidance processing on each particle according to one or more of the position, angle, size, overall time, local time period, movement speed of each frame and radius of each particle to obtain the pattern motion path.

[0107] Furthermore, the setting subunit includes:

[0108] A parameter changing subunit, used for changing the matrix parameters of the first pattern using a transform node to obtain the position, angle and size of each particle in the first pattern in a three-dimensional coordinate system;

[0109] A mapping subunit, used for scaling the overall time of the first pattern or remapping the length of the local time period through a Time Warp node to obtain the overall time and local time period of each particle;

[0110] A calculation subunit, used to calculate the moving speed of each particle in each frame according to the moving distance and time of the first pattern in the three-dimensional space by using the calculation speed mode of the Trail node;

[0111] Creates subunits for creating the radius of individual particles via the VEXpression script module.

[0112] Furthermore, the avoidance subunit includes:

[0113] The position information acquisition subunit is used to calculate the position, angle, size, overall time, local time period, movement speed and radius of each particle in each frame through the VEX script module to obtain the position information of each particle in each frame;

[0114] A first judging subunit, used for calculating the distance between adjacent particles according to the position information of each particle in each frame, and judging whether the distance between adjacent particles exceeds a first predetermined distance;

[0115] The position change subunit is used to change the positions between adjacent particles if the value is not exceeded; if the value is exceeded, no action is required.

[0116] Further, the determining unit 506 includes:

[0117] A speed acquisition subunit, used for acquiring the speed of each particle according to the simulation data;

[0118] The limit subunit is used to limit the maximum speed of each particle in each direction through the VEX script module according to the speed of each particle;

[0119] The second judgment subunit is used to judge the distance between the current position of each particle and the target position. If the distance is within the second predetermined distance, the speed of each particle is linearly accelerated using a gradient curve until it reaches the maximum speed; if the distance is above the second predetermined distance, the speed of each particle is linearly decelerated using a gradient curve until it reaches the target position.

[0120] Furthermore, the determining unit 506 further includes:

[0121] A checking subunit, used for checking the distance between each particle and other particles in each frame through a For-Each system and a VEX script module to obtain the test data;

[0122] A third judgment subunit, used for judging whether the distance between each particle and other particles in each frame exceeds a third predetermined distance according to the test data;

[0123] The change subunit is used to change the positions between adjacent particles if it does not exceed; if it exceeds, no action is required.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned devices and units can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0125] The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the method provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0126] The present invention also provides a computer device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the method provided in the above embodiment can be implemented. Of course, the computer device may also include various network interfaces, power supplies and other components.

[0127] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

[0128] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive.

[0129] Inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for taking off a drone formation, characterized in that: include: Get the takeoff animation and the first pattern; Convert the corresponding drone formation in the take-off animation into particles; Renumbering all particles, and obtaining takeoff motion paths of the numbered particles according to the takeoff animation; Acquire a pattern motion path of the numbered particles according to the first pattern; The take-off motion path and the pattern motion path are combined, and dynamic simulation and collision test are performed on the connection process of the take-off motion path and the pattern motion path to obtain simulation data and test data respectively; Determine the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, modify the takeoff motion path and the pattern motion path according to the test data, and obtain a final takeoff motion stroke and pattern motion stroke; Controlling all particles to move accordingly according to the final take-off motion stroke and pattern motion stroke; The converting the corresponding drone formation in the take-off animation into particles comprises: Performing axial and scale adjustments to the drone within the takeoff animation; Determining whether the take-off animation has a related three-dimensional model; If yes, the three-dimensional model is converted into a corresponding particle lattice; if no, particles corresponding to the number of drones are generated.

2. The UAV formation takeoff method according to claim 1, characterized in that: The pattern movement path of the particles after obtaining the number according to the first pattern comprises: Adjusting the position, angle, size, overall time, local time period and movement speed of each frame of each particle according to the first pattern, and setting the radius of each particle; The pattern motion path is obtained by performing collision avoidance processing on each particle according to the position, angle, size, overall time, local time period, moving speed and radius of each particle in each frame.

3. The UAV formation takeoff method according to claim 2, characterized in that: The adjusting the position, angle, size, overall time, local time period and movement speed of each frame of each particle according to the first pattern, and setting the radius of each particle comprises: Use a transform node to change the matrix parameters of the first pattern to obtain the position, angle and size of each particle in the first pattern in a three-dimensional coordinate system; Using a Time Warp node, scaling the overall time of the first pattern or remapping the length of the local time period to obtain the overall time and local time period of each particle; The calculation speed mode of the Trail node is used to calculate the moving speed of each particle in each frame according to the moving distance and time of the first pattern in the three-dimensional space; The radius of each particle is created by the VEXpression script module.

4. The UAV formation takeoff method according to claim 2, characterized in that: The collision avoidance process for each particle according to the position, angle, size, overall time, local time period, movement speed and radius of each frame includes: The position, angle, size, overall time, local time period, movement speed and radius of each particle are calculated through the VEX script module to obtain the position information of each particle in each frame. Calculating the distance between adjacent particles according to the position information of each particle in each frame, and determining whether the distance between adjacent particles exceeds a first predetermined distance; If not exceeded, the positions between adjacent particles are changed; if exceeded, no action is required.

5. The UAV formation takeoff method according to claim 1, characterized in that: Determining the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data includes: Acquire the velocity of each particle according to the simulation data; According to the speed of each particle, the maximum speed of each particle in each direction is limited through the VEX script module; The distance between the current position of each particle and the target position is determined. If the distance is within a second predetermined distance, the speed of each particle is linearly accelerated using a gradient curve until a maximum speed is reached; if the distance is greater than the second predetermined distance, the speed of each particle is linearly decelerated using a gradient curve until the target position is reached.

6. The UAV formation takeoff method according to claim 1, characterized in that: The modifying the takeoff motion path and the pattern motion path according to the test data comprises: The test data is obtained by checking the distance between each particle and other particles in each frame through the For-Each system and the VEX script module; Determining whether the distance between each particle and other particles in each frame exceeds a third predetermined distance according to the test data; If not exceeded, the positions between adjacent particles are changed; if exceeded, no action is required.

7. A UAV formation take-off device, characterized in that: include: An acquisition unit, used for acquiring a takeoff animation and a first pattern; A conversion unit, used to convert the corresponding drone formation in the take-off animation into particles; A first path acquisition unit, used for renumbering all particles and acquiring a takeoff motion path of the numbered particles according to the takeoff animation; A second path acquisition unit, used for acquiring a pattern motion path of the numbered particles according to the first pattern; a merging unit, used to merge the takeoff motion path and the pattern motion path, and perform dynamic simulation and collision test on the connection process of the takeoff motion path and the pattern motion path, to obtain simulation data and test data respectively; a determination unit, configured to determine the speed and acceleration of all particles in each frame of the takeoff motion path and the pattern motion path according to the simulation data, and to modify the takeoff motion path and the pattern motion path according to the test data to obtain a final takeoff motion stroke and pattern motion stroke; A control unit, used for controlling all particles to move accordingly according to the final take-off motion stroke and pattern motion stroke; The conversion unit comprises: an adjustment subunit, for performing axial and scaling adjustments on the drone within the takeoff animation; A model determination subunit, used to determine whether the take-off animation has a related three-dimensional model; The particle conversion subunit is used to convert the three-dimensional model into a corresponding particle lattice if it exists; if not, to generate particles corresponding to the number of drones.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the drone formation takeoff method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the drone formation takeoff method as described in any one of claims 1 to 6.

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